I
AE
S In
t
er
na
t
io
na
l J
o
urna
l o
f
Ro
bo
t
ics a
nd
Aut
o
m
a
t
io
n
(
I
J
RA)
Vo
l.
14
,
No
.
3
,
Sep
tem
b
er
20
25
,
p
p
.
31
1
~
32
1
I
SS
N:
2722
-
2
5
8
6
,
DOI
:
1
0
.
1
1
5
9
1
/i
jr
a
.
v
14
i
3
.
pp
31
1
-
32
1
311
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ij
r
a
.
ia
esco
r
e.
co
m
Lo
Ra
-
ena
bled re
mo
te
-
co
ntrolled
s
urv
eilla
nce robo
t
for
mo
nitoring
and n
a
v
ig
a
tion in disa
ster r
es
po
nse mis
si
o
ns
Anita
G
ehlo
t
1
,
Ra
j
esh
Sin
g
h
1
,
Ra
hu
l Ma
ha
la
2
,
M
a
him
R
a
j
G
up
t
a
3
,
Viv
e
k
K
um
a
r
Sin
g
h
4
1
U
t
t
a
r
a
n
c
h
a
l
I
n
st
i
t
u
t
e
o
f
T
e
c
h
n
o
l
o
g
y
,
U
t
t
a
r
a
n
c
h
a
l
U
n
i
v
e
r
s
i
t
y
,
D
e
h
r
a
d
u
n
,
I
n
d
i
a
2
La
w
C
o
l
l
e
g
e
D
e
h
r
a
d
u
n
,
U
t
t
a
r
a
n
c
h
a
l
U
n
i
v
e
r
si
t
y
,
D
e
h
r
a
d
u
n
,
I
n
d
i
a
3
W
e
st
e
r
n
D
i
g
i
t
a
l
(
S
a
n
D
i
sk
C
o
r
p
o
r
a
t
i
o
n
)
,
U
n
i
t
e
d
S
t
a
t
e
s
4
A
maz
o
n
W
e
b
S
e
r
v
i
c
e
s
,
D
a
l
l
a
s,
Te
x
a
s,
U
n
i
t
e
d
S
t
a
t
e
s
Art
icle
I
nfo
AB
S
T
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Feb
7
,
2
0
2
5
R
ev
is
ed
J
u
n
1
0
,
2
0
2
5
Acc
ep
ted
J
u
l 1
0
,
2
0
2
5
Re
sc
u
e
m
issio
n
s
m
u
st
b
e
c
o
n
d
u
c
t
e
d
with
in
a
strict
ti
m
e
fra
m
e
,
a
n
d
th
e
sa
fe
ty
o
f
a
ll
re
sc
u
e
rs
a
n
d
c
iv
i
li
a
n
s
is
p
rio
ri
ti
z
e
d
.
Th
e
p
ro
p
o
se
d
sy
ste
m
a
ims
to
d
e
sig
n
a
re
m
o
te
-
o
p
e
ra
ted
a
e
rial
s
u
rv
e
il
lan
c
e
r
o
b
o
t
fo
r
d
isa
ste
r
-
a
ffe
c
ted
a
re
a
s
fo
r
se
a
rc
h
a
n
d
re
sc
u
e
m
issio
n
s.
Re
a
l
-
ti
m
e
v
id
e
o
tran
sm
issio
n
a
n
d
RS
-
2
3
2
lo
n
g
-
ra
n
g
e
c
o
m
m
u
n
ica
ti
o
n
e
n
a
b
l
e
o
p
e
ra
to
rs
to
n
a
v
ig
a
te
ro
u
g
h
e
n
v
iro
n
m
e
n
ts
a
n
d
m
o
n
it
o
r
d
a
ta
c
o
ll
e
c
ted
in
r
e
a
l
-
ti
m
e
.
Th
is
p
o
we
rfu
l
to
o
l
e
n
su
re
s
th
e
p
ro
tec
ti
o
n
o
f
h
u
m
a
n
li
fe
w
h
il
e
c
o
ll
e
c
ti
n
g
a
c
c
u
ra
te
a
n
d
m
e
a
n
i
n
g
f
u
l
d
a
ta.
Clo
u
d
sto
ra
g
e
fo
r
d
a
ta
a
n
d
su
rv
e
il
lan
c
e
stre
n
g
th
e
n
s
th
e
sy
ste
m
,
p
re
v
e
n
ti
n
g
p
a
rt
fa
il
u
re
a
n
d
f
o
ste
rin
g
c
o
ll
a
b
o
ra
ti
o
n
a
m
o
n
g
u
se
rs.
Th
is
is
a
sig
n
ifi
c
a
n
t
ste
p
to
wa
rd
s
u
sin
g
I
n
tern
e
t
o
f
T
h
in
g
s
sy
ste
m
s
a
lo
n
g
sid
e
re
m
o
te
-
c
o
n
tro
ll
e
d
ro
b
o
ts
i
n
d
isa
ste
r
re
sp
o
n
se
.
T
h
e
ro
b
o
t'
s
k
e
y
c
o
n
tri
b
u
ti
o
n
to
d
isa
ste
r
m
a
n
a
g
e
m
e
n
t
is
i
d
e
n
ti
f
y
in
g
th
e
e
n
v
ir
o
n
m
e
n
t,
a
d
d
re
ss
in
g
issu
e
s
o
f
n
o
v
isib
il
it
y
,
c
o
m
p
li
c
a
ted
terra
in
s,
a
n
d
sp
e
e
d
.
Its
m
o
d
if
ica
ti
o
n
a
n
d
e
x
p
a
n
sio
n
c
a
p
a
b
il
it
ies
m
a
k
e
it
u
se
fu
l
in
a
r
m
e
d
su
rv
e
il
lan
c
e
,
in
d
u
strial
m
o
n
i
to
rin
g
,
a
n
d
e
n
v
iro
n
m
e
n
tal
stu
d
ies
,
m
a
k
in
g
i
t
a
n
imp
o
rtan
t
in
n
o
v
a
ti
o
n
fo
r
m
a
n
y
o
t
h
e
r
field
s.
K
ey
w
o
r
d
s
:
B
ly
n
k
Dis
aster
r
esp
o
n
s
e
r
o
b
o
t r
em
o
te
-
co
n
tr
o
lled
r
o
b
o
t
I
n
ter
n
et
o
f
th
in
g
s
in
d
is
aster
m
an
ag
em
en
t
Lo
R
a
Su
r
v
eillan
ce
r
o
b
o
t
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
R
ah
u
l M
ah
ala
L
aw
C
o
lleg
e
Deh
r
ad
u
n
,
Uttar
an
ch
al
Un
iv
er
s
ity
Deh
r
ad
u
n
,
Uttar
ak
h
a
n
d
,
I
n
d
ia
E
m
ail
:
r
ah
u
lm
ah
ala9
8
@
g
m
ail.
co
m
1.
I
NT
RO
D
UCT
I
O
N
Sear
ch
an
d
R
escu
e
r
o
b
o
ts
ar
e
in
cr
ea
s
in
g
ly
u
s
ed
in
n
atu
r
al
d
is
aster
s
to
en
s
u
r
e
s
af
ety
,
b
u
t
co
m
p
r
o
m
is
ed
in
f
r
astru
ctu
r
e
h
in
d
er
s
r
ea
l
-
tim
e
co
m
m
u
n
icati
o
n
b
etwe
en
r
o
b
o
ts
a
n
d
r
escu
e
team
s
,
af
f
ec
tin
g
th
eir
ef
f
ec
tiv
e
n
ess
[
1
]
.
T
h
e
d
i
s
aster
m
an
ag
em
en
t
s
y
s
tem
(
DM
S)
is
a
n
o
v
el
ap
p
r
o
ac
h
to
d
i
s
aster
m
an
ag
em
en
t,
b
ased
o
n
lo
w
-
p
o
wer
wid
e
-
a
r
ea
n
etwo
r
k
s
(
L
PW
ANs)
L
o
R
a
tech
n
o
lo
g
y
.
I
t
co
n
s
is
ts
o
f
th
r
ee
s
o
l
u
tio
n
s
:
co
o
r
d
in
atio
n
,
co
m
m
u
n
icatio
n
,
an
d
n
a
v
ig
atio
n
.
T
h
e
s
y
s
tem
aim
s
to
im
p
r
o
v
e
co
m
m
u
n
ic
atio
n
an
d
s
af
ety
in
d
is
aster
-
af
f
ec
ted
ar
ea
s
[
2
]
.
L
o
R
a
is
a
p
o
p
u
lar
ch
o
ice
f
o
r
tr
an
s
m
itti
n
g
s
m
all
d
ata
o
v
er
lo
n
g
d
is
tan
ce
s
,
p
ar
ticu
lar
ly
in
r
u
r
al
f
ar
m
in
g
a
n
d
s
m
ar
t
m
eter
in
g
.
Ho
we
v
er
,
i
n
d
is
aster
co
n
tex
ts
,
it'
s
r
ar
ely
u
s
ed
f
o
r
lo
n
g
-
r
an
g
e
co
m
m
u
n
icatio
n
[
3
]
.
L
o
R
a
-
b
a
s
ed
I
n
ter
n
et
o
f
T
h
in
g
s
(
I
o
T
)
ar
ch
itectu
r
e
co
n
n
ec
ts
en
d
d
ev
ices
to
s
er
v
er
s
,
en
ab
lin
g
o
v
er
2
5
b
illi
o
n
d
ev
i
ce
s
to
co
m
m
u
n
icate
b
y
2
0
2
0
,
d
r
iv
in
g
s
o
cieta
l
d
em
a
n
d
a
n
d
in
f
lu
en
cin
g
v
ar
i
o
u
s
asp
ec
ts
o
f
life
[
4
]
.
T
h
e
C
o
g
n
itiv
e
R
o
v
er
p
r
o
ject
aim
s
to
r
ev
o
lu
tio
n
ize
p
o
r
ta
b
le
r
o
b
o
tics
b
y
in
teg
r
atin
g
n
eu
r
o
-
tech
n
o
lo
g
ies
with
lo
n
g
-
r
an
g
e
co
m
m
u
n
icatio
n
d
ev
ices,
en
ab
lin
g
au
to
n
o
m
o
u
s
m
o
v
e
m
en
t
a
n
d
in
ter
ac
tio
n
with
th
e
en
v
i
r
o
n
m
e
n
t
[
5
]
.
E
ar
th
q
u
ak
es
p
r
im
a
r
ily
im
p
ac
t
civ
il
ian
s
,
ca
u
s
in
g
d
estru
ctio
n
an
d
b
u
r
y
in
g
th
e
m
in
wr
ec
k
ag
e.
T
h
e
f
ir
s
t
th
r
ee
d
a
y
s
ar
e
cr
u
cial,
b
u
t
th
e
r
escu
e
b
ec
o
m
es
h
az
ar
d
o
u
s
d
u
e
to
i
n
cr
ea
s
ed
wr
ec
k
ag
e.
Activ
e
UAV
s
y
s
tem
s
o
f
f
er
r
em
o
te
s
ite
r
escu
e,
b
u
t
lack
c
u
s
to
m
izatio
n
[
6
]
.
T
h
e
L
o
R
a
m
esh
n
etwo
r
k
i
n
g
-
b
ased
em
er
g
en
cy
e
n
v
ir
o
n
m
en
tal
m
o
n
ito
r
in
g
s
y
s
tem
ex
p
an
d
s
wir
e
less
co
m
m
u
n
icatio
n
ca
p
ab
ilit
ies,
en
ab
lin
g
m
o
r
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
14
,
No
.
3
,
Sep
tem
b
er
20
25
:
31
1
-
32
1
312
r
esp
o
n
s
iv
e
lo
w
-
r
ate
d
ata
tr
an
s
m
is
s
io
n
d
u
r
in
g
em
e
r
g
en
cies
[
7
]
.
L
o
R
a
-
b
ased
d
is
aster
r
esp
o
n
s
e
s
y
s
tem
en
h
an
ce
s
em
er
g
en
cy
s
er
v
ices
ef
f
icien
c
y
,
co
o
r
d
in
atio
n
,
an
d
e
f
f
ec
tiv
en
ess
b
y
p
r
o
v
id
in
g
a
f
lex
ib
le
co
m
m
u
n
icatio
n
n
etwo
r
k
,
co
n
tin
u
o
u
s
en
v
i
r
o
n
m
en
tal
s
u
r
v
eillan
ce
,
an
d
an
a
lar
m
s
y
s
tem
f
o
r
im
m
ed
iate
r
esp
o
n
s
e
[
8
]
.
A
n
ew
ar
ch
itectu
r
e
in
teg
r
ates
L
o
R
aWAN
co
m
m
u
n
icatio
n
as
a
s
ec
o
n
d
ar
y
m
ea
n
s
o
f
co
m
m
u
n
icati
o
n
,
en
a
b
lin
g
c
r
awle
r
r
o
b
o
ts
to
f
u
n
ctio
n
in
a
r
ea
s
with
s
ev
er
e
d
am
a
g
e,
o
v
er
c
o
m
in
g
th
e
is
s
u
e
o
f
lo
s
s
o
f
co
v
er
ag
e
th
r
o
u
g
h
p
r
im
ar
y
co
m
m
u
n
icatio
n
s
o
u
r
ce
s
[
9
]
.
I
n
r
em
o
te
en
v
ir
o
n
m
en
ts
,
tr
ad
it
io
n
al
co
m
m
u
n
icatio
n
s
m
ay
b
e
u
n
av
ailab
le
d
u
e
to
d
is
aster
s
.
T
o
im
p
r
o
v
e
r
eliab
ili
ty
an
d
av
o
id
d
ec
o
d
in
g
er
r
o
r
s
,
a
UAV
-
en
a
b
led
L
o
R
a
ar
c
h
itectu
r
e
is
p
r
o
p
o
s
ed
.
T
h
is
ar
ch
itectu
r
e
u
s
es
a
d
is
tr
i
b
u
ted
to
p
o
lo
g
y
co
n
tr
o
l
alg
o
r
it
h
m
an
d
v
ir
tu
al
s
p
r
i
n
g
f
o
r
ce
s
t
o
ad
ap
t
t
o
th
e
L
o
R
a
n
o
d
e
m
o
v
em
en
t.
Simu
latio
n
r
esu
lts
s
h
o
w
f
ea
s
ib
ilit
y
[
1
0
]
.
A
L
o
R
a
tr
an
s
ce
iv
er
m
o
d
u
le
is
p
r
o
p
o
s
ed
f
o
r
d
is
aster
m
an
ag
em
en
t,
en
ab
lin
g
r
eliab
l
e
co
m
m
u
n
icatio
n
,
v
o
ice
p
lay
b
ac
k
,
GPS
lo
ca
tio
n
tr
ac
k
in
g
,
a
n
d
clo
u
d
-
b
ased
d
ata
ac
ce
s
s
f
o
r
em
er
g
en
cy
m
an
ag
e
m
en
t
an
d
v
ictim
s
[
1
1
]
.
T
h
e
p
r
o
ject
aim
s
to
en
h
an
ce
s
u
r
v
eil
lan
ce
ef
f
icien
cy
in
cr
itical
ar
ea
s
g
lo
b
ally
,
tr
a
n
s
m
itti
n
g
r
ea
l
-
tim
e
v
id
e
o
an
d
av
o
id
in
g
o
b
s
tacle
s
u
s
in
g
a
n
Ar
d
u
in
o
C
-
b
ased
m
icr
o
co
n
tr
o
ller
a
n
d
E
th
er
n
et
s
h
ield
[
1
2
]
.
T
h
e
p
r
o
ject
aim
s
to
c
r
ea
te
a
co
s
t
-
ef
f
ec
tiv
e
I
o
T
s
u
r
v
eillan
ce
r
o
b
o
t
with
s
elf
-
p
r
o
p
ellin
g
f
ea
tu
r
es,
en
v
ir
o
n
m
en
tal
s
en
s
o
r
s
,
an
d
s
tr
ea
m
in
g
ca
p
ab
ilit
ies,
ca
p
ab
le
o
f
r
ea
l
-
tim
e
v
id
eo
f
ee
d
s
f
o
r
ef
f
ec
tiv
e
s
u
r
v
eilla
n
ce
[
1
3
]
.
A
lo
w
-
p
o
we
r
ed
L
o
R
a
-
b
ased
wir
eless
co
m
m
u
n
icatio
n
s
y
s
tem
was
s
u
cc
ess
f
u
lly
u
s
ed
to
tr
ac
k
wa
ter
p
o
llu
tio
n
,
en
h
an
cin
g
p
o
w
er
ef
f
icien
c
y
an
d
ac
cu
r
ac
y
w
h
ile
u
tili
zin
g
f
ewe
r
s
en
s
o
r
s
[
1
4
]
.
