I
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io
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Jou
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of
A
d
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c
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p
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li
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S
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ie
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(
I
JA
A
S
)
V
ol
.
14
, N
o.
4
,
D
e
c
e
m
be
r
20
25
, pp.
1155
~
1165
I
S
S
N
:
2252
-
8814
,
D
O
I
:
10.11591/
ij
a
a
s
.
v14.
i
4
.
pp1155
-
1165
1155
Jou
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page
:
ht
tp
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//
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S
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s
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C
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r
f
or
S
us
t
a
i
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bl
e
E
ne
r
gy
a
nd S
m
a
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t
G
r
i
d A
ppl
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c
a
t
i
on (
C
oS
E
S
G
A
)
,
P
ol
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t
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kni
k N
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ge
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j
ung P
a
nda
ng
,
M
a
ka
s
s
a
r
,
I
ndone
s
i
a
A
r
t
ic
le
I
n
f
o
A
B
S
T
R
A
C
T
A
r
ti
c
le
h
is
to
r
y
:
R
e
c
e
iv
e
d
J
ul
8
,
2025
R
e
vi
s
e
d
O
c
t
19
,
2025
A
c
c
e
pt
e
d
N
ov
4
,
2025
This
paper
presents
the
design
and
development
of
an
internet
of
things
(
IoT
)
-
based
automatic
waste
sorting
system
that
classifies
waste
int
o
four
categories:
organic,
non
-
organic,
metal,
and
others.
Th
e
system
integr
ates
an
Arduino
Mega
for
control,
multiple
proximity
sensors
(inductive,
capa
citive,
and
infrare
d)
,
and
ultrasonic
sensors
for
level
detection,
and
a
Nod
eMCU
ESP8266
for
real
-
time
monitoring
via
the
Blynk
platform.
A
total
of
100
tests
(25
per
bin)
were
conducted
.
C
lassificatio
n
success
rates
wer
e
92%
(metal),
80%
(inorganic),
84%
(organic),
and
100%
(others),
resu
ltin
g
in
an
overall
accuracy
of
89%.
The
main
contribution
is
a
combined
aut
omatic
sorting
and
IoT
monitoring
framework
suitable
for
campu
s
-
scale
deployment.
K
e
y
w
o
r
d
s
:
A
ut
om
a
ti
on
I
nt
e
r
ne
t
of
t
hi
ngs
R
e
a
l
-
ti
m
e
m
oni
to
r
in
g
S
m
a
r
t
s
or
ti
ng
W
a
s
te
m
a
na
g
e
m
e
nt
This is an
open
acce
ss artic
le unde
r the
CC BY
-
SA
license.
C
or
r
e
s
pon
di
n
g A
u
th
or
:
A
khm
a
d T
a
uf
ik
D
e
pa
r
tm
e
nt
of
M
e
c
ha
ni
c
a
l
E
ngi
ne
e
r
in
g, F
a
c
ul
ty
of
M
e
c
h
a
tr
oni
c
s
E
ngi
ne
e
r
in
g
P
ol
it
e
kni
k N
e
ge
r
i
U
ju
ng P
a
nda
ng
M
a
ka
s
s
a
r
,
I
ndone
s
ia
E
m
a
il
:
a
khm
a
d_t
a
uf
ik
@
pol
iu
pg.a
c
.i
d
1.
I
N
T
R
O
D
U
C
T
I
O
N
T
he
m
ot
iv
a
ti
on
f
or
th
is
pr
oj
e
c
t
a
r
is
e
s
f
r
om
th
e
s
e
r
io
us
c
ha
ll
e
nge
s
f
a
c
e
d
in
w
a
s
te
m
a
na
ge
m
e
nt
in
I
ndone
s
ia
.
D
e
s
pi
te
va
r
io
us
in
it
ia
ti
ve
s
,
s
uc
h
a
s
w
a
s
te
-
to
-
e
ne
r
gy
(
W
T
E
)
pl
a
nt
s
a
nd
th
e
r
e
c
yc
li
ng
of
m
a
te
r
ia
ls
li
ke
gl
a
s
s
,
pa
pe
r
,
a
nd
m
e
ta
l,
w
a
s
te
m
a
na
g
e
m
e
nt
in
I
ndone
s
ia
s
ti
ll
f
a
c
e
s
s
ig
ni
f
ic
a
nt
obs
ta
c
le
s
[
1]
.