T
h
e
c
o
n
tr
ib
u
ti
o
n
o
f
th
is
s
tu
d
y
is
t
o
d
ev
elo
p
a
L
o
R
a
-
en
ab
led
s
u
r
v
eillan
ce
r
o
b
o
t
f
o
r
r
eliab
le
co
m
m
u
n
icatio
n
an
d
s
u
r
v
eillan
ce
in
d
is
aster
-
af
f
ec
ted
ar
ea
s
.
T
h
e
s
tu
d
y
ex
am
in
es
th
e
ef
f
e
ctiv
en
ess
o
f
L
o
R
a
tech
n
o
lo
g
y
in
co
m
m
u
n
icatio
n
an
d
r
em
o
te
co
n
tr
o
l
f
o
r
d
is
aster
r
esp
o
n
s
e
r
o
b
o
ts
,
esp
ec
ially
f
o
cu
s
in
g
o
n
d
ata
in
teg
r
ity
,
r
a
n
g
e,
a
n
d
r
eliab
ilit
y
.
Als
o
,
th
e
s
tu
d
y
d
e
v
elo
p
s
a
d
a
s
h
b
o
ar
d
f
o
r
in
f
o
r
m
ati
o
n
d
is
p
la
y
an
d
c
o
n
tr
o
l.
2.
RE
VI
E
W
O
F
L
I
T
E
RA
T
UR
E
Natu
r
al
d
is
aster
s
lik
e
ea
r
th
q
u
ak
es
an
d
m
u
d
s
lid
es
o
f
ten
i
n
v
o
lv
e
b
r
o
k
en
s
tr
u
ctu
r
es,
en
d
an
g
er
in
g
v
ictim
s
an
d
r
escu
e
s
taf
f
.
R
esc
u
e
o
p
er
atio
n
s
ca
n
b
e
h
az
ar
d
o
u
s
,
with
h
az
ar
d
s
lik
e
p
o
is
o
n
o
u
s
g
as,
s
u
f
f
o
ca
tio
n
,
o
r
r
u
b
b
le
tr
ap
p
in
g
[
1
5
]
.
Dis
as
ter
m
an
ag
em
en
t
is
a
co
m
p
lex
p
r
o
ce
s
s
r
eq
u
ir
in
g
c
o
o
r
d
i
n
atio
n
an
d
co
llab
o
r
atio
n
am
o
n
g
ac
t
o
r
s
,
with
tech
n
o
lo
g
y
o
f
f
e
r
in
g
o
p
p
o
r
tu
n
ities
b
u
t
a
ls
o
cr
ea
tin
g
n
ew
c
h
allen
g
es
t
h
at
ca
n
o
v
er
wh
elm
d
ec
is
io
n
-
m
ak
er
s
[
1
6
]
.
T
h
e
ai
m
is
to
d
ev
elo
p
a
co
s
t
-
ef
f
ec
tiv
e,
r
ea
l
-
tim
e
I
o
T
-
b
ased
g
as
leak
d
etec
tio
n
r
o
b
o
t
th
at
ca
n
b
e
u
s
ed
in
d
o
o
r
s
as
well
as
o
u
td
o
o
r
s
.
T
h
e
p
r
o
d
u
ct
is
co
s
t
-
ef
f
ec
tiv
e,
u
s
in
g
ch
ea
p
b
u
t
r
eliab
le
co
m
p
o
n
en
ts
an
d
s
en
s
o
r
s
[
1
7
]
.
Du
r
in
g
a
d
is
aster
,
m
ain
tain
in
g
co
m
m
u
n
icatio
n
in
f
r
astru
c
tu
r
e
is
cr
u
cial
f
o
r
d
is
s
em
in
atin
g
cr
itical
in
f
o
r
m
a
tio
n
,
b
u
t
e
x
is
tin
g
s
y
s
tem
s
h
a
v
e
a
s
ig
n
if
ican
t
c
o
m
m
u
n
icatio
n
r
an
g
e
d
r
aw
b
ac
k
[
1
8
]
.
T
h
e
i
n
teg
r
atio
n
o
f
I
o
T
a
n
d
L
o
R
a
tech
n
o
lo
g
y
ca
n
h
elp
en
s
u
r
e
r
esil
ien
t
co
m
m
u
n
icati
o
n
n
etwo
r
k
s
d
u
r
in
g
n
atu
r
al
d
is
aster
s
,
ad
d
r
ess
in
g
co
m
m
u
n
icatio
n
d
is
r
u
p
tio
n
s
a
n
d
s
itu
atio
n
al
awa
r
en
ess
is
s
u
es
[
1
9
]
.
T
ests
s
h
o
w
th
at
L
o
R
a
ca
n
s
en
d
d
ata
at
a
d
is
tan
ce
o
f
2
.
0
k
m
in
a
n
en
v
i
r
o
n
m
en
t f
u
ll
o
f
o
b
s
tacle
s
,
wh
ich
en
h
an
ce
s
its
ab
ilit
y
an
d
ef
f
icien
cy
f
o
r
d
is
aster
co
m
m
u
n
icatio
n
s
y
s
tem
s
[
2
0
]
.
T
h
e
in
cr
ea
s
in
g
u
s
e
o
f
AI
,
I
o
T
s
e
n
s
o
r
s
,
an
d
ad
v
a
n
ce
d
r
o
b
o
tics
in
d
is
aster
m
an
ag
em
en
t,
s
u
ch
as
in
th
e
W
en
ch
u
an
ea
r
th
q
u
a
k
e
an
d
Fu
k
u
s
h
im
a
n
u
clea
r
d
is
aster
,
is
cr
u
cial
f
o
r
d
ata
co
llectio
n
,
s
ea
r
ch
,
r
escu
e,
an
d
h
az
a
r
d
m
o
n
ito
r
in
g
[
2
1
]
.
A
co
m
p
ac
t,
ec
o
n
o
m
ical
r
escu
e
r
o
b
o
t,
d
esig
n
ed
f
o
r
r
ea
l
-
tim
e
in
f
o
r
m
atio
n
r
etr
iev
al
in
d
if
f
icu
lt
-
to
-
a
cc
ess
lo
ca
tio
n
s
in
th
e
co
u
r
s
e
o
f
r
escu
e
m
is
s
io
n
s
.
T
h
e
s
y
s
tem
in
co
r
p
o
r
ates
FP
V
ca
m
er
as
m
o
u
n
ted
o
n
a
tilt
ass
em
b
ly
,
wh
ich
s
tr
ea
m
liv
e
v
id
e
o
o
v
er
t
h
e
I
n
ter
n
et
[
2
2
]
.
Un
m
an
n
ed
g
r
o
u
n
d
v
eh
ic
les
(
UGVs)
ar
e
r
em
o
te
-
o
p
er
at
ed
r
o
b
o
ts
d
esig
n
e
d
f
o
r
d
an
g
er
o
u
s
en
v
ir
o
n
m
e
n
ts
,
en
ab
lin
g
f
ea
r
less
v
is
u
al
d
ata
ac
q
u
is
itio
n
th
r
o
u
g
h
ag
ile
m
an
eu
v
er
s
lik
e
clim
b
in
g
an
d
n
av
i
g
atin
g
tig
h
t
s
p
ac
es
[
2
3
]
.
An
I
o
T
-
b
ased
s
u
r
v
eillan
ce
r
o
b
o
t
is
d
ef
in
e
d
as
an
in
tellig
en
t,
d
ep
en
d
ab
le,
a
n
d
ef
f
ec
tiv
e
au
to
n
o
m
o
u
s
s
ec
u
r
ity
s
y
s
tem
.
T
h
e
c
o
n
s
tr
u
ct
io
n
in
clu
d
es
s
ev
er
al
f
ea
tu
r
es
a
n
d
ca
p
ac
ities
th
at
allo
w
f
o
r
im
p
r
o
v
e
d
m
o
n
ito
r
in
g
an
d
p
r
o
tectio
n
[
2
4
]
.
A
lo
w
-
co
s
t
r
em
o
te
s
en
s
in
g
s
y
s
tem
h
as
b
ee
n
p
r
o
p
o
s
ed
th
at
is
wir
eless
,
in
v
o
lv
in
g
th
e
u
s
e
o
f
Ar
d
u
i
n
o
Un
o
m
icr
o
c
o
n
tr
o
ll
er
s
an
d
Dr
ag
in
o
tr
an
s
ce
iv
er
s
t
o
ca
r
r
y
o
u
t th
e
L
o
R
a
p
r
o
t
o
co
l
[
2
5
]
.
3.
M
E
T
H
O
DO
L
O
G
Y
T
h
e
s
u
r
v
eillan
ce
n
o
d
e
is
d
esig
n
ed
to
s
er
v
e
as
th
e
p
r
im
ar
y
en
v
ir
o
n
m
e
n
tal
d
ata
co
llecto
r
f
o
r
a
r
o
b
o
tic
s
u
r
v
eillan
ce
s
y
s
tem
ca
p
a
b
le
o
f
f
u
n
ctio
n
i
n
g
in
d
is
aster
zo
n
es.
I
t
ac
ts
as
a
s
in
g
u
lar
c
o
m
p
lex
s
y
s
tem
t
h
at
p
er
f
o
r
m
s
all
th
e
d
ir
e
ctiv
es
g
i
v
en
with
in
a
ce
r
tain
a
r
ea
,
an
d
its
o
u
ter
p
e
r
ip
h
er
als
ar
e
co
n
n
ec
ted
to
it,
g
r
ea
tly
aid
in
g
it
with
its
task
s
.
T
h
e
b
lo
ck
d
iag
r
am
f
o
r
th
e
s
u
r
v
eilla
n
ce
n
o
d
e
is
s
h
o
wn
in
Fig
u
r
e
1
.
I
n
th
e
b
lo
ck
,
th
e
m
ain
co
n
tr
o
l
is
t
h
e
Su
r
v
eillan
ce
No
d
e.
I
t
is
th
e
Ar
d
u
in
o
U
n
o
m
ic
r
o
co
n
tr
o
ller
t
h
at
is
th
e
ce
n
tr
al
p
r
o
ce
s
s
in
g
u
n
it
o
f
th
e
s
y
s
tem
.
T
h
e
r
o
b
o
t
ic
u
n
it
is
f
u
lly
o
p
e
r
atio
n
al,
a
n
d
it
g
ets
in
s
tr
u
ctio
n
s
v
ia
r
e
m
o
te
co
n
tr
o
l;
h
en
ce
,
s
en
s
o
r
s
d
eter
m
in
e
its
lo
ca
tio
n
an
d
g
iv
e
th
e
d
ata
to
a
co
m
p
u
ter
wh
er
e
an
alg
o
r
ith
m
a
n
aly
ze
s
it,
allo
win
g
co
m
m
an
d
s
t
o
b
e
g
iv
e
n
to
th
e
ac
tu
ato
r
s
.
T
h
e
Ar
d
u
in
o
Un
o
is
r
esp
o
n
s
ib
le
f
o
r
co
m
m
u
n
i
ca
tio
n
b
etwe
en
th
e
d
if
f
er
en
t
p
er
ip
h
er
als
an
d
f
o
r
co
n
tr
o
llin
g
th
e
r
o
b
o
t
ac
c
o
r
d
i
n
g
to
th
e
in
s
tr
u
ctio
n
s
r
ec
eiv
e
d
f
r
o
m
t
h
e
r
e
m
o
te
co
n
tr
o
l.
T
h
e
s
y
s
tem
em
p
lo
y
s
a
L
o
R
a
R
F
Mo
d
u
le
f
o
r
co
m
m
u
n
icatio
n
with
th
e
R
em
o
te
No
d
e,
as
th
is
k
in
d
o
f
s
y
s
tem
allo
ws
lo
n
g
-
r
an
g
e
co
m
m
u
n
icatio
n
.
T
h
is
tech
n
o
lo
g
y
is
u
s
ed
wh
er
e
th
e
en
er
g
y
tr
an
s
m
is
s
io
n
h
as
to
b
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
Lo
R
a
-
en
a
b
led
r
emo
te
-
co
n
tr
o
ll
ed
s
u
r
ve
illa
n
ce
r
o
b
o
t fo
r
mo
n
i
to
r
in
g
a
n
d
n
a
vig
a
tio
n
…
(
A
n
it
a
Geh
lo
t
)
313
r
eliab
le
an
d
lo
w
en
e
r
g
y
in
co
m
p
ar
is
o
n
to
r
e
g
u
lar
s
y
s
tem
s
th
at
wo
u
ld
d
r
ain
p
o
wer
.
Su
ch
tech
n
o
lo
g
ies
f
u
r
th
e
r
in
cr
ea
s
e
th
e
u
s
ef
u
l
n
ess
an
d
aid
wh
er
e
r
eg
u
lar
wir
eless
d
ata
s
y
s
tem
s
wo
u
ld
f
ail.
T
h
e
en
v
ir
o
n
m
en
tal
d
at
a
co
llected
an
d
m
o
v
em
en
t c
o
m
m
an
d
s
g
iv
en
t
o
th
e
Su
r
v
eillan
ce
No
d
e
b
y
t
h
e
r
em
o
te
o
p
er
at
o
r
ar
e
co
m
m
u
n
icate
d
th
r
o
u
g
h
th
e
L
o
R
a
m
o
d
u
le.
T
h
e
E
SP
3
2
C
am
er
a
m
o
d
u
le
is
s
u
p
p
lem
en
ted
to
allo
w
v
id
e
o
s
tr
ea
m
in
g
f
ea
tu
r
es.
I
t
co
llects
th
e
liv
e
v
i
d
eo
o
f
t
h
e
r
o
b
o
t'
s
en
v
ir
o
n
m
en
t
a
n
d
s
en
d
s
it
to
a
lap
t
o
p
o
r
c
o
n
tr
o
l
ce
n
t
er
o
v
e
r
th
e
in
ter
n
et
th
r
o
u
g
h
an
ass
ig
n
ed
I
P
ad
d
r
ess
.
T
h
is
is
im
p
o
r
tan
t
to
allo
w
th
e
o
p
er
ato
r
to
co
n
tr
o
l
th
e
r
o
b
o
t
in
r
em
o
te
ar
ea
s
,
lik
e
d
is
aster
zo
n
es,
an
d
k
ee
p
a
n
ey
e
o
n
th
e
ar
ea
f
r
o
m
af
ar
.
Fig
u
r
e
1
.
B
lo
ck
d
iag
r
am
o
f
th
e
s
u
r
v
eillan
ce
n
o
d
e
T
h
e
r
ec
o
r
d
i
n
g
o
f
en
v
ir
o
n
m
e
n
tal
m
o
n
ito
r
in
g
is
ac
h
iev
ed
u
s
in
g
a
co
m
b
in
atio
n
o
f
s
ev
e
r
al
s
en
s
o
r
s
.
Me
asu
r
in
g
th
e
d
is
tan
ce
b
etw
ee
n
its
elf
an
d
o
b
s
tacle
s
o
n
i
ts
tr
ajec
to
r
y
,
th
e
Ultr
aso
n
ic
Sen
s
o
r
will
av
o
id
co
llis
io
n
s
,
wh
ile
th
e
DHT
1
1
S
en
s
o
r
m
ea
s
u
r
es
tem
p
er
atu
r
e
a
n
d
h
u
m
id
ity
in
o
r
d
e
r
to
p
r
e
p
ar
e
f
o
r
th
e
co
n
d
itio
n
s
in
th
e
d
is
aster
zo
n
e.
T
h
is
is
p
ar
am
o
u
n
t
to
id
en
tify
r
is
k
an
d
en
s
u
r
e
th
e
p
r
o
tectio
n
o
f
s
u
r
v
iv
o
r
s
an
d
r
escu
e
wo
r
k
er
s
.
T
h
e
m
o
b
ilit
y
o
f
t
h
e
s
y
s
tem
is
en
s
u
r
ed
b
y
two
DC
Mo
to
r
s
co
n
n
ec
ted
t
o
an
L
2
9
3
D
M
o
to
r
Dr
iv
er
Mo
d
u
le.
As a
b
r
id
g
e
b
etwe
en
th
e
Ar
d
u
in
o
Un
o
an
d
th
e
m
o
to
r
s
,
th
e
m
o
to
r
d
r
iv
er
allo
ws th
e
m
icr
o
co
n
tr
o
ller
t
o
tr
an
s
f
o
r
m
elec
tr
o
n
ic
s
ig
n
als
in
to
th
e
d
esire
d
m
o
v
em
e
n
t
o
f
th
e
r
o
b
o
t.
W
ith
s
u
ch
ca
p
ab
ilit
ies,
th
e
Su
r
v
eillan
ce
No
d
e
is
a
b
le
to
tr
av
e
r
s
e
th
r
o
u
g
h
r
u
b
b
le
an
d
r
o
u
g
h
ter
r
ain
w
ith
o
u
t
a
n
y
tr
o
u
b
le.
T
h
e
R
em
o
t
e
No
d
e
s
er
v
es
as
a
s
y
s
tem
co
n
tr
o
l
u
n
it,
allo
win
g
o
p
er
ato
r
s
to
o
p
er
ate
a
n
d
wa
tch
th
e
Su
r
v
eillan
ce
No
d
e
u
s
in
g
its
n
av
ig
atio
n
f
ea
tu
r
es
an
d
m
o
n
ito
r
in
g
to
o
l
s
.
I
t
h
as
s
ev
er
al
elem
en
ts
th
at
en
ab
le
co
m
m
u
n
icatio
n
,
co
n
tr
o
l,
an
d
f
ee
d
b
ac
k
p
r
o
ce
s
s
in
g
s
y
s
tem
s
to
s
u
p
p
o
r
t
o
p
er
atio
n
i
n
a
d
is
aster
en
v
ir
o
n
m
en
t.
Fig
u
r
e
2
d
ep
icts
th
e
r
em
o
te
n
o
d
e
b
l
o
ck
d
iag
r
am
.
T
h
e
co
r
e
o
f
th
e
R
em
o
te
No
d
e
is
a
n
Ar
d
u
in
o
Un
o
m
icr
o
co
n
tr
o
ller
,
w
h
ich
is
r
e
s
p
o
n
s
ib
le
f
o
r
c
o
o
r
d
i
n
atin
g
th
e
R
em
o
te
No
d
e
a
n
d
th
e
Su
r
v
eillan
ce
No
d
e
co
m
m
u
n
icatio
n
.
T
h
e
Ar
d
u
in
o
Un
o
also
wo
r
k
s
with
th
e
L
o
R
a
R
F
m
o
d
u
le;
it
r
ec
ei
v
es
d
ata
an
d
is
s
u
es
co
n
tr
o
l
s
ig
n
als,
tak
es
co
m
m
an
d
in
s
tr
u
ctio
n
s
f
r
o
m
th
e
o
p
er
ato
r
th
r
o
u
g
h
th
e
k
ey
p
a
d
,
an
d
is
s
u
es
ap
p
r
o
p
r
iate
m
o
v
em
en
ts
,
in
clu
d
in
g
t
u
r
n
in
g
o
n
th
e
b
u
zz
er
.
T
h
e
L
o
R
a
R
F
Mo
d
u
le
allo
ws
lo
n
g
-
d
is
tan
ce
co
m
m
u
n
icatio
n
with
th
e
Su
r
v
eillan
ce
No
d
e
an
d
is
o
n
e
o
f
its
m
ain
co
m
p
o
n
en
ts
.
I
t
r
ec
eiv
es
m
o
v
em
en
t
co
n
tr
o
l
co
m
m
a
n
d
s
f
r
o
m
th
e
R
em
o
te
No
d
e
an
d
s
en
d
s
t
h
e
co
m
m
an
d
s
to
th
e
Su
r
v
eilla
n
ce
No
d
e.
I
t
also
tr
an
s
m
its
en
v
ir
o
n
m
e
n
tal
s
en
s
in
g
d
ata
an
d
n
o
d
e
s
tatu
s
to
th
e
u
s
er
s
o
f
th
e
R
em
o
te
No
d
e.
T
h
e
ab
ilit
y
o
f
th
e
L
o
R
a
m
o
d
u
le
to
o
p
er
ate
at
l
o
w
p
o
wer
an
d
at
l
o
n
g
d
is
tan
ce
s
m
ak
es
it
s
u
itab
le
f
o
r
p
lac
es
with
co
n
v
e
n
tio
n
al
co
m
m
u
n
icatio
n
n
etwo
r
k
s
in
o
p
er
ab
le,
lik
e
in
d
is
aster
zo
n
es.
T
h
e
L
o
R
a
-
en
ab
led
s
u
r
v
ei
llan
ce
r
o
b
o
t
p
r
o
v
id
es
a
r
an
g
e
o
f
1
5
k
m
in
o
p
en
ar
ea
s
an
d
5
k
m
in
u
r
b
an
en
v
ir
o
n
m
en
ts
if
th
er
e
ar
e
s
o
m
e
h
u
r
d
les
in
b
etwe
en
f
o
r
co
m
m
u
n
ic
atio
n
,
with
8
h
o
u
r
s
o
f
b
atter
y
life
an
d
1
.
5
-
s
ec
o
n
d
v
id
eo
late
n
cy
,
w
h
ich
en
s
u
r
es
ef
f
icien
t
r
ea
l
-
tim
e
m
o
n
ito
r
in
g
in
d
is
aster
zo
n
es.
T
h
e
No
d
eM
C
U
h
as
b
ee
n
in
c
o
r
p
o
r
ate
d
in
t
o
th
e
R
em
o
te
No
d
e
o
n
to
p
o
f
th
e
s
y
s
tem
in
o
r
d
er
to
im
p
r
o
v
e
its
ca
p
ab
ilit
ies.
T
h
e
No
d
eM
C
U
s
er
v
es
as
a
tr
an
s
m
itter
o
f
d
ata
to
th
e
B
ly
n
k
clo
u
d
s
er
v
er
.
I
t
s
f
u
n
ctio
n
i
n
clu
d
es
u
p
lo
ad
in
g
in
f
o
r
m
atio
n
an
d
s
tatu
s
u
p
d
ates
r
ec
eiv
ed
th
r
o
u
g
h
L
o
R
a
to
th
e
clo
u
d
.
T
h
u
s
,
u
s
er
s
ca
n
ac
ce
s
s
th
e
en
v
ir
o
n
m
en
tal
f
ac
to
r
s
o
f
th
e
d
is
aster
zo
n
e.
Stru
ctu
r
es
o
f
t
h
e
clo
u
d
h
elp
to
g
u
a
r
an
tee
th
at
th
e
d
ata
will
b
e
av
ailab
le
co
n
tem
p
o
r
an
e
o
u
s
ly
t
o
a
m
u
ltit
u
d
e
o
f
u
s
er
s
,
wh
ich
i
n
cr
ea
s
es
th
e
ab
ilit
y
to
m
ak
e
d
ec
is
io
n
s
d
u
r
in
g
th
e
s
ea
r
ch
-
an
d
-
r
escu
e
ac
tiv
ities
.
T
h
e
Key
p
a
d
s
er
v
es
as
a
co
n
tr
o
ller
en
ab
lin
g
t
h
e
o
p
er
ato
r
to
g
u
id
e
th
e
m
o
v
em
en
t
o
f
th
e
r
o
b
o
t.
T
h
e
o
p
er
at
o
r
ca
n
g
iv
e
d
ir
ec
tio
n
al
co
m
m
an
d
s
s
u
ch
as
f
o
r
war
d
,
b
ac
k
war
d
,
lef
t
,
o
r
r
ig
h
t.
T
h
ese
ar
e
r
ea
d
b
y
th
e
Ar
d
u
in
o
Un
o
an
d
tr
an
s
m
itted
to
th
e
Su
r
v
eillan
ce
No
d
e
th
r
o
u
g
h
th
e
L
o
R
a
m
o
d
u
le.
Plan
n
in
g
a
n
d
co
n
tr
o
llin
g
th
e
m
o
v
e
m
en
t
o
f
th
e
r
o
b
o
t
u
s
in
g
th
e
k
ey
p
a
d
is
e
asier
f
o
r
th
e
o
p
er
at
o
r
,
esp
ec
ially
th
o
s
e
w
h
o
h
av
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
14
,
No
.
3
,
Sep
tem
b
er
20
25
:
31
1
-
32
1
314
to
d
ea
l
with
h
ig
h
-
s
tr
ess
s
itu
atio
n
s
.
T
h
e
B
u
zz
er
is
d
esig
n
ed
as
an
aler
t
f
ee
d
b
ac
k
m
ec
h
an
is
m
to
th
e
o
p
e
r
ato
r
wh
en
th
er
e
is
an
ap
p
en
d
in
g
in
cid
en
t.
T
h
e
b
u
zz
er
ca
n
s
en
d
in
f
o
r
m
atio
n
s
u
ch
as
tr
an
s
m
is
s
i
o
n
o
f
th
e
co
m
m
an
d
is
s
u
cc
ess
f
u
l,
co
m
m
u
n
icatio
n
b
r
o
k
e
n
,
o
r
cr
itical
in
f
o
r
m
at
io
n
f
r
o
m
th
e
Su
r
v
eillan
ce
N
o
d
e.
T
h
is
k
i
n
d
o
f
f
ee
d
b
ac
k
e
n
s
u
r
es th
at
ev
er
y
u
s
er
is
p
r
ep
ar
e
d
an
d
ca
n
u
tili
ze
t
h
e
eq
u
ip
m
en
t in
r
ea
l
-
tim
e
s
itu
atio
n
s
.
Fig
u
r
e
2
.
B
lo
ck
d
iag
r
am
o
f
r
e
m
o
te
n
o
d
e
3
.
1
.
H
a
rdwa
re
dev
elo
pm
ent
T
h
e
h
ar
d
w
ar
e
c
o
n
n
ec
t
io
n
s
o
f
th
e
S
u
r
v
eil
la
n
c
e
No
d
e
h
av
e
el
em
e
n
ts
as
s
h
o
w
n
i
n
Fi
g
u
r
e
3
.
T
h
e
GND
p
i
n
o
f
t
h
e
D
HT
1
1
t
em
p
e
r
at
u
r
e
a
n
d
h
u
m
i
d
i
ty
s
e
n
s
o
r
is
c
o
n
n
ec
ted
t
o
th
e
GND
p
in
o
f
t
h
e
A
r
d
u
i
n
o
U
n
o
.
T
h
e
V
cc
p
i
n
o
f
t
h
e
DHT
1
1
s
en
s
o
r
is
c
o
n
n
ec
te
d
t
o
th
e
5
V
p
i
n
o
f
t
h
e
A
r
d
u
i
n
o
U
n
o
t
o
p
r
o
v
id
e
p
o
we
r
.
T
h
e
D
ata
p
in
o
f
th
e
DHT
1
1
is
c
o
n
n
ec
te
d
t
o
d
i
g
it
a
l
p
i
n
A
0
o
n
t
h
e
Ar
d
u
i
n
o
Un
o
.
T
h
is
s
et
u
p
all
o
ws
th
e
A
r
d
u
i
n
o
t
o
r
et
r
ie
v
e
a
n
d
m
o
n
i
to
r
t
em
p
er
at
u
r
e
a
n
d
h
u
m
id
i
ty
d
a
ta
f
r
o
m
t
h
e
e
n
v
ir
o
n
m
en
t
f
o
r
cl
im
ate
an
al
y
s
is
an
d
c
o
n
tr
o
l
a
p
p
lic
ati
o
n
s
.
T
h
e
E
S
P3
2
-
C
AM
m
o
d
u
l
e'
s
g
r
o
u
n
d
p
i
n
is
h
o
o
k
e
d
t
o
th
e
GN
D
p
i
n
o
f
t
h
e
A
r
d
u
i
n
o
U
n
o
,
w
h
i
le
t
h
e
Vc
c
p
i
n
o
f
t
h
e
E
SP
3
2
-
C
AM
is
c
o
n
n
e
cte
d
t
o
th
e
3
.
3
V
p
i
n
o
f
t
h
e
Ar
d
u
i
n
o
Un
o
.
T
h
is
e
n
s
u
r
es
t
h
at
t
h
e
m
o
d
u
le
w
o
r
k
s
o
n
t
h
e
d
esi
r
ed
v
o
l
ta
g
e
.
T
h
e
R
X
o
f
A
r
d
u
i
n
o
U
n
o
is
c
o
n
n
ec
t
ed
t
o
t
h
e
D3
o
f
t
h
e
E
SP
3
2
-
C
AM
,
w
h
i
le
th
e
T
X
o
f
A
r
d
u
i
n
o
Un
o
is
c
o
n
n
ec
t
ed
t
o
t
h
e
D
2
o
f
t
h
e
E
SP
3
2
-
C
AM
.
T
h
is
all
o
ws
f
o
r
t
h
e
W
i
-
F
i
e
n
a
b
l
e
d
E
S
P
3
2
-
C
A
M
m
o
d
u
le
t
o
ca
p
t
u
r
e
s
til
l im
ag
es
o
r
v
i
d
e
o
s
f
o
r
s
u
r
v
eil
la
n
c
e
a
n
d
s
en
d
t
h
em
o
v
e
r
th
e
i
n
te
r
n
e
t,
m
a
k
i
n
g
it
p
o
s
s
ib
l
e
t
o
m
o
n
it
o
r
in
r
e
al
-
ti
m
e
.
Fig
u
r
e
3
.
C
o
n
n
ec
tio
n
d
iag
r
am
o
f
s
u
r
v
eillan
ce
n
o
d
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
Lo
R
a
-
en
a
b
led
r
emo
te
-
co
n
tr
o
ll
ed
s
u
r
ve
illa
n
ce
r
o
b
o
t fo
r
mo
n
i
to
r
in
g
a
n
d
n
a
vig
a
tio
n
…
(
A
n
it
a
Geh
lo
t
)
315
T
h
e
GND
p
i
n
o
f
t
h
e
A
r
d
u
i
n
o
Un
o
is
c
o
n
n
ec
t
ed
t
o
t
h
e
L
o
R
a
R
F
m
o
d
u
l
e'
s
G
r
o
u
n
d
p
in
.
T
o
p
o
we
r
t
h
e
L
o
R
a
m
o
d
u
le
,
its
Vc
c
p
i
n
is
c
o
n
n
ec
t
e
d
to
th
e
5
V
p
in
o
n
t
h
e
Ar
d
u
in
o
U
n
o
.
F
o
r
SP
I
c
o
m
m
u
n
ic
ati
o
n
,
th
e
M
I
SO
,
MO
SI
,
a
n
d
SC
L
p
in
s
o
f
t
h
e
L
o
R
a
m
o
d
u
le
ar
e
c
o
n
n
e
cte
d
t
o
p
i
n
s
1
2
,
1
1
,
an
d
1
3
o
f
th
e
A
r
d
u
i
n
o
U
n
o
,
r
es
p
e
cti
v
e
ly
.
T
h
e
NSS
p
i
n
g
o
e
s
t
o
p
i
n
1
0
,
w
h
il
e
t
h
e
DI
O
0
a
n
d
R
S
T
a
r
e
c
o
n
n
ec
t
ed
to
th
e
d
i
g
it
al
p
i
n
s
9
a
n
d
8
.
T
h
is
c
o
n
f
i
g
u
r
a
ti
o
n
e
n
a
b
l
es
t
h
e
L
o
R
a
m
o
d
u
l
e
to
wi
r
e
less
l
y
s
e
n
d
a
n
d
r
e
ce
i
v
e
d
at
a
o
v
e
r
la
r
g
e
d
is
t
an
ce
s
,
w
h
ic
h
is
wh
y
i
t
is
p
e
r
f
e
ct
f
o
r
r
em
o
t
e
c
o
m
m
u
n
ic
ati
o
n
a
n
d
I
o
T
u
s
ag
e.
T
h
e
GND
p
i
n
o
f
t
h
e
HC
-
SR
0
4
u
lt
r
as
o
n
i
c
s
e
n
s
o
r
is
co
n
n
e
cte
d
t
o
t
h
e
GND
p
i
n
o
f
t
h
e
A
r
d
u
i
n
o
Un
o
.
Fo
r
p
o
we
r
i
n
g
t
h
e
u
lt
r
aso
n
i
c
s
e
n
s
o
r
,
t
h
e
Vc
c
p
i
n
is
c
o
n
n
ec
t
ed
to
th
e
5
V
p
i
n
o
f
t
h
e
Ar
d
u
i
n
o
U
n
o
.
T
h
e
T
r
i
g
g
e
r
p
in
o
f
t
h
e
u
lt
r
a
s
o
n
ic
s
e
n
s
o
r
is
c
o
n
n
ec
t
ed
t
o
d
ig
i
tal
p
in
7
,
a
n
d
th
e
E
c
h
o
p
in
t
o
d
i
g
it
al
p
i
n
6
.