I
m
pr
ope
r
ly
m
a
na
ge
d
w
a
s
te
l
e
a
ds
to
e
nvi
r
onm
e
nt
a
l
pol
lu
ti
on,
m
a
ki
ng
c
ol
le
c
ti
ve
a
w
a
r
e
ne
s
s
a
nd
c
om
m
uni
ty
in
vol
ve
m
e
nt
c
r
uc
ia
l
f
or
f
os
te
r
in
g
a
c
ul
tu
r
e
of
c
le
a
nl
in
e
s
s
,
w
hi
c
h
s
houl
d
b
e
a
n
in
te
gr
a
l
pa
r
t
of
I
ndone
s
ia
'
s
id
e
nt
it
y
a
nd
c
ha
r
a
c
te
r
[
2]
. S
c
hool
s
a
r
e
a
m
ong
t
he
l
a
r
ge
s
t
w
a
s
te
pr
oduc
e
r
s
, a
lo
ng w
it
h m
a
r
ke
ts
, hous
e
hol
ds
, i
ndus
tr
ie
s
, a
nd
of
f
ic
e
s
[
3]
. W
a
s
te
a
c
c
um
ul
a
ti
on i
n non
-
s
ta
nda
r
d or
i
ll
e
ga
l
la
ndf
il
ls
r
e
s
ul
ts
i
n s
oi
l
a
nd w
a
te
r
pol
lu
ti
on
[
4]
.
C
ur
r
e
n
tl
y
,
w
a
s
te
m
a
n
a
g
e
m
e
n
t
po
s
e
s
a
c
ha
l
le
ng
e
f
or
b
ot
h
d
e
v
e
l
opi
n
g
a
nd
d
e
v
e
lo
p
e
d
c
oun
tr
i
e
s
.
S
l
ow
tr
a
n
s
por
t
a
t
io
n
of
w
a
s
t
e
f
r
om
te
m
por
a
r
y
d
is
po
s
a
l
s
it
e
s
to
f
i
na
l
di
s
po
s
a
l
s
it
e
s
u
s
i
ng
g
a
r
b
a
g
e
t
r
u
c
k
s
c
a
n
le
a
d
to
w
a
s
t
e
a
c
c
u
m
ul
a
ti
on
.
T
h
e
r
e
f
or
e
,
a
s
y
s
t
e
m
i
s
n
e
e
d
e
d
t
o
pr
om
p
tl
y
not
if
y
of
f
i
c
e
r
s
to
e
m
p
ty
f
u
ll
tr
a
s
h
bi
n
s
a
n
d
tr
a
n
s
por
t
th
e
w
a
s
t
e
to
t
he
f
in
a
l
di
s
po
s
a
l
s
i
te
[
5]
.
B
y
ut
il
iz
in
g
s
e
n
s
or
te
c
h
nol
og
y
a
nd
a
ut
om
a
ti
on
s
y
s
t
e
m
s
,
th
i
s
tr
a
s
h
bi
n
s
im
pl
if
i
e
s
t
he
w
a
s
t
e
s
or
t
in
g
pr
oc
e
s
s
.
A
dd
it
i
on
a
ll
y,
th
e
pr
oj
e
c
t
in
c
or
por
a
t
e
s
i
nt
e
r
n
e
t
of
t
hi
n
g
s
(
I
o
T
)
te
c
hn
ol
o
gy
t
o
e
n
ha
nc
e
th
e
in
vol
v
e
m
e
nt
a
nd
m
oni
to
r
i
ng
of
w
a
s
t
e
m
a
na
ge
m
e
nt
of
f
i
c
e
r
s
.
T
hr
oug
h
a
n
i
nt
e
gr
a
t
e
d
tr
a
s
h
bi
n
c
a
p
a
c
it
y
m
oni
to
r
i
ng
s
ys
te
m
c
on
ne
c
t
e
d
to
a
s
m
a
r
t
ph
on
e
,
in
d
iv
i
du
a
l
s
c
a
n
e
a
s
i
ly
c
h
e
c
k
w
h
e
th
e
r
a
tr
a
s
h
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
2252
-
8814
I
nt
J
A
dv A
ppl
S
c
i
,
V
ol
.
14
, N
o.
4
,
D
e
c
e
m
be
r
20
25
:
1155
-
1165
1156
bi
n i
s
f
ul
l
or
h
a
s
a
va
il
a
bl
e
s
p
a
c
e
. I
o
T
i
s
a
c
on
c
e
pt
th
a
t
e
n
a
bl
e
s
p
h
ys
ic
a
l
de
vi
c
e
s
t
o c
on
ne
c
t
t
o t
he
i
nt
e
r
n
e
t
, c
ol
l
e
c
t
da
t
a
,
a
nd
a
c
t
on
t
h
a
t
d
a
t
a
[
6]
–
[
8]
.
D
e
vi
c
e
s
c
on
ne
c
t
e
d
t
o
t
he
I
o
T
a
r
e
r
e
f
e
r
r
e
d t
o
a
s
s
m
a
r
t
ob
je
c
t
s
[
9]
, [
1
0]
.
S
om
e
a
ppl
ic
a
ti
ons
of
I
oT
te
c
hnol
ogy
in
w
a
s
te
m
a
na
ge
m
e
nt
s
ys
te
m
s
in
c
lu
de
a
s
tu
dy
[
11]
th
a
t
di
s
c
us
s
e
s
w
a
s
te
m
a
n
a
ge
m
e
nt
in
ur
ba
n
a
r
e
a
s
a
nd
pr
opos
e
s
a
n
I
oT
-
ba
s
e
d
s
m
a
r
t
w
a
s
te
m
a
na
ge
m
e
nt
s
ys
te
m
f
or
hom
e
s
a
f
f
e
c
te
d
by
c
or
ona
vi
r
us
di
s
e
a
s
e
2019
(
C
O
V
I
D
-
19
)
i
n
I
ndi
a
.
T
he
im
pl
e
m
e
nt
a
ti
on
of
th
i
s
s
y
s
te
m
im
pr
ove
s
w
a
s
te
m
a
na
ge
m
e
nt
by
c
r
e
a
ti
ng
a
s
te
r
il
e
e
nvi
r
onm
e
nt
a
nd
e
nha
nc
in
g
c
om
f
or
t
dur
in
g
th
e
pa
nde
m
ic
.
T
he
r
e
s
e
a
r
c
h
er
[
12]
e
x
a
m
in
e
s
th
e
im
pa
c
t
of
I
o
T
te
c
hnol
ogy
a
n
d
e
nvi
r
onm
e
nt
a
l
m
oni
to
r
in
g
s
ys
te
m
s
on
w
a
s
te
r
e
duc
ti
on
in
th
e
f
ood
a
nd
be
ve
r
a
ge
s
e
c
to
r
in
I
ndone
s
ia
.
T
he
r
e
s
ul
ts
of
f
e
r
va
lu
a
bl
e
in
s
ig
ht
s
f
or
in
dus
tr
y
s
ta
ke
hol
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s
a
nd
pol
ic
ym
a
ke
r
s
a
im
in
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to
e
nha
n
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s
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s
ta
in
a
bi
l
it
y
m
e
a
s
ur
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s
w
it
hi
n
th
e
I
ndone
s
i
a
n
f
ood
a
nd
be
ve
r
a
ge
in
dus
tr
y.
I
n
pa
pe
r
[
13]
,
a
s
m
a
r
t
w
a
s
te
m
a
na
ge
m
e
nt
m
ode
l
f
or
s
m
a
r
t
c
it
ie
s
w
a
s
de
ve
lo
pe
d
us
in
g
two
te
c
hnol
ogi
e
s
:
I
oT
a
nd
a
f
uz
z
y
in
f
e
r
e
nc
e
s
ys
te
m
.
T
hi
s
m
ode
l
a
im
s
to
pr
ovi
de
a
n
id
e
a
l
w
a
s
te
m
a
na
g
e
m
e
nt
s
ol
ut
io
n.
T
he
im
pl
e
m
e
nt
a
ti
on
r
e
s
ul
ts
in
di
c
a
te
th
a
t
th
e
s
ys
te
m
c
a
n
r
e
a
d,
c
ol
le
c
t,
a
nd
pr
oc
e
s
s
in
f
or
m
a
ti
on
in
te
ll
ig
e
nt
ly
th
r
ough
a
f
uz
z
y
in
f
e
r
e
nc
e
e
ngi
ne
,
w
hi
c
h
dyn
a
m
ic
a
ll
y
de
te
r
m
in
e
s
how
to
m
a
na
ge
w
a
s
te
c
ol
le
c
ti
on.