T
h
is
all
o
ws
th
e
A
r
d
u
i
n
o
U
n
o
t
o
t
r
an
s
m
it
u
ltr
as
o
n
ic
p
u
ls
es
a
n
d
r
ec
o
r
d
th
e
ti
m
i
n
g
o
f
th
e
e
c
h
o
,
wh
ic
h
m
a
k
es
i
t
p
o
s
s
i
b
le
t
o
m
ea
s
u
r
e
th
e
d
is
ta
n
c
e
as
well
as
d
et
ec
t
o
b
s
tac
les
.
T
h
e
GND
p
i
n
s
f
r
o
m
t
h
e
L
2
9
3
D
m
o
to
r
d
r
i
v
e
r
I
C
we
r
e
co
n
n
e
cte
d
t
o
t
h
e
GND
p
i
n
o
f
th
e
A
r
d
u
i
n
o
U
n
o
.
P
in
Vss
(
p
in
1
6
)
o
f
L
2
9
3
D
is
co
n
n
e
cte
d
t
o
+1
2
V
,
w
h
i
ch
p
o
wer
s
th
e
m
o
to
r
s
,
w
h
ile
p
in
Vs
(
p
in
8
)
is
co
n
n
e
ct
ed
to
+
5
V
f
o
r
t
h
e
I
C
l
o
g
ic
.
FOR
p
i
n
s
I
N1
(
2
)
a
n
d
I
N
2
(
7
)
o
f
L
2
9
3
D
,
t
h
e
y
ar
e
c
o
n
n
ec
te
d
t
o
A
0
a
n
d
A
1
o
n
A
r
d
u
i
n
o
U
n
o
f
o
r
co
n
t
r
o
lli
n
g
t
h
e
f
i
r
s
t
DC
m
o
t
o
r
,
wh
ile
p
i
n
s
I
N
3
(
1
0
)
,
I
N
4
(
1
5
)
a
r
e
c
o
n
n
ec
t
e
d
t
o
A2
a
n
d
A
3
o
n
Ar
d
u
i
n
o
U
n
o
f
o
r
c
o
n
t
r
o
lli
n
g
t
h
e
s
ec
o
n
d
DC
m
o
t
o
r
.
T
h
e
f
ir
s
t
a
n
d
s
ec
o
n
d
DC
m
o
t
o
r
s
ar
e
co
n
n
e
cte
d
to
OU
T
1
,
OU
T
2
an
d
OU
T
3
,
a
n
d
OU
T
4
p
i
n
s
,
r
es
p
e
cti
v
e
ly
.
T
h
is
c
o
n
f
i
g
u
r
ati
o
n
p
e
r
m
i
ts
b
id
ir
ec
t
io
n
al
c
o
n
t
r
o
l
o
f
th
e
m
o
t
o
r
,
all
o
wi
n
g
it
to
b
e
p
o
w
er
ed
f
o
r
wa
r
d
o
r
b
a
ck
wa
r
d
o
n
c
o
m
m
a
n
d
f
r
o
m
t
h
e
A
r
d
u
i
n
o
.
T
h
e
h
a
r
d
w
ar
e
co
n
n
e
cti
o
n
s
o
f
t
h
e
R
e
m
o
te
N
o
d
e
h
a
v
e
t
h
e
f
o
ll
o
wi
n
g
el
em
e
n
ts
,
as
s
h
o
w
n
i
n
Fi
g
u
r
e
4
.
I
n
t
h
e
s
p
e
ci
f
ic
a
r
r
a
n
g
em
en
t
o
f
t
h
e
p
r
o
je
ct
,
t
h
e
g
r
o
u
n
d
p
i
n
o
f
t
h
e
No
d
eM
C
U
(
E
SP
8
2
6
6
)
is
att
ac
h
e
d
to
t
h
e
GN
D
p
i
n
o
f
Ar
d
u
i
n
o
Un
o
,
r
es
u
lt
in
g
i
n
a
co
m
m
o
n
g
r
o
u
n
d
c
o
n
n
ec
ti
o
n
f
o
r
b
o
t
h
m
ic
r
o
c
o
n
tr
o
l
le
r
s
.
N
o
d
eM
C
U’
s
Vc
c
p
i
n
is
c
o
n
n
ec
t
e
d
to
t
h
e
3
.
3
V
p
i
n
o
f
A
r
d
u
i
n
o
Un
o
,
w
h
i
ch
p
o
we
r
s
th
e
E
S
P m
o
d
u
l
e.
T
h
e
D
3
p
i
n
o
f
t
h
e
N
o
d
eM
C
U
is
c
o
n
n
ec
te
d
t
o
t
h
e
R
X
p
in
0
o
f
t
h
e
A
r
d
u
i
n
o
Un
o
,
w
h
il
e
t
h
e
D
2
p
i
n
o
f
t
h
e
N
o
d
eM
C
U
is
c
o
n
n
e
cte
d
to
t
h
e
T
X
p
in
1
o
f
t
h
e
Ar
d
u
i
n
o
U
n
o
.
I
n
t
u
r
n
,
t
h
ese
al
lo
w
t
h
e
Ar
d
u
i
n
o
UN
O
an
d
N
o
d
eM
C
U
t
o
c
o
m
m
u
n
ic
a
te
o
v
e
r
UAR
T
,
a
ll
o
wi
n
g
No
d
eM
C
U
t
o
tr
an
s
m
it
an
d
r
ec
ei
v
e
d
a
ta
u
s
i
n
g
W
i
-
Fi
.
T
h
e
g
r
o
u
n
d
p
i
n
o
f
t
h
e
L
o
R
a
R
F m
o
d
u
l
e
is
co
n
n
e
ct
ed
to
t
h
e
GND
p
i
n
o
f
th
e
A
r
d
u
in
o
U
n
o
,
wh
i
le
t
h
e
Vc
c
p
i
n
o
f
th
e
L
o
R
a
m
o
d
u
l
e
is
c
o
n
n
e
cte
d
t
o
t
h
e
5
V
p
in
o
f
t
h
e
A
r
d
u
in
o
Un
o
f
o
r
p
o
we
r
i
n
g
t
h
e
m
o
d
u
l
e.
T
h
e
M
I
SO
,
MO
S
I
,
an
d
SC
L
K
p
i
n
s
o
f
t
h
e
L
o
R
a
m
o
d
u
l
e
ar
e
co
n
n
e
cte
d
to
d
i
g
it
al
p
i
n
s
1
2
,
1
1
,
an
d
1
3
o
f
th
e
A
r
d
u
i
n
o
U
n
o
,
r
es
p
e
cti
v
e
ly
,
f
o
r
SP
I
co
m
m
u
n
i
ca
ti
o
n
.
T
h
e
1
0
th
d
i
g
it
al
p
i
n
is
co
n
n
e
cte
d
to
NSS
,
w
h
i
le
DI
O
0
an
d
R
ST
p
i
n
s
a
r
e
co
n
n
e
cte
d
t
o
9
a
n
d
8
d
i
g
it
al
p
in
s
,
r
es
p
ec
ti
v
el
y
.
T
h
is
e
n
a
b
les
t
h
e
Ar
d
u
i
n
o
U
n
o
a
n
d
t
h
e
L
o
R
a
m
o
d
u
l
e
to
ex
ch
a
n
g
e
i
n
f
o
r
m
ati
o
n
a
n
d
al
lo
ws
w
ir
eless
d
ata
tr
an
s
m
is
s
i
o
n
o
v
e
r
l
o
n
g
d
is
t
a
n
ce
s
.
T
h
e
Ke
y
p
a
d
'
s
g
r
o
u
n
d
p
in
is
atta
c
h
e
d
t
o
t
h
e
GND
p
i
n
o
f
t
h
e
A
r
d
u
in
o
U
n
o
.
T
h
e
B
u
t
to
n
’
s
p
i
n
s
ar
e
r
o
u
te
d
to
6
,
5
,
4
,
3
n
o
p
i
n
s
o
f
t
h
e
A
r
d
u
in
o
Un
o
.
W
it
h
s
u
c
h
a
c
o
n
f
i
g
u
r
ati
o
n
,
th
e
A
r
d
u
in
o
U
n
o
is
a
b
le
t
o
d
et
er
m
i
n
e
t
h
e
k
ey
p
r
ess
ed
a
n
d
als
o
ca
p
t
u
r
e
t
h
e
u
s
e
r
i
n
p
u
ts
;
t
h
e
r
e
f
o
r
e
,
t
h
e
k
e
y
p
a
d
c
a
n
b
e
u
til
ize
d
f
o
r
a
n
y
s
e
n
s
it
iv
e
s
e
cu
r
i
ty
p
u
r
p
o
s
es
,
f
o
r
p
ass
w
o
r
d
i
n
p
u
t
,
o
r
m
e
n
u
s
ele
cti
o
n
.
T
h
e
n
eg
ati
v
e
p
i
n
o
f
t
h
e
b
u
zz
e
r
is
li
n
k
e
d
t
o
t
h
e
GN
D
p
i
n
o
f
t
h
e
A
r
d
u
i
n
o
U
n
o
.
T
h
e
p
o
s
iti
v
e
s
i
d
e
o
f
t
h
e
b
u
z
ze
r
is
c
o
n
n
ec
t
e
d
t
o
d
i
g
i
tal
p
in
2
o
f
th
e
A
r
d
u
in
o
Un
o
.
T
h
e
c
o
n
n
ec
t
io
n
is
d
o
n
e
s
o
i
n
o
r
d
e
r
f
o
r
th
e
Ar
d
u
in
o
to
c
o
n
tr
o
l
t
h
e
b
u
z
z
er
,
i
n
ca
s
es
w
h
e
n
s
p
e
ci
f
ic
c
o
n
d
iti
o
n
s
a
r
e
tr
u
e,
li
k
e
in
a
s
itu
ati
o
n
w
h
e
r
e
t
h
e
p
ass
w
o
r
d
is
i
n
c
o
r
r
ec
t,
u
n
a
u
t
h
o
r
iz
e
d
a
cc
ess
is
a
tte
m
p
te
d
,
o
r
a
n
a
la
r
m
c
o
n
d
i
ti
o
n
r
ec
e
iv
e
d
t
h
r
o
u
g
h
L
o
R
a
o
r
W
i
-
Fi
co
n
n
e
cti
o
n
is
a
cti
v
ate
d
.
Fig
u
r
e
4
.
C
o
n
n
ec
tio
n
d
iag
r
am
o
f
ce
n
tr
al
d
ata
ca
p
tu
r
i
n
g
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
14
,
No
.
3
,
Sep
tem
b
er
20
25
:
31
1
-
32
1
316
4.
RE
SU
L
T
S
AND
D
I
SCU
SS
I
O
N
T
h
e
tech
n
o
lo
g
y
b
e
h
in
d
th
e
s
u
r
v
eillan
ce
n
o
d
e
f
o
cu
s
es
o
n
co
m
b
in
in
g
th
e
elem
en
ts
o
f
s
en
s
in
g
,
n
av
ig
atio
n
,
an
d
co
m
m
u
n
icati
o
n
f
o
r
ef
f
ec
tiv
e
an
d
ef
f
icien
t
u
s
e
d
u
r
in
g
d
is
aster
s
itu
atio
n
s
.
All
th
e
f
ac
ti
o
n
s
o
f
th
e
Su
r
v
eillan
ce
N
o
d
e
ac
tiv
el
y
ass
is
t
it
in
m
o
n
ito
r
in
g
an
d
n
av
ig
atin
g
th
r
o
u
g
h
h
az
ar
d
o
u
s
ter
r
ain
s
,
m
a
k
in
g
it
ca
p
ab
le
o
f
t
r
an
s
m
itti
n
g
v
ital
i
n
f
o
r
m
atio
n
in
r
ea
l
tim
e
an
d
a
id
in
g
ef
f
ec
tiv
e
s
ea
r
ch
es
an
d
r
escu
e
m
is
s
io
n
s
.
A
m
o
r
e
co
m
p
r
eh
e
n
s
iv
e
d
escr
ip
ti
o
n
o
f
th
e
m
eth
o
d
o
lo
g
y
o
f
wo
r
k
in
g
is
p
r
o
v
id
e
d
b
elo
w.
As
t
h
e
m
ain
co
n
tr
o
ller
,
th
e
Ar
d
u
i
n
o
U
n
o
c
o
o
r
d
in
ates
t
h
e
f
u
n
ctio
n
in
g
o
f
v
ar
io
u
s
c
o
m
p
o
n
en
ts
c
o
n
n
ec
ted
to
it.
I
ts
k
e
y
task
is
to
r
ec
eiv
e
in
p
u
t
f
r
o
m
th
e
s
en
s
o
r
s
an
d
c
o
m
m
u
n
icatio
n
m
o
d
u
les,
an
d
in
tu
r
n
,
co
n
tr
o
l
th
e
r
o
b
o
ts
’
m
o
v
em
en
ts
an
d
d
ata
tr
an
s
m
is
s
io
n
.
T
h
e
s
y
s
tem
is
d
ep
en
d
en
t
o
n
Ar
d
u
i
n
o
Un
o
to
c
o
o
r
d
in
ate
th
e
h
ar
d
war
e
an
d
s
o
f
twar
e
o
f
th
e
wh
o
le
s
y
s
tem
.
On
th
e
o
th
e
r
h
an
d
,
t
h
e
L
o
R
a
R
F
Mo
d
u
le
is
u
s
ed
to
s
en
d
a
n
d
r
ec
ei
v
e
th
e
s
ig
n
als
to
an
d
f
r
o
m
t
h
e
Su
r
v
eillan
ce
No
d
e
an
d
th
e
R
em
o
te
No
d
e
f
o
r
r
an
g
e
co
m
m
u
n
icatio
n
.
Dir
ec
tio
n
al
co
m
m
an
d
s
ar
e
s
en
t
f
r
o
m
th
e
R
em
o
te
No
d
e
to
th
e
L
o
R
a
Mo
d
u
le,
wh
ich
in
t
u
r
n
co
m
m
a
n
d
s
f
o
r
n
a
v
ig
atio
n
.
T
h
e
s
en
s
o
r
s
ar
e
attac
h
ed
,
th
e
n
r
elay
b
ac
k
t
h
e
e
n
v
ir
o
n
m
en
tal
d
ata
co
llected
to
th
e
R
em
o
te
No
d
e.
Sin
ce
n
o
r
m
al
c
o
m
m
u
n
i
ca
tio
n
way
s
ca
n
n
o
t
wo
r
k
in
d
is
aster
s
itu
atio
n
s
,
th
is
two
-
way
co
m
m
u
n
icatio
n
is
v
er
y
u
s
ef
u
l
an
d
in
cr
ea
s
es
o
p
e
r
atio
n
al
ef
f
icien
cy
.
T
h
e
r
ea
l
-
tim
e
f
o
o
tag
e
o
f
th
e
r
o
b
o
t’
s
en
v
i
r
o
n
m
e
n
t is th
e
p
u
r
p
o
s
e
b
eh
in
d
t
h
e
u
s
e
o
f
t
h
e
E
SP
3
2
C
am
er
a
Mo
d
u
le.
T
h
is
s
tr
ea
m
o
f
v
id
eo
g
ets
tr
an
s
f
er
r
ed
v
ia
W
i
-
Fi
to
b
e
av
ai
lab
le
to
th
e
r
escu
e
o
p
er
ato
r
s
u
s
in
g
th
e
d
esk
to
p
co
m
p
u
ter
at
th
e
co
n
t
r
o
l
ce
n
ter
th
r
o
u
g
h
a
s
p
ec
if
ic
I
P
ad
d
r
ess
.
Fig
u
r
e
5
d
ep
icts
th
e
p
r
o
t
o
ty
p
e
d
esig
n
e
d
f
o
r
t
h
e
Su
r
v
eillan
ce
No
d
e.
T
h
e
o
p
er
a
to
r
s
,
th
r
o
u
g
h
t
h
e
liv
e
v
i
d
eo
,
a
r
e
ab
le
to
g
et
ac
q
u
ai
n
ted
with
th
e
en
v
ir
o
n
m
e
n
t,
co
n
tr
o
l
th
e
r
o
b
o
t’
s
m
o
v
em
e
n
ts
r
em
o
tely
,
an
d
tak
e
ac
tio
n
s
co
n
ce
r
n
in
g
th
e
s
itu
atio
n
b
ased
o
n
th
e
a
v
ailab
le
in
f
o
r
m
atio
n
.
Fo
r
m
o
n
ito
r
in
g
th
e
e
n
v
ir
o
n
m
en
t,
a
co
m
b
i
n
atio
n
o
f
a
p
p
r
o
ac
h
es
u
s
in
g
v
ar
io
u
s
s
en
s
o
r
s
is
em
p
lo
y
ed
.
T
h
e
DHT
1
1
s
en
s
o
r
,
wh
ich
g
au
g
es
tem
p
er
atu
r
e
alo
n
g
s
id
e
h
u
m
i
d
ity
,
is
u
s
ef
u
l
in
g
ettin
g
p
r
ec
is
e
co
n
d
itio
n
s
with
in
th
e
d
is
aste
r
ar
ea
.
W
h
ile
th
e
r
o
b
o
t
is
in
m
o
tio
n
,
th
e
u
ltra
s
o
n
ic
s
en
s
o
r
aid
s
in
co
llater
al
d
am
ag
e
b
y
id
e
n
tify
in
g
an
y
o
b
s
tacle
s
with
in
th
e
r
o
b
o
t’
s
tr
aje
cto
r
y
.
T
h
is
allo
ws
th
e
r
o
b
o
t
to
m
an
eu
v
e
r
th
r
o
u
g
h
d
eb
r
is
an
d
tig
h
t
s
p
ac
es.
I
t
is
a
t
th
is
n
o
d
e
wh
er
e
th
e
in
f
o
r
m
ati
o
n
g
ath
er
ed
b
y
th
e
s
en
s
o
r
s
is
s
en
t
to
th
e
R
em
o
te
No
d
e
f
o
r
f
u
r
t
h
er
ev
al
u
atio
n
an
d
p
r
o
m
p
t d
ec
is
io
n
s
.
Fig
u
r
e
5
.
Har
d
war
e
s
etu
p
u
s
ed
in
s
u
r
v
eillan
ce
n
o
d
e
DC
m
o
to
r
s
ar
e
also
th
e
o
n
es
t
h
at
m
o
v
e
th
e
r
o
b
o
t.
T
h
e
m
o
to
r
s
ar
e
r
o
tated
with
t
h
e
aid
o
f
an
L
2
9
3
D
Mo
to
r
Dr
i
v
er
M
o
d
u
le,
wh
ich
is
co
n
n
ec
ted
to
th
e
Ar
d
u
in
o
Un
o
.
T
h
e
m
o
to
r
d
r
iv
er
tak
es
co
n
tr
o
l
s
ig
n
als
f
r
o
m
th
e
L
2
9
3
D
an
d
m
ak
es
it p
o
s
s
ib
le
f
o
r
th
e
r
o
b
o
t
to
m
o
v
e.
T
h
i
s
m
ak
es
it
p
o
s
s
ib
le
f
o
r
th
e
r
o
b
o
t
to
r
ec
eiv
e
s
ig
n
als
f
r
o
m
th
e
R
em
o
te
No
d
e
an
d
m
o
v
e
in
th
e
d
esire
d
d
ir
ec
tio
n
,
s
u
ch
as
f
o
r
war
d
,
b
ac
k
war
d
,
tu
r
n
,
o
r
s
to
p
.
T
h
e
co
m
b
in
atio
n
o
f
th
e
m
o
t
o
r
d
r
iv
er
an
d
th
e
DC
m
o
to
r
s
p
r
o
v
id
es
r
eliab
le
an
d
r
esp
o
n
s
iv
e
m
o
v
em
en
t
ac
r
o
s
s
d
if
f
er
en
t
s
u
r
f
ac
es,
an
d
th
e
r
o
b
o
t
is
co
n
tr
o
lled
u
s
in
g
th
e
r
em
o
te
co
n
tr
o
l.
All
th
e
p
ar
ts
ar
e
m
o
u
n
ted
o
n
a
s
tu
r
d
y
ch
ass
is
b
u
ilt
s
tr
o
n
g
en
o
u
g
h
to
with
s
tan
d
th
e
r
o
u
g
h
co
n
d
itio
n
s
th
at
is
en
co
u
n
ter
ed
in
d
is
aster
ar
ea
s
.
T
o
p
u
t
it
s
im
p
ly
,
th
e
Su
r
v
eillan
ce
No
d
e
s
er
v
es
as
an
all
-
p
u
r
p
o
s
e
r
o
b
o
tic
u
n
it
th
at
is
ab
le
to
tr
av
er
s
e
u
n
f
a
v
o
r
ab
le
co
n
d
itio
n
s
,
wh
ile
ac
tiv
ely
m
o
n
ito
r
in
g
im
p
o
r
tan
t
p
a
r
am
ete
r
s
an
d
p
r
o
v
i
d
in
g
f
ir
s
t
-
p
er
s
o
n
liv
e
f
o
o
tag
e.
T
h
e
d
esig
n
an
d
m
et
h
o
d
allo
w
th
e
Nig
h
tm
ar
e
Nan
n
y
to
b
e
u
s
ef
u
l
in
t
h
e
J
ap
an
d
is
aster
r
esp
o
n
s
e
m
is
s
io
n
s
as
it
r
ed
u
ce
s
th
e
r
is
k
s
to
h
u
m
an
r
esp
o
n
d
e
r
s
an
d
in
cr
ea
s
es
th
e
s
p
e
ed
an
d
ac
cu
r
ac
y
o
f
s
ea
r
ch
an
d
r
escu
e
m
is
s
io
n
s
.
I
n
an
y
d
is
aster
r
esp
o
n
s
e
m
is
s
io
n
,
th
e
R
em
o
te
No
d
e
ac
ts
as
a
m
o
n
ito
r
in
g
an
d
co
n
tr
o
l
s
tatio
n
f
o
r
th
e
Su
r
v
eillan
ce
n
o
d
e’
s
ac
tiv
ities
.
I
t
em
p
lo
y
s
a
s
o
p
h
is
ticated
co
m
b
in
atio
n
o
f
m
u
ltifu
n
ctio
n
al
a
p
p
r
o
ac
h
e
s
th
at
in
clu
d
e
u
s
er
in
p
u
t,
clo
u
d
m
o
n
ito
r
i
n
g
,
an
d
wir
eless
co
m
m
u
n
icatio
n
s
.
T
h
is
en
ab
les
th
e
o
p
er
ato
r
to
p
r
o
v
id
e
m
o
n
ito
r
in
g
an
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
Lo
R
a
-
en
a
b
led
r
emo
te
-
co
n
tr
o
ll
ed
s
u
r
ve
illa
n
ce
r
o
b
o
t fo
r
mo
n
i
to
r
in
g
a
n
d
n
a
vig
a
tio
n
…
(
A
n
it
a
Geh
lo
t
)
317
r
ec
eiv
e
f
ee
d
b
ac
k
in
r
ea
l
tim
e.
E
ac
h
in
d
i
v
id
u
al
p
ar
t
in
th
e
r
e
m
o
te
n
o
d
e
wo
r
k
s
to
en
h
a
n
ce
t
h
e
p
er
f
o
r
m
a
n
ce
a
n
d
ac
cu
r
ac
y
o
f
th
e
s
y
s
tem
.
T
h
e
h
ea
r
t
o
f
th
e
R
em
o
te
No
d
e
is
an
Ar
d
u
in
o
Un
o
,
wh
ich
i
s
an
ess
en
tial
co
r
e
co
n
tr
o
ller
.
I
t
r
ec
eiv
es
in
f
o
r
m
atio
n
f
r
o
m
th
e
u
s
er
s
en
t
b
y
th
e
ar
m
ed
t
r
o
o
p
s
a
n
d
,
t
h
r
o
u
g
h
a
th
u
m
b
s
witch
,
en
ab
les th
e
tr
an
s
m
is
s
io
n
o
f
in
f
o
r
m
atio
n
to
th
e
s
u
r
v
eillan
ce
n
o
d
e
u
s
in
g
th
e
k
ey
p
a
d
an
d
L
o
R
a
R
F M
o
d
u
le.
T
h
is
allo
ws
th
e
o
p
er
ato
r
to
s
en
d
co
n
tr
o
l
s
ig
n
als
to
th
e
r
o
b
o
t,
an
d
th
e
Ar
d
u
in
o
Un
o
r
ec
eiv
es
u
s
er
in
p
u
t
co
m
m
a
n
d
s
an
d
c
o
n
v
e
r
ts
th
em
i
n
to
c
o
n
tr
o
l
s
ig
n
als
th
at
in
s
tr
u
ct
th
e
r
o
b
o
t w
h
at
ac
tio
n
s
to
p
er
f
o
r
m
.
T
o
c
o
n
tr
o
l
r
em
o
tely
th
e
s
u
r
v
eillan
ce
n
o
d
e,
th
e
R
F
m
o
d
u
le
is
cr
u
cial,
as
it
f
ac
ilit
a
tes
th
e
co
n
tr
o
l
s
ig
n
als
l
ik
e
d
ir
ec
tio
n
s
(
f
o
r
war
d
,
b
ac
k
war
d
,
lef
t,
o
r
r
ig
h
t)
s
o
th
e
s
u
r
v
eillan
ce
n
o
d
e
ca
n
s
en
d
b
ac
k
th
e
en
v
ir
o
n
m
en
t
r
ea
d
in
g
s
an
d
u
p
d
ate
s
tatu
s
.
As
a
p
ar
t
o
f
th
e
f
ir
e
p
r
o
tecti
o
n
s
y
s
tem
,
n
o
d
e
co
m
m
u
n
icat
io
n
s
er
v
es
to
s
en
d
co
n
tr
o
l
s
ig
n
als
an
d
r
ec
eiv
e
f
ee
d
b
ac
k
a
n
d
is
th
u
s
r
elev
a
n
t
f
o
r
a
tim
ely
r
esp
o
n
s
e.
I
n
o
r
d
er
to
ad
d
ad
d
itio
n
al
f
ea
tu
r
es
,
th
e
No
d
eM
C
U
is
in
co
r
p
o
r
ated
i
n
to
t
h
e
R
em
o
te
No
d
e.
T
h
e
No
d
eM
C
U
f
u
n
ctio
n
s
as
a
m
e
d
iato
r
b
etwe
en
t
h
e
R
em
o
te
No
d
e
a
n
d
th
e
clo
u
d
.
I
t
co
llects
d
ata
lik
e
en
v
ir
o
n
m
e
n
t
p
ar
am
eter
s
an
d
th
e
s
tatu
s
f
r
o
m
th
e
L
o
R
a
R
F
Mo
d
u
le
an
d
th
e
n
s
en
d
s
th
em
to
th
e
B
ly
n
k
cl
o
u
d
s
er
v
er
.
C
o
n
s
eq
u
en
tly
,
with
clo
u
d
ac
ce
s
s
,
s
y
s
tem
s
o
f
f
er
r
escu
er
s
an
d
p
o
licy
m
ak
er
s
th
e
a
b
ilit
y
to
r
e
ce
iv
e
ess
en
tial
d
ata
n
o
m
atter
wh
er
e
th
ey
ar
e
,
wh
ich
im
p
r
o
v
es
team
wo
r
k
an
d
r
esp
o
n
s
e.
T
h
r
o
u
g
h
t
h
e
k
ey
p
a
d
,
th
e
o
p
er
at
o
r
ca
n
co
n
tr
o
l
t
h
e
r
o
b
o
t
’
s
m
o
v
em
en
ts
in
an
ea
s
y
an
d
in
tu
itiv
e
m
an
n
er
.
As
th
e
b
u
tto
n
s
o
n
th
e
k
ey
p
ad
a
r
e
d
e
p
r
ess
ed
,
c
o
m
m
an
d
s
a
r
e
s
en
t
to
th
e
Ar
d
u
in
o
Un
o
,
wh
ich
tr
an
s
lates
th
em
in
to
en
cr
y
p
te
d
s
ig
n
als
th
at
ar
e
s
en
t
to
t
h
e
Su
r
v
eillan
ce
No
d
e
th
r
o
u
g
h
a
L
o
R
a
R
F
Mo
d
u
le.
W
ith
th
is
p
ar
ticu
lar
co
n
tr
o
l,
an
o
p
er
ato
r
ca
n
m
an
e
u
v
er
th
e
r
o
b
o
t
in
th
e
d
is
aster
zo
n
es
ef
f
e
ctiv
ely
,
ev
en
u
n
d
e
r
ad
v
er
s
e
co
n
d
itio
n
s
.
T
h
e
B
u
zz
er
allo
ws
th
e
2
o
p
er
ato
r
s
to
b
e
aler
ted
i
n
an
im
m
ed
iate
m
an
n
er
.
Fig
u
r
e
6
s
h
o
ws
th
e
Pro
to
ty
p
e
b
u
ilt
f
o
r
th
e
R
em
o
te
No
d
e.
I
t
co
u
ld
h
elp
an
o
p
er
ato
r
to
b
e
in
f
o
r
m
e
d
ab
o
u
t
wh
eth
er
th
e
co
m
m
an
d
was
s
u
cc
ess
f
u
lly
r
elay
ed
,
if
t
h
er
e
wer
e
co
m
m
u
n
icatio
n
p
r
o
b
lem
s
,
o
r
i
f
th
er
e
wer
e
im
p
o
r
tan
t
ch
an
g
es
co
m
in
g
f
r
o
m
th
e
Su
r
v
eillan
ce
No
d
e.
T
h
an
k
s
to
t
h
is
s
y
s
tem
,
th
e
o
p
er
ato
r
d
o
es
n
o
t
n
ee
d
to
ch
ec
k
t
h
e
s
y
s
tem
in
ter
f
ac
es
co
n
s
tan
tly
an
d
ca
n
f
o
r
g
et
ab
o
u
t
s
o
m
e
m
ea
s
u
r
es
an
d
ar
r
an
g
em
e
n
ts
,
th
u
s
in
cr
ea
s
in
g
th
e
r
eliab
ilit
y
an
d
ea
s
e
o
f
o
p
e
r
atio
n
s
.
T
h
e
r
ef
o
r
e
,
th
is
R
e
m
o
te
n
o
d
e
e
n
co
m
p
ass
es
all
th
e
elem
e
n
ts
o
f
co
m
m
u
n
icatio
n
,
co
n
tr
o
l,
an
d
f
ee
d
b
ac
k
s
y
s
tem
s
f
o
r
th
e
p
r
o
p
er
ad
m
in
is
tr
atio
n
o
f
th
e
Su
r
v
eillan
ce
No
d
e.
B
ec
au
s
e
o
f
its
lo
n
g
-
r
an
g
e
co
m
m
u
n
icatio
n
with
L
o
R
a,
in
te
g
r
atio
n
i
n
to
clo
u
d
s
er
v
ices
u
s
in
g
th
e
No
d
eM
C
U,
an
d
ea
s
e
-
of
-
u
s
e
with
u
s
er
o
p
e
r
atio
n
s
,
th
e
o
p
e
r
ato
r
s
ar
e
ab
le
to
ac
cu
r
ately
an
d
co
n
f
id
en
tly
co
n
tr
o
l
th
e
r
o
b
o
t
an
d
o
b
s
er
v
e
th
e
d
is
aster
ar
ea
s
.
Su
ch
an
ef
f
ec
tiv
e
d
esig
n
en
s
u
r
es
co
m
p
lete
d
is
aster
s
u
p
p
ly
an
d
r
esp
o
n
s
e
m
an
ag
em
en
t a
s
well
as th
e
s
af
ety
an
d
ef
f
icac
y
o
f
th
e
r
escu
e
o
p
er
atio
n
s
.
Fig
u
r
e
6
.
Har
d
war
e
s
etu
p
u
s
ed
in
ce
n
tr
al
d
ata
ca
p
tu
r
in
g
n
o
d
e
I
n
a
co
m
p
r
eh
e
n
s
iv
e
s
en
s
e,
th
e
B
ly
n
k
m
o
n
ito
r
in
g
co
n
tr
o
l
d
ash
b
o
ar
d
an
d
th
e
liv
e
v
id
eo
s
tr
ea
m
in
g
d
ep
ict
a
v
ib
r
a
n
t m
o
n
ito
r
in
g
c
o
n
to
u
r
.
T
h
e
s
en
s
o
r
’
s
d
etails s
h
o
wn
o
n
th
e
d
ash
b
o
a
r
d
p
r
o
v
id
e
esti
m
ab
le
d
etails o
f
th
e
en
v
ir
o
n
m
en
t,
t
h
e
v
id
e
o
f
o
o
tag
e
allo
ws
o
p
er
ato
r
s
to
p
er
ce
iv
e
th
e
q
u
alitativ
e
f
ea
t
u
r
es
o
f
th
e
en
v
ir
o
n
m
en
t
.