A
ddi
ti
ona
ll
y,
r
e
m
ot
e
I
oT
w
a
s
te
m
oni
to
r
in
g
c
a
n
be
c
onduc
te
d
in
r
e
a
l
ti
m
e
us
in
g
a
n
A
ndr
oi
d
a
ppl
ic
a
ti
on.
T
he
r
e
s
e
a
r
c
h
e
r
[
14]
di
s
c
us
s
e
s
th
e
opt
im
iz
a
ti
on
of
w
a
s
te
m
a
na
ge
m
e
nt
a
s
pa
r
t
of
e
f
f
or
ts
to
e
s
ta
bl
is
h
a
s
m
a
r
t
e
c
o
c
a
m
pus
th
r
ough
th
e
a
ppl
ic
a
ti
on
of
hi
ghl
y
e
f
f
ic
ie
nt
,
e
f
f
e
c
ti
ve
,
a
nd
us
e
r
-
f
r
ie
ndl
y
w
ir
e
le
s
s
c
om
m
uni
c
a
ti
on
te
c
hnol
ogy.
I
o
T
a
ppl
ic
a
ti
ons
s
e
r
ve
a
s
to
ol
s
to
r
a
is
e
a
w
a
r
e
ne
s
s
a
bout
th
e
im
por
ta
nc
e
of
w
a
s
te
s
or
ti
ng,
he
lp
in
g
to
m
a
in
ta
in
c
le
a
nl
in
e
s
s
in
th
e
c
a
m
pus
a
r
e
a
.
A
s
s
how
n
in
[
15]
,
th
e
c
ol
le
c
ti
on
a
nd
de
c
om
pos
it
io
n
of
w
a
s
te
in
a
n
in
te
ll
ig
e
nt
m
a
nne
r
w
it
hi
n
I
oT
-
ba
s
e
d
hou
s
e
hol
ds
a
im
s
to
m
a
xi
m
iz
e
th
e
be
ne
f
it
s
of
w
a
s
te
w
hi
le
e
f
f
ic
ie
nt
ly
m
in
im
iz
in
g a
c
tu
a
l
w
a
s
te
.
H
ow
e
ve
r
,
m
os
t
pr
io
r
w
o
r
ks
r
e
m
a
in
li
m
i
te
d
in
s
c
ope
,
e
it
he
r
b
y
f
oc
us
in
g
on
m
oni
to
r
in
g
onl
y
or
b
y
r
e
s
tr
ic
ti
ng
s
or
ti
ng
to
two
c
a
te
gor
ie
s
.
F
or
e
xa
m
pl
e
,
[
16]
pr
e
s
e
nt
e
d
a
N
ode
M
C
U
I
o
T
-
ba
s
e
d
pr
ot
ot
ype
w
it
h
HC
-
S
R
04
a
nd
pr
oxi
m
it
y
s
e
ns
or
s
th
a
t
c
oul
d
onl
y
di
s
ti
ngui
s
h
be
t
w
e
e
n
m
e
ta
l
a
nd
non
-
m
e
ta
l
w
a
s
te
,
m
or
e
r
e
c
e
nt
s
m
a
ll
-
s
c
a
le
s
y
s
te
m
s
h
a
ve
li
ke
w
is
e
ta
r
ge
te
d
bi
na
r
y
ta
s
ks
.
I
n
pa
r
ti
c
ul
a
r
,
[
17]
de
ve
lo
pe
d
a
n
I
oT
-
e
na
bl
e
d
s
or
te
r
th
a
t
pr
ovi
de
d
r
e
m
ot
e
m
oni
to
r
in
g
bu
t
w
a
s
li
m
it
e
d
to
or
ga
ni
c
a
nd
non
-
or
ga
ni
c
c
la
s
s
if
ic
a
ti
on,
w
hi
le
[
18]
de
m
ons
tr
a
te
d
a
pr
oxi
m
it
y
s
e
ns
or
-
ba
s
e
d
or
ga
ni
c
a
nd
non
-
or
ga
n
ic
c
la
s
s
if
ic
a
ti
on
w
it
hout
ne
twor
ke
d
te
le
m
e
tr
y.