T
h
is
ty
p
e
o
f
la
y
er
in
g
f
u
n
ctio
n
ality
in
cr
ea
s
es
b
o
t
h
p
r
o
d
u
ctiv
ity
an
d
s
af
ety
b
ec
au
s
e
o
p
er
a
to
r
s
h
av
e
ac
ce
s
s
to
r
ea
l
-
tim
e
in
f
o
r
m
atio
n
an
d
v
is
u
al
m
o
n
ito
r
i
n
g
.
T
h
is
f
ea
tu
r
e
i
s
v
er
y
im
p
o
r
tan
t
f
o
r
th
e
p
r
o
je
ct
b
ec
au
s
e
it
g
iv
es
th
e
o
p
p
o
r
tu
n
ity
to
r
esp
o
n
d
to
d
is
aster
s
in
a
s
af
er
a
n
d
e
f
f
ec
ti
v
e
m
an
n
er
.
T
h
e
B
ly
n
k
C
lo
u
d
W
eb
Dash
b
o
ar
d
is
th
e
f
o
ca
l
p
o
in
t
wh
er
e
all
ess
en
tial
en
v
ir
o
n
m
en
tal
in
f
o
r
m
atio
n
th
at
th
e
r
o
b
o
t
c
o
llects
is
d
is
p
lay
ed
.
Usi
n
g
L
ab
el
wid
g
ets,
th
e
r
ea
d
i
n
g
s
o
f
tem
p
er
atu
r
e
a
n
d
h
u
m
id
ity
f
r
o
m
th
e
DHT
1
1
s
en
s
o
r
ar
e
v
is
u
alize
d
in
r
ea
l
tim
e.
T
h
er
ef
o
r
e,
th
ese
wid
g
ets
allo
w
o
p
er
ato
r
s
to
v
is
u
alize
th
e
e
n
v
ir
o
n
m
en
t
in
a
m
o
r
e
s
tr
u
ctu
r
ed
way
s
o
th
at
th
e
y
ca
n
m
itig
ate
r
is
k
s
in
th
e
d
is
aster
ar
ea
,
lik
e
f
ir
es,
o
v
er
h
ea
tin
g
tem
p
er
atu
r
es,
an
d
ar
ea
s
with
ex
ce
s
s
iv
e
h
u
m
id
ity
th
at
m
ay
h
av
e
wate
r
.
Fu
r
th
er
m
o
r
e,
th
e
d
ash
b
o
ar
d
c
o
n
tain
s
a
Gau
g
e
wid
g
et
to
in
d
icate
th
e
d
is
tan
ce
f
r
o
m
th
e
Ultr
aso
n
ic
Sen
s
o
r
.
T
h
is
wid
g
et
en
ab
les
u
s
er
s
to
witn
ess
a
v
is
u
al
r
e
p
r
esen
tatio
n
o
f
t
h
e
r
o
b
o
t'
s
s
k
eleto
n
,
allo
win
g
u
s
er
s
to
ac
tiv
ely
av
o
id
o
b
s
tacle
s
ev
en
wh
en
n
av
ig
atin
g
th
r
o
u
g
h
clu
tter
e
d
an
d
s
m
all
s
p
ac
es.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
14
,
No
.
3
,
Sep
tem
b
er
20
25
:
31
1
-
32
1
318
I
n
f
o
r
m
atio
n
o
n
t
h
e
d
ash
b
o
a
r
d
is
u
p
d
ated
d
y
n
am
ically
,
w
h
ich
en
s
u
r
es
th
at
all
in
f
o
r
m
atio
n
is
u
p
to
d
ate
an
d
ac
tio
n
ab
le
d
u
r
in
g
cr
itical
m
o
m
en
ts
.
At
th
e
s
am
e
tim
e,
th
e
o
p
er
ato
r
s
ca
n
m
o
n
ito
r
t
h
e
en
v
ir
o
n
m
en
t
s
u
r
r
o
u
n
d
in
g
th
e
r
o
b
o
t in
r
ea
l tim
e
u
s
in
g
th
e
liv
e
v
id
eo
f
ee
d
f
r
o
m
th
e
E
SP
3
2
C
am
er
a
Mo
d
u
le.
Av
ailab
le
o
n
a
lap
to
p
v
ia
th
e
ca
m
er
a'
s
I
P
ad
d
r
ess
,
th
is
v
id
e
o
f
ee
d
h
elp
s
th
e
o
p
er
ato
r
u
n
d
er
s
tan
d
th
e
en
v
ir
o
n
m
e
n
t
b
etter
.
T
h
e
u
s
er
s
o
f
th
e
r
o
b
o
t
ca
n
ex
am
i
n
e
th
e
a
r
ea
f
o
r
o
b
s
tacle
s
,
s
u
r
v
iv
o
r
s
,
o
r
a
n
y
h
az
ar
d
s
wh
ile
h
av
i
n
g
a
v
is
u
al
aid
alo
n
g
with
th
e
s
en
s
o
r
d
ata
o
n
th
e
B
ly
n
k
d
ash
b
o
ar
d
.
T
h
e
ab
ilit
y
to
p
r
o
v
i
d
e
r
ea
l
-
tim
e
v
is
u
al
f
ee
d
b
ac
k
im
p
r
o
v
es
s
itu
atio
n
al
u
n
d
er
s
tan
d
i
n
g
an
d
aid
s
u
s
er
s
in
n
av
ig
atin
g
co
m
p
lex
ter
r
ai
n
s
.
T
h
e
L
o
R
a
-
en
ab
led
R
C
R
o
b
o
t
h
as
co
m
e
o
u
t
as
b
en
ef
icial
f
o
r
p
ilo
t
test
s
co
n
d
u
cted
o
n
d
i
s
aster
an
d
s
ea
r
ch
m
is
s
io
n
s
.
T
h
e
s
y
s
tem
en
tails
s
o
p
h
is
ticated
f
ea
tu
r
es
s
u
ch
as
m
o
n
ito
r
i
n
g
th
e
r
o
b
o
t
r
e
m
o
tely
at
th
e
wo
r
k
s
ite
th
r
o
u
g
h
L
o
R
a
co
m
m
u
n
ic
atio
n
an
d
s
im
u
ltan
eo
u
s
ly
co
ll
ec
tin
g
in
f
o
r
m
atio
n
ab
o
u
t
th
e
s
u
r
r
o
u
n
d
in
g
ar
ea
.
Ad
d
in
g
to
th
e
s
p
ee
d
o
f
th
e
o
p
er
ato
r
'
s
d
ec
is
io
n
-
m
ak
in
g
,
th
e
r
em
o
te
s
u
r
v
eillan
ce
n
o
d
e
ca
n
o
p
er
ate
f
r
o
m
with
in
th
o
s
e
u
n
co
n
tr
o
llab
le
ar
ea
s
an
d
o
f
f
er
v
id
e
o
f
ee
d
f
r
o
m
th
e
p
h
y
s
ical
n
o
d
e
f
o
r
r
ea
l
-
tim
e
p
ar
a
m
eter
d
ata
f
r
o
m
th
e
r
em
o
te
r
eg
io
n
.
T
h
e
im
p
o
r
tan
c
e
o
f
th
e
L
o
R
a
tech
n
o
lo
g
y
is
d
em
o
n
s
tr
ated
as
h
ig
h
-
en
e
r
g
y
c
o
m
m
u
n
icatio
n
,
with
lo
w
b
an
d
wid
th
,
s
p
ewe
d
d
ata
is
s
en
t
f
r
o
m
p
o
o
r
ly
s
tr
u
ctu
r
ed
ar
ea
s
.
T
h
e
in
teg
r
ated
ca
m
er
a
with
th
e
B
ly
n
k
s
er
v
er
h
as
an
ad
d
itio
n
al
ad
v
a
n
tag
e
o
f
s
en
d
in
g
in
f
o
r
m
atio
n
ab
o
u
t
th
e
d
r
o
n
e’
s
s
u
r
r
o
u
n
d
in
g
s
to
ev
er
y
o
n
e
f
o
r
p
r
o
m
p
t
r
ea
ctio
n
.
T
h
e
s
y
s
tem
h
as
b
ee
n
b
u
ilt
in
a
m
o
d
u
lar
w
ay
s
u
ch
th
at
th
e
R
C
r
o
b
o
t
is
ab
le
to
tr
av
er
s
e
th
e
co
m
p
lex
ter
r
ain
wh
ile
m
ain
tai
n
in
g
o
p
er
atio
n
al
ef
f
ec
tiv
e
n
ess
.
T
h
e
test
r
esu
lts
o
f
th
e
s
y
s
tem
's
d
ep
lo
y
m
e
n
t
h
a
v
e
s
h
o
wn
p
r
ac
ticality
an
d
r
eliab
i
lity
.
C
o
m
b
in
in
g
th
e
B
ly
n
k
C
lo
u
d
W
eb
Dash
b
o
a
r
d
with
liv
e
v
id
eo
s
tr
ea
m
in
g
cr
ea
tes
a
s
im
p
le
y
et
p
o
wer
f
u
l
in
ter
f
ac
e
f
o
r
m
o
n
ito
r
in
g
an
d
co
n
tr
o
llin
g
t
h
e
r
o
b
o
t.
I
t
g
iv
es
th
e
o
p
er
at
o
r
d
ir
ec
t
ac
ce
s
s
to
q
u
a
n
titativ
e
d
ata,
s
u
ch
as
th
e
s
en
s
o
r
r
ea
d
in
g
s
,
a
n
d
q
u
alitativ
e
in
s
ig
h
ts
,
s
u
c
h
as
th
e
v
id
eo
f
ee
d
,
o
n
th
eir
co
n
tr
o
l in
ter
f
ac
e.
T
h
e
we
b
d
ash
b
o
a
r
d
d
is
p
lay
s
th
e
v
id
e
o
an
d
s
en
s
o
r
d
ata
liv
e,
as seen
in
Fig
u
r
e
7
.
Fig
u
r
e
7
.
L
i
v
e
v
id
e
o
v
is
u
aliza
tio
n
s
n
ap
o
n
web
b
r
o
wser
an
d
l
iv
e
d
ata
v
is
u
aliza
tio
n
o
n
B
ly
n
k
I
o
T
web
d
ash
b
o
ar
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
Lo
R
a
-
en
a
b
led
r
emo
te
-
co
n
tr
o
ll
ed
s
u
r
ve
illa
n
ce
r
o
b
o
t fo
r
mo
n
i
to
r
in
g
a
n
d
n
a
vig
a
tio
n
…
(
A
n
it
a
Geh
lo
t
)
319
5.
CO
NCLU
SI
O
N
T
h
is
p
i
o
n
e
er
in
g
ch
a
n
g
e
is
a
n
e
n
c
o
u
r
a
g
i
n
g
s
t
r
i
d
e
i
n
t
h
e
u
til
iz
a
tio
n
o
f
th
e
I
o
T
a
n
d
r
o
b
o
tics
in
b
o
r
d
e
r
i
n
g
s
p
h
e
r
es
li
k
e
d
is
ast
er
r
ec
o
v
e
r
y
.
T
h
e
s
y
s
te
m
h
as
f
ea
tu
r
es
o
f
c
o
n
tr
o
l
le
d
m
o
v
em
e
n
t,
e
n
v
i
r
o
n
m
e
n
ta
l
s
en
s
in
g
,
an
d
v
i
d
e
o
s
tr
ea
m
i
n
g
,
wh
ic
h
ar
e
t
h
e
p
r
er
e
q
u
is
ites
f
o
r
c
o
n
d
u
ct
in
g
s
ea
r
c
h
an
d
r
esc
u
e
m
is
s
io
n
s
.
T
h
es
e
c
h
ar
ac
t
er
is
ti
cs
h
el
p
r
e
d
u
c
e
t
h
e
r
is
k
f
ac
ed
b
y
h
u
m
a
n
r
es
p
o
n
d
er
s
an
d
i
n
cr
e
ase
t
h
e
s
p
e
e
d
a
n
d
ef
f
ec
t
iv
en
e
s
s
o
f
th
e
o
p
er
ati
o
n
s
u
n
d
er
ta
k
e
n
s
o
t
h
a
t
t
h
e
in
te
r
v
e
n
ti
o
n
c
a
n
h
a
p
p
e
n
w
h
il
e
t
h
e
r
e
is
s
til
l
ti
m
e
.
T
h
e
s
y
s
te
m
'
s
m
o
d
u
la
r
a
n
d
s
c
ala
b
l
e
ar
ch
ite
ct
u
r
al
d
es
ig
n
e
n
a
b
l
es
it
to
b
e
u
s
e
f
u
l
i
n
a
v
a
r
i
et
y
o
f
c
ases
,
s
u
c
h
as
ea
r
t
h
q
u
a
k
es
,
f
l
o
o
d
i
n
g
,
f
o
r
est
f
i
r
es
,
in
d
u
s
tr
ial
a
cc
id
en
ts
,
a
n
d
e
v
e
n
lea
k
s
o
f
h
az
ar
d
o
u
s
s
u
b
s
ta
n
c
es.
T
h
e
i
n
c
o
r
p
o
r
a
ti
o
n
o
f
L
o
R
a
t
e
ch
n
o
l
o
g
y
a
n
d
cl
o
u
d
m
a
n
a
g
e
m
e
n
t
m
a
k
es
it
p
o
s
s
ib
l
e
to
d
ep
lo
y
t
h
e
s
y
s
t
em
in
r
e
g
io
n
s
t
h
at
h
av
e
l
o
w
o
r
n
o
c
o
v
er
ag
e.
T
h
e
p
r
o
j
ec
t
p
r
ese
n
ts
a
n
ew
f
r
o
n
ti
er
i
n
r
o
b
o
tics
b
y
c
o
m
b
i
n
i
n
g
it
wit
h
I
o
T
an
d
l
o
n
g
-
r
a
n
g
e
co
m
m
u
n
i
ca
ti
o
n
wit
h
th
e
o
b
j
ec
t
iv
e
o
f
im
p
r
o
v
in
g
d
is
aste
r
r
es
p
o
n
s
e
m
ec
h
a
n
is
m
s
.
T
h
is
m
et
h
o
d
c
an
als
o
b
e
f
u
r
th
er
e
n
h
a
n
c
ed
a
n
d
a
d
a
p
t
ed
f
o
r
m
o
r
e
ef
f
e
cti
v
e
n
ess
d
u
r
in
g
a
d
is
aste
r
.
O
n
a
d
e
v
e
lo
p
m
e
n
t
n
o
te
,
it
ca
n
b
e
e
n
o
r
m
o
u
s
l
y
h
el
p
f
u
l
t
o
f
ix
th
er
m
a
l
v
is
io
n
ca
m
e
r
as
t
o
s
e
ek
s
u
r
v
iv
o
r
s
i
n
t
h
e
h
a
r
d
-
to
-
s
e
e
o
r
s
i
g
h
t
-
b
a
r
r
i
er
r
e
g
i
o
n
s
.
T
h
e
a
d
d
iti
o
n
o
f
t
h
es
e
AI
al
g
o
r
i
th
m
s
s
h
o
u
l
d
t
r
u
l
y
ass
is
t
i
n
m
a
k
i
n
g
t
h
e
a
u
t
o
n
o
m
o
u
s
n
a
v
i
g
ati
o
n
f
u
n
cti
o
n
ali
ties
a
n
d
t
h
e
r
o
u
g
h
t
er
r
a
in
s
u
p
er
v
is
i
o
n
f
r
e
e
r
o
b
o
ts
.
F
u
r
t
h
e
r
m
o
r
e
,
i
ts
i
n
d
u
s
tr
i
al
d
e
f
en
s
e
a
n
d
h
a
za
r
d
o
u
s
a
r
e
a
a
p
p
li
ca
t
io
n
ca
n
b
e
m
o
r
e
m
u
lti
-
p
u
r
p
o
s
e
w
it
h
ad
v
a
n
ce
d
s
e
n
s
o
r
s
c
ap
a
b
le
o
f
i
d
e
n
t
if
y
i
n
g
p
o
is
o
n
o
u
s
g
as
es
,
r
a
d
iati
o
n
,
o
r
u
n
s
t
a
b
le
s
t
r
u
c
tu
r
es
.
So
la
r
p
an
el
-
p
o
we
r
e
d
d
e
v
i
ce
s
e
n
h
a
n
c
e
t
h
e
s
y
s
te
m
'
s
o
p
er
ati
o
n
al
c
ap
ab
ili
ty
an
d
i
n
c
r
ea
s
e
i
ts
s
u
it
ab
ili
ty
f
o
r
lo
n
g
-
te
r
m
s
ta
y
s
in
wil
d
e
r
n
ess
r
e
g
i
o
n
s
.
T
h
is
i
n
n
o
v
ati
o
n
,
al
o
n
g
s
i
d
e
t
h
e
n
at
u
r
al
d
is
aste
r
’
s
r
esp
o
n
s
e
ai
d
,
s
e
em
s
p
r
o
m
is
i
n
g
f
o
r
o
t
h
e
r
s
.
I
t
c
a
n
s
e
r
v
e
a
p
u
r
p
o
s
e
in
e
n
v
i
r
o
n
m
e
n
t
m
o
n
it
o
r
in
g
,
s
ec
u
r
it
y
s
u
r
v
e
ill
an
ce
ev
e
n
i
n
t
h
e
m
i
lita
r
y
f
o
r
s
c
o
u
ti
n
g
,
m
a
k
i
n
g
it
a
m
u
lti
p
u
r
p
o
s
e
g
a
d
g
et
f
o
r
m
a
n
y
d
if
f
e
r
e
n
t
u
s
es.
Af
t
er
r
es
ea
r
c
h
a
n
d
d
ev
el
o
p
m
en
t
,
t
h
is
s
y
s
te
m
c
an
b
e
co
m
e
a
c
r
u
ci
al
s
a
f
e
ty
t
o
o
l
f
o
r
s
av
in
g
li
v
es
w
h
i
le
b
o
o
s
ti
n
g
p
r
o
d
u
c
ti
v
it
y
.
F
UNDING
I
NF
O
R
M
A
T
I
O
N
Au
th
o
r
s
s
tate
n
o
f
u
n
d
in
g
in
v
o
lv
ed
.
AUTHO
R
CO
NT
RI
B
UT
I
O
NS ST
A
T
E
M
E
N
T
T
h
is
jo
u
r
n
al
u
s
es
th
e
C
o
n
tr
ib
u
to
r
R
o
les
T
ax
o
n
o
m
y
(
C
R
ed
iT)
to
r
ec
o
g
n
ize
in
d
iv
id
u
al
au
th
o
r
co
n
tr
ib
u
tio
n
s
,
r
ed
u
ce
au
th
o
r
s
h
ip
d
is
p
u
tes,
an
d
f
ac
ilit
ate
co
llab
o
r
atio
n
.
Na
m
e
o
f
Aut
ho
r
C
M
So
Va
Fo
I
R
D
O
E
Vi
Su
P
Fu
An
ita
Geh
lo
t
✓
✓
✓
✓
✓
R
ajesh
Sin
g
h
✓
✓
✓
✓
✓
R
ah
u
l M
ah
ala
✓
✓
✓
✓
Ma
h
im
R
aj
Gu
p
ta
✓
✓
✓
✓
Viv
ek
Ku
m
ar
Sin
g
h
✓
✓
C
:
C
o
n
c
e
p
t
u
a
l
i
z
a
t
i
o
n
M
:
M
e
t
h
o
d
o
l
o
g
y
So
:
So
f
t
w
a
r
e
Va
:
Va
l
i
d
a
t
i
o
n
Fo
:
Fo
r
mal
a
n
a
l
y
s
i
s
I
:
I
n
v
e
s
t
i
g
a
t
i
o
n
R
:
R
e
so
u
r
c
e
s
D
:
D
a
t
a
C
u
r
a
t
i
o
n
O
:
W
r
i
t
i
n
g
-
O
r
i
g
i
n
a
l
D
r
a
f
t
E
:
W
r
i
t
i
n
g
-
R
e
v
i
e
w
&
E
d
i
t
i
n
g
Vi
:
Vi
su
a
l
i
z
a
t
i
o
n
Su
:
Su
p
e
r
v
i
s
i
o
n
P
:
P
r
o
j
e
c
t
a
d
mi
n
i
st
r
a
t
i
o
n
Fu
:
Fu
n
d
i
n
g
a
c
q
u
i
si
t
i
o
n
CO
NF
L
I
C
T
O
F
I
N
T
E
R
E
S
T
ST
A
T
E
M
E
NT
T
h
e
au
th
o
r
s
d
ec
lar
e
th
at
th
e
y
h
av
e
n
o
co
n
f
licts
o
f
in
ter
est r
e
lev
an
t to
th
is
s
tu
d
y
.
DATA AV
AI
L
AB
I
L
I
T
Y
T
h
e
d
ata
s
u
p
p
o
r
tin
g
th
e
f
in
d
i
n
g
s
o
f
th
is
s
tu
d
y
ar
e
av
ailab
l
e
f
r
o
m
t
h
e
co
r
r
esp
o
n
d
i
n
g
au
t
h
o
r
u
p
o
n
r
ea
s
o
n
ab
le
r
eq
u
est.
RE
F
E
R
E
NC
E
S
[
1
]
D
.
S
.
D
r
e
w
,
“
M
u
l
t
i
-
a
g
e
n
t
s
y
st
e
ms
f
o
r
se
a
r
c
h
a
n
d
r
e
sc
u
e
a
p
p
l
i
c
a
t
i
o
n
s,
”
C
u
r
ren
t
Ro
b
o
t
i
c
s
Re
p
o
rt
s
,
v
o
l
.
2
,
n
o
.
2
,
p
p
.
1
8
9
–
2
0
0
,
M
a
r
.
2
0
2
1
,
d
o
i
:
1
0
.
1
0
0
7
/
s4
3
1
5
4
-
0
2
1
-
0
0
0
4
8
-
3.
[
2
]
M
.
P
.
M
a
n
u
e
l
,
M
.
F
a
i
e
d
,
a
n
d
M
.
K
r
i
sh
n
a
n
,
“
A
Lo
R
a
-
b
a
s
e
d
d
i
s
a
st
e
r
m
a
n
a
g
e
m
e
n
t
sy
s
t
e
m
f
o
r
s
e
a
r
c
h
a
n
d
r
e
s
c
u
e
mi
ss
i
o
n
,
”
I
EEE
I
n
t
e
r
n
e
t
o
f
T
h
i
n
g
s
J
o
u
r
n
a
l
,
v
o
l
.
1
1
,
n
o
.
2
0
,
p
p
.
3
4
0
2
4
–
3
4
0
3
4
,
O
c
t
.
2
0
2
4
,
d
o
i
:
1
0
.
1
1
0
9
/
JI
O
T.
2
0
2
4
.
3
4
3
5
7
3
4
.
[
3
]
V
.
R
a
n
a
si
n
g
h
e
e
t
a
l
.
,
“
R
a
p
i
d
a
n
d
r
e
s
i
l
i
e
n
t
L
o
R
a
l
e
a
p
:
A
n
o
v
e
l
mu
l
t
i
-
h
o
p
a
r
c
h
i
t
e
c
t
u
r
e
f
o
r
d
e
c
e
n
t
r
a
l
i
s
e
d
e
a
r
t
h
q
u
a
k
e
e
a
r
l
y
w
a
r
n
i
n
g
sy
st
e
ms,
”
S
e
n
so
rs
,
v
o
l
.
2
4
,
n
o
.
1
8
,
p
.
5
9
6
0
,
S
e
p
.
2
0
2
4
,
d
o
i
:
1
0
.
3
3
9
0
/
s2
4
1
8
5
9
6
0
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
14
,
No
.
3
,
Sep
tem
b
er
20
25
:
31
1
-
32
1
320
[
4
]
S
.
B
a
g
w
a
r
i
,
A
.
R
o
y
,
A
.
G
e
h
l
o
t
,
R
.
S
i
n
g
h
,
N
.
P
r
i
y
a
d
a
r
sh
i
,
a
n
d
B
.
K
h
a
n
,
“
Lo
R
a
b
a
s
e
d
me
t
r
i
c
s
e
v
a
l
u
a
t
i
o
n
f
o
r
r
e
a
l
-
t
i
me
l
a
n
d
sl
i
d
e
mo
n
i
t
o
r
i
n
g
o
n
I
o
T
p
l
a
t
f
o
r
m
,
”
I
E
EE
A
c
c
e
ss
,
v
o
l
.
1
0
,
p
p
.
4
6
3
9
2
–
4
6
4
0
7
,
2
0
2
2
,
d
o
i
:
1
0
.
1
1
0
9
/
A
C
C
ESS
.
2
0
2
2
.
3
1
6
9
7
9
7
.
[
5
]
A
.
K
,
“
A
n
e
u
r
o
-
d
r
i
v
e
n
m
o
b
i
l
e
r
o
b
o
t
e
n
h
a
n
c
e
d
b
y
L
o
R
a
a
n
d
E
EG
t
e
c
h
n
o
l
o
g
y
,
”
I
n
t
e
r
a
n
t
i
o
n
a
l
J
o
u
r
n
a
l
o
f
S
c
i
e
n
t
i
f
i
c
Re
s
e
a
r
c
h
i
n
En
g
i
n
e
e
ri
n
g
a
n
d
Ma
n
a
g
e
m
e
n
t
,
v
o
l
.
0
8
,
n
o
.
0
4
,
p
p
.
1
–
5
,
A
p
r
.
2
0
2
4
,
d
o
i
:
1
0
.
5
5
0
4
1
/
i
j
sr
e
m
3
2
1
3
9
.
[
6
]
H
.
S
.
P
r
a
m
o
n
o
,
V
.
G
.
A
l
H
a
k
i
m
,
a
n
d
F
.
A
l
f
i
a
n
t
o
,
“
I
o
T
-
b
a
se
d
d
i
s
a
st
e
r
r
e
sp
o
n
s
e
r
o
b
o
t
f
o
r
v
i
c
t
i
m
i
d
e
n
t
i
f
i
c
a
t
i
o
n
i
n
b
u
i
l
d
i
n
g
c
o
l
l
a
p
s
e
s,”
J
u
rn
a
l
N
a
s
i
o
n
a
l
T
e
k
n
i
k
E
l
e
k
t
r
o
,
p
p
.
5
1
–
5
9
,
M
a
r
.
2
0
2
4
,
d
o
i
:
1
0
.
2
5
0
7
7
/
j
n
t
e
.
v
1
3
n
1
.
1
1
9
1
.
2
0
2
4
.
[
7
]
M
.
P
a
n
,
C
.
C
h
e
n
,
X
.
Y
i
n
,
a
n
d
Z.
H
u
a
n
g
,
“
U
A
V
-
a
i
d
e
d
e
merg
e
n
c
y
e
n
v
i
r
o
n
me
n
t
a
l
m
o
n
i
t
o
r
i
n
g
i
n
i
n
f
r
a
st
r
u
c
t
u
r
e
-
l
e
ss
a
r
e
a
s:
Lo
R
a
mesh
n
e
t
w
o
r
k
i
n
g
a
p
p
r
o
a
c
h
,
”
I
EE
E
I
n
t
e
rn
e
t
o
f
T
h
i
n
g
s
J
o
u
r
n
a
l
,
v
o
l
.
9
,
n
o
.
4
,
p
p
.
2
9
1
8
–
2
9
3
2
,
F
e
b
.
2
0
2
2
,
d
o
i
:
1
0
.
1
1
0
9
/
JI
O
T.
2
0
2
1
.
3
0
9
5
4
9
4
.
[
8
]
S
.
A
g
r
a
w
a
l
,
D
.
G
u
p
t
a
,
V
.
S
u
d
a
n
,
P
.
G
o
e
l
,
a
n
d
V
.
N
i
j
h
a
w
a
n
,
“
R
e
a
l
-
t
i
me
d
i
sast
e
r
r
e
s
p
o
n
se
w
i
t
h
Lo
R
a
:
A
m
u
l
t
i
-
sen
s
o
r
a
p
p
r
o
a
c
h
,
”
i
n
Pr
o
c
e
e
d
i
n
g
s
o
f
t
h
e
2
0
2
4
3
r
d
Ed
i
t
i
o
n
o
f
I
EEE
D
e
l
h
i
S
e
c
t
i
o
n
F
l
a
g
s
h
i
p
C
o
n
f
e
re
n
c
e
,
D
ELCO
N
2
0
2
4
,
N
o
v
.
2
0
2
4
,
p
p
.
1
–
6
.
d
o
i
:
1
0
.
1
1
0
9
/
D
EL
C
O
N
6
4
8
0
4
.
2
0
2
4
.
1
0
8
6
6
5
5
5
.
[
9
]
T.
S
a
k
a
k
i
a
n
d
K
.
S
a
w
a
i
,
“
I
n
t
e
r
v
e
n
t
i
o
n
a
l
t
e
l
e
o
p
e
r
a
t
i
o
n
p
r
o
t
o
c
o
l
t
h
a
t
c
o
n
s
i
d
e
r
s
st
a
i
r
c
l
i
m
b
i
n
g
o
r
d
e
s
c
e
n
d
i
n
g
o
f
c
r
a
w
l
e
r
r
o
b
o
t
s
i
n
l
o
w
b
i
t
-
r
a
t
e
c
o
mm
u
n
i
c
a
t
i
o
n
,
”
I
n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
r
n
a
l
o
f
A
d
v
a
n
c
e
d
C
o
m
p
u
t
e
r S
c
i
e
n
c
e
a
n
d
Ap
p
l
i
c
a
t
i
o
n
s
,
v
o
l
.
1
4
,
n
o
.
1
,
p
p
.
8
0
9
–
8
1
7
,
2
0
2
3
,
d
o
i
:
1
0
.
1
4
5
6
9
/
I
JA
C
S
A
.
2
0
2
3
.
0
1
4
0
1
8
9
.
[
1
0
]
O
.
A
.
S
a
r
a
e
r
e
h
,
A
.
A
l
sar
a
i
r
a
,
I
.
K
h
a
n
,
a
n
d
P
.
U
t
h
a
n
s
a
k
u
l
,
“
P
e
r
f
o
r
ma
n
c
e
e
v
a
l
u
a
t
i
o
n
o
f
U
A
V
-
e
n
a
b
l
e
d
Lo
R
a
n
e
t
w
o
r
k
s
f
o
r
d
i
s
a
st
e
r
man
a
g
e
me
n
t
a
p
p
l
i
c
a
t
i
o
n
s,”
S
e
n
s
o
rs
(
S
w
i
t
zerl
a
n
d
)
,
v
o
l
.
2
0
,
n
o
.
8
,
p
.
2
3
9
6
,
A
p
r
.
2
0
2
0
,
d
o
i
:
1
0
.
3
3
9
0
/
s
2
0
0
8
2
3
9
6
.
[
1
1
]
V
.
A
.
V
e
l
v
i
z
h
i
,
M
.
A
n
b
a
r
a
sa
n
,
S
.
G
a
y
a
t
h
r
i
,
S
.
B
o
o
m
i
g
a
,
a
n
d
S
.
S
u
b
i
k
s
h
a
,
“
Le
v
e
r
a
g
i
n
g
I
o
T
t
e
c
h
n
o
l
o
g
y
f
o
r
d
i
sas
t
e
r
ma
n
a
g
e
me
n
t
a
n
d
e
merg
e
n
c
y
,
”
i
n
2
0
2
4
I
n
t
e
rn
a
t
i
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
C
o
m
m
u
n
i
c
a
t
i
o
n
,
C
o
m
p
u
t
i
n
g
a
n
d
I
n
t
e
r
n
e
t
o
f
T
h
i
n
g
s,
I
C
3
I
o
T
2
0
2
4
-
Pro
c
e
e
d
i
n
g
s
,
A
p
r
.
2
0
2
4
,
p
p
.
1
–
4
.
d
o
i
:
1
0
.
1
1
0
9
/
I
C
3
I
o
T
6
0
8
4
1
.
2
0
2
4
.
1
0
5
5
0
2
5
5
.
[
1
2
]
D
.
K
e
e
r
t
h
a
n
a
,
G
.
N
a
r
e
sh
B
a
b
u
,
S
.
B
.
N
i
v
e
t
h
i
t
h
a
,
K
.
G
a
y
a
t
h
r
i
,
a
n
d
I
.
Le
a
n
d
o
,
“
D
e
si
g
n
a
n
d
d
e
v
e
l
o
p
m
e
n
t
o
f
w
i
r
e
l
e
ss
c
o
n
t
r
o
l
l
e
d
su
r
v
e
i
l
l
a
n
c
e
r
o
b
o
t
u
si
n
g
I
o
T
,
”
I
n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
r
n
a
l
o
f
Re
c
e
n
t
T
e
c
h
n
o
l
o
g
y
a
n
d
En
g
i
n
e
e
ri
n
g
,
v
o
l
.
8
,
n
o
.
3
,
p
p
.
5
5
3
7
–
5
5
3
9
,
S
e
p
.
2
0
1
9
,
d
o
i
:
1
0
.
3
5
9
4
0
/
i
j
r
t
e
.
C
5
4
7
5
.
0
9
8
3
1
9
.
[
1
3
]
R
.
R
a
mes
h
,
J
.
V
e
e
n
a
,
S
.
S
a
n
d
e
e
p
,
a
n
d
T
.
P
r
e
m
K
u
m
a
r
,
“
I
o
T
b
a
s
e
d
su
r
v
e
i
l
l
a
n
c
e
r
o
b
o
t
,
”
I
n
t
e
rn
a
t
i
o
n
a
l
J
o
u
r
n
a
l
o
f
A
d
v
a
n
c
e
d
Re
se
a
rc
h
i
n
S
c
i
e
n
c
e
,
C
o
m
m
u
n
i
c
a
t
i
o
n
a
n
d
T
e
c
h
n
o
l
o
g
y
,
p
p
.
6
0
–
6
7
,
A
p
r
.
2
0
2
4
,
d
o
i
:
1
0
.
4
8
1
7
5
/
i
j
a
r
sct
-
1
7
8
1
0
.
[
1
4
]
M
.
H
.
F
.
M
o
h
d
R
e
d
u
a
n
,
A
.
M
/
M
o
h
d
A
l
i
,
a
n
d
M
.
R
.
B
.
K
h
a
n
,
“
W
a
t
e
r
q
u
a
l
i
t
y
m
o
n
i
t
o
r
i
n
g
s
y
st
e
m
b
a
se
d
o
n
m
i
c
r
o
c
o
n
t
r
o
l
l
e
r
a
n
d
Lo
R
a
,
”
M
a
l
a
y
si
a
n
J
o
u
rn
a
l
o
f
S
c
i
e
n
c
e
a
n
d
Ad
v
a
n
c
e
d
T
e
c
h
n
o
l
o
g
y
,
p
p
.
3
2
–
3
5
,
Ju
n
.
2
0
2
1
,
d
o
i
:
1
0
.
5
6
5
3
2
/
m
j
sa
t
.
v
1
i
2
.
6
.
[
1
5
]
M
.
R
.
V
e
r
a
n
o
e
t
a
l
.
,
“
D
e
v
e
l
o
p
me
n
t
o
f
a
l
o
w
-
c
o
s
t
t
e
l
e
o
p
e
r
a
t
e
d
e
x
p
l
o
r
e
r
r
o
b
o
t
(
TX
R
o
b
)
,
”
I
n
t
e
rn
a
t
i
o
n
a
l
J
o
u
r
n
a
l
o
f
Ad
v
a
n
c
e
d
C
o
m
p
u
t
e
r
S
c
i
e
n
c
e
a
n
d
A
p
p
l
i
c
a
t
i
o
n
s
,
v
o
l
.
1
3
,
n
o
.
7
,
p
p
.
8
9
7
–
9
0
3
,
2
0
2
2
,
d
o
i
:
1
0
.
1
4
5
6
9
/
I
JA
C
S
A
.
2
0
2
2
.
0
1
3
0
7
1
0
4
.
[
1
6
]
M
.
J.
S
i
m
õ
e
s
-
M
a
r
q
u
e
s,
“
F
a
c
i
n
g
d
i
s
a
st
e
r
s
—
t
r
e
n
d
s
i
n
a
p
p
l
i
c
a
t
i
o
n
s
t
o
su
p
p
o
r
t
d
i
s
a
st
e
r
ma
n
a
g
e
m
e
n
t
,
”
i
n
A
d
v
a
n
c
e
s
i
n
I
n
t
e
l
l
i
g
e
n
t
S
y
s
t
e
m
s
a
n
d
C
o
m
p
u
t
i
n
g
,
v
o
l
.
4
9
7
,
S
p
r
i
n
g
e
r
I
n
t
e
r
n
a
t
i
o
n
a
l
P
u
b
l
i
s
h
i
n
g
,
2
0
1
7
,
p
p
.
2
0
3
–
2
1
5
.
d
o
i
:
1
0
.
1
0
0
7
/
9
7
8
-
3
-
3
1
9
-
4
1
9
5
6
-
5
_
1
9
.
[
1
7
]
T.
Y
o
u
si
f
a
n
d
W
.
E
l
-
M
e
d
a
n
y
,
“
D
e
v
e
l
o
p
me
n
t
a
n
d
h
a
r
d
w
a
r
e
i
m
p
l
e
me
n
t
a
t
i
o
n
o
f
I
o
T
-
b
a
s
e
d
p
a
t
r
o
l
r
o
b
o
t
f
o
r
r
e
m
o
t
e
g
a
s
l
e
a
k
i
n
s
p
e
c
t
i
o
n
,
”
I
n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
r
n
a
l
o
f
El
e
c
t
r
i
c
a
l
a
n
d
C
o
m
p
u
t
e
r
En
g
i
n
e
e
r
i
n
g
S
y
s
t
e
m
s
,
v
o
l
.
1
3
,
n
o
.
4
,
p
p
.
2
7
9
–
2
9
2
,
Ju
n
.
2
0
2
2
,
d
o
i
:
1
0
.
3
2
9
8
5
/
I
JEC
ES
.
1
3
.
4
.
4
.
[
1
8
]
Y
.
D
a
l
p
a
t
h
a
d
u
,
T.
S
h
o
w
r
y
,
V
.
K
u
p
p
u
samy
,
A
.
U
d
u
g
a
ma
,
a
n
d
A
.
F
ö
r
s
t
e
r
,
“
D
i
ssemi
n
a
t
i
n
g
d
a
t
a
u
s
i
n
g
l
o
r
a
a
n
d
e
p
i
d
e
m
i
c
f
o
r
w
a
r
d
i
n
g
i
n
d
i
s
a
st
e
r
r
e
sc
u
e
o
p
e
r
a
t
i
o
n
s
,
”
i
n
G
o
o
d
I
T
2
0
2
1
-
Pr
o
c
e
e
d
i
n
g
s
o
f
t
h
e
2
0
2
1
C
o
n
f
e
r
e
n
c
e
o
n
I
n
f
o
rm
a
t
i
o
n
T
e
c
h
n
o
l
o
g
y
f
o
r
S
o
c
i
a
l
G
o
o
d
,
S
e
p
.
2
0
2
1
,
p
p
.
2
9
3
–
2
9
6
.
d
o
i
:
1
0
.
1
1
4
5
/
3
4
6
2
2
0
3
.
3
4
7
5
9
1
7
.
[
1
9
]
G
.
M
a
r
r
a
r
a
,
C
.
S
u
r
a
c
i
,
A
.
Tr
o
p
e
a
n
o
,
G
.
B
o
m
b
i
n
o
,
a
n
d
G
.
A
r
a
n
i
t
i
,
“
M
u
l
t
i
-
h
o
p
Lo
R
a
c
o
m
mu
n
i
c
a
t
i
o
n
f
o
r
n
a
t
u
r
a
l
d
i
sas
t
e
r
man
a
g
e
me
n
t
:
A
f
i
e
l
d
t
e
s
t
,
”
i
n
Pro
c
e
e
d
i
n
g
s
-
2
0
2
3
I
EEE
8
t
h
I
n
t
e
r
n
a
t
i
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
I
n
f
o
rm
a
t
i
o
n
a
n
d
C
o
m
m
u
n
i
c
a
t
i
o
n
T
e
c
h
n
o
l
o
g
i
e
s
f
o
r D
i
sa
s
t
e
r
M
a
n
a
g
e
m
e
n
t
,
I
C
T
-
D
M
2
0
2
3
,
S
e
p
.
2
0
2
3
,
p
p
.
1
–
4
.
d
o
i
:
1
0
.
1
1
0
9
/
I
C
T
-
D
M
5
8
3
7
1
.
2
0
2
3
.
1
0
2
8
6
9
6
0
.
[
2
0
]
S
.
P
r
o
m
p
u
t
,
S
.
M
a
i
t
h
o
mk
l
a
n
g
,
a
n
d
C
.
P
a
n
y
a
-
i
sara
,
“
D
e
si
g
n
a
n
d
a
n
a
l
y
si
s
p
e
r
f
o
r
ma
n
c
e
o
f
I
o
T
-
b
a
s
e
d
w
a
t
e
r
q
u
a
l
i
t
y
mo
n
i
t
o
r
i
n
g
sy
st
e
m
u
si
n
g
L
o
R
a
t
e
c
h
n
o
l
o
g
y
,
”
T
E
M
J
o
u
r
n
a
l
,
v
o
l
.
1
2
,
n
o
.
1
,
p
p
.
2
9
–
3
5
,
F
e
b
.
2
0
2
3
,
d
o
i
:
1
0
.
1
8
4
2
1
/
TE
M
1
2
1
-
0
4
.
[
2
1
]
R
.
K
.
T
h
a
k
e
r
,
“
R
o
b
o
t
i
c
s
i
n
d
i
sas
t
e
r
man
a
g
e
me
n
t
:
A
I
-
d
r
i
v
e
n
r
e
sc
u
e
,
a
e
r
i
a
l
ma
p
p
i
n
g
,
a
n
d
e
m
e
r
g
i
n
g
I
o
T
a
p
p
l
i
c
a
t
i
o
n
s
f
o
r
e
f
f
e
c
t
i
v
e
r
e
sp
o
n
s
e
,
”
I
n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
rn
a
l
o
f
I
n
n
o
v
a
t
i
v
e
R
e
se
a
rc
h
i
n
E
n
g
i
n
e
e
ri
n
g
&
Mu
l
t
i
d
i
sc
i
p
l
i
n
a
ry
Ph
y
si
c
a
l
S
c
i
e
n
c
e
s
,
v
o
l
.
1
2
,
n
o
.
6
,
N
o
v
.
2
0
2
4
,
d
o
i
:
1
0
.
3
7
0
8
2
/
i
j
i
r
mp
s
.
v
1
2
.
i
6
.
2
3
1
4
3
5
.
[
2
2
]
E.
Y
a
n
o
,
“
P
r
o
t
o
t
y
p
e
o
f
a
c
o
mp
a
c
t
a
ssi
s
t
a
n
t
s
u
r
v
e
i
l
l
a
n
c
e
r
o
b
o
t
f
o
r
sea
r
c
h
a
n
d
r
e
s
c
u
e
o
p
e
r
a
t
i
o
n
s,
”
I
n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
r
n
a
l
o
f
Ad
v
a
n
c
e
d
T
r
e
n
d
s
i
n
C
o
m
p
u
t
e
r
S
c
i
e
n
c
e
a
n
d
En
g
i
n
e
e
r
i
n
g
,
v
o
l
.
9
,
n
o
.
1
.
1
S
I
,
p
p
.
6
4
–
6
8
,
F
e
b
.
2
0
2
0
,
d
o
i
:
1
0
.
3
0
5
3
4
/
i
j
a
t
c
se
/
2
0
2
0
/
1
2
9
1
.
1
2
0
2
0
.
[
2
3
]
S
.
S
a
x
e
n
a
,
M
.
B
i
n
Za
f
e
r
,
M
A
M
u
q
t
a
d
i
r
,
S
.
Z.
A
.
F
a
r
a
z
,
“
I
o
T
e
n
a
b
l
e
d
u
n
man
n
e
d
g
r
o
u
n
d
v
e
h
i
c
l
e
w
i
t
h
r
o
b
o
t
i
c
a
r
m
-
U
G
V
R
A
,
”
I
n
t
e
r
a
n
t
i
o
n
a
l
J
o
u
rn
a
l
o
f
S
c
i
e
n
t
i
f
i
c
Re
se
a
rc
h
i
n
En
g
i
n
e
e
ri
n
g
a
n
d
M
a
n
a
g
e
m
e
n
t
,
v
o
l
.
8
,
n
o
.
1
,
p
p
.
1
–
1
0
,
Ja
n
.
2
0
2
4
,
d
o
i
:
1
0
.
5
5
0
4
1
/
i
j
sr
e
m2
8
3
9
3
.
[
2
4
]
D
.
J.
S
.
G
a
w
a
i
,
“
I
o
T
-
b
a
se
d
w
i
r
e
l
e
s
s
su
r
v
e
i
l
l
a
n
c
e
r
o
b
o
t
:
En
h
a
n
c
e
d
c
o
n
t
r
o
l
a
n
d
r
e
a
l
-
t
i
me
v
i
d
e
o
st
r
e
a
m
i
n
g
f
o
r
e
s
p
i
o
n
a
g
e
a
n
d
sec
u
r
i
t
y
a
p
p
l
i
c
a
t
i
o
n
s,
”
I
n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
rn
a
l
f
o
r
R
e
se
a
rc
h
i
n
Ap
p
l
i
e
d
S
c
i
e
n
c
e
a
n
d
E
n
g
i
n
e
e
ri
n
g
T
e
c
h
n
o
l
o
g
y
,
v
o
l
.
1
2
,
n
o
.
3
,
p
p
.
3
1
6
4
–
3
1
7
0
,
M
a
r
.
2
0
2
4
,
d
o
i
:
1
0
.
2
2
2
1
4
/
i
j
r
a
se
t
.
2
0
2
4
.
5
9
5
8
1
.
[
2
5
]
R
.
P
e
t
e
r
a
n
d
B
.
P
h
i
l
i
p
,
“
L
o
R
a
f
l
o
o
d
m
e
ssa
g
i
n
g
a
p
p
l
i
e
d
t
o
r
e
m
o
t
e
s
o
i
l
-
mo
i
s
t
u
r
e
m
o
n
i
t
o
r
i
n
g
,
”
J
o
u
rn
a
l
o
f
En
g
i
n
e
e
ri
n
g
a
n
d
C
o
m
p
u
t
e
r
I
n
n
o
v
a
t
i
o
n
s
,
v
o
l
.
7
,
n
o
.
2
,
p
p
.
1
7
–
2
5
,
A
u
g
.
2
0
2
3
,
d
o
i
:
1
0
.
5
8
9
7
/
j
e
c
e
2
0
2
2
.
0
2
0
5
.
B
I
O
G
RAP
H
I
E
S O
F
AUTH
O
RS
Dr
.
Ani
ta
G
e
h
lo
t
is
c
u
rre
n
t
ly
a
ss
o
c
iate
d
with
Uttara
n
c
h
a
l
Un
i
v
e
rsity
a
s
p
r
o
fe
ss
o
r
&
h
e
a
d
(R&
I)
with
m
o
re
th
a
n
fif
tee
n
y
e
a
rs
o
f
e
x
p
e
rien
c
e
in
a
c
a
d
e
m
ics
.
S
h
e
h
a
s
b
e
e
n
fe
a
tu
re
d
a
m
o
n
g
th
e
t
o
p
te
n
in
v
e
n
t
o
rs
fo
r
ten
y
e
a
rs,
2
0
1
0
–
2
0
2
0
,
b
y
Cla
riv
a
te
An
a
ly
ti
c
s
in
“
In
d
ia’s
in
n
o
v
a
ti
o
n
sy
n
o
p
sis”
in
M
a
rc
h
2
0
2
1
fo
r
fil
i
n
g
two
h
u
n
d
re
d
a
n
d
six
ty
-
t
h
re
e
p
a
ten
ts.
S
h
e
h
a
s
p
u
b
li
sh
e
d
m
o
re
t
h
a
n
o
n
e
h
u
n
d
re
d
re
se
a
rc
h
p
a
p
e
rs
i
n
S
CI
/S
c
o
p
u
s
jo
u
rn
a
ls.
S
h
e
h
a
s
p
u
b
l
ish
e
d
th
irt
y
-
fo
u
r
b
o
o
k
s
i
n
th
e
a
re
a
o
f
e
m
b
e
d
d
e
d
sy
ste
m
s
a
n
d
In
ter
n
e
t
o
f
Th
i
n
g
s
wit
h
re
p
u
ted
in
tern
a
ti
o
n
a
l
p
u
b
li
sh
e
rs.
S
h
e
c
a
n
b
e
c
o
n
tac
ted
a
t
d
ra
n
i
tag
e
h
l
o
t@
g
m
a
il
.
c
o
m
.
Evaluation Warning : The document was created with Spire.PDF for Python.