O
th
e
r
I
oT
s
tu
di
e
s
e
m
pha
s
iz
e
d
e
it
he
r
m
oni
to
r
in
g
f
or
hygi
e
ne
dur
in
g
C
O
V
I
D
-
19
[
11
]
,
s
us
ta
in
a
bi
li
ty
in
th
e
f
ood
a
nd
be
ve
r
a
ge
in
dus
tr
y
[
12]
,
s
m
a
r
t
c
it
y
opt
im
iz
a
ti
on
us
in
g
f
uz
z
y
in
f
e
r
e
nc
e
[
13]
,
e
c
o
c
a
m
pu
s
a
w
a
r
e
n
e
s
s
[
14]
, or
hous
e
hol
d
-
le
ve
l
I
oT
de
c
om
pos
it
io
n
[
15]
.
U
nl
ik
e
th
e
s
e
w
or
ks
,
th
e
pr
e
s
e
nt
s
tu
dy
a
dva
n
c
e
s
th
e
f
ie
ld
by
in
te
gr
a
ti
ng
m
ul
ti
-
s
e
ns
or
m
a
te
r
ia
l
c
la
s
s
if
ic
a
ti
on
(
in
duc
ti
ve
,
c
a
p
a
c
it
iv
e
,
a
nd
in
f
r
a
r
e
d
pr
oxi
m
it
y
s
e
ns
or
s
)
,
ul
tr
a
s
oni
c
l
e
ve
l
de
te
c
ti
on,
a
nd
m
e
c
ha
ni
c
a
l
a
c
tu
a
ti
on
(
s
e
r
vo
a
nd
s
t
e
ppe
r
m
ot
or
s
w
it
h
a
ut
om
a
ti
c
bi
n
lo
c
ki
ng)
,
c
om
bi
ne
d
w
it
h
r
e
a
l
-
ti
m
e
I
oT
m
oni
to
r
in
g
vi
a
N
ode
M
C
U
a
nd
B
ly
nk
.
T
he
s
y
s
te
m
s
or
ts
w
a
s
t
e
in
to
f
our
c
a
te
gor
ie
s
(
or
ga
ni
c
,
non
-
or
ga
ni
c
,
m
e
ta
l,
a
nd
ot
he
r
s
)
a
nd
w
a
s
e
xpe
r
im
e
nt
a
ll
y
va
li
da
t
e
d
in
1
00
tr
ia
ls
,
a
c
hi
e
vi
ng
89%
ove
r
a
ll
a
c
c
ur
a
c
y.
T
hi
s
c
om
bi
na
ti
on
of
e
xt
e
nde
d
m
a
te
r
ia
l
c
la
s
s
if
ic
a
ti
on,
pr
a
c
ti
c
a
l
ha
r
dw
a
r
e
r
out
in
g,
a
nd
c
a
m
pus
-
r
e
a
dy
I
oT
vi
s
ua
li
z
a
ti
on
di
s
ti
ngui
s
he
s
th
e
pr
opos
e
d
s
ys
te
m
f
r
om
pr
io
r
m
o
ni
to
r
in
g
-
onl
y
a
nd
li
m
it
e
d
s
or
t
in
g
a
ppr
oa
c
he
s
.
B
e
yond
de
vi
c
e
-
le
ve
l
in
nova
ti
on,
th
e
pr
opos
e
d
s
y
s
te
m
is
de
s
i
gne
d
to
s
uppor
t
ope
r
a
ti
ona
l
in
te
gr
a
ti
on
w
it
h
c
a
m
pus
or
m
uni
c
ip
a
l
w
a
s
te
-
m
a
na
ge
m
e
nt
w
or
kf
lo
w
s
by
pr
ovi
di
ng
r
e
a
l
-
ti
m
e
f
il
l
-
le
ve
l
te
le
m
e
tr
y
a
nd
r
out
in
g
lo
gs
th
a
t
c
a
n
in
f
or
m
c
ol
le
c
ti
on
s
c
he
dul
in
g
a
nd
r
e
s
our
c
e
a
ll
oc
a
ti
on.
S
uc
h
da
ta
-
e
na
bl
e
d
in
te
gr
a
ti
on
c
a
n
he
lp
a
li
gn t
he
de
vi
c
e
w
it
h l
oc
a
l
w
a
s
te
-
r
e
duc
ti
on poli
c
ie
s
a
nd
s
our
c
e
-
s
e
gr
e
ga
ti
on pr
ogr
a
m
s
.
2.
M
E
T
H
O
D
T
he
a
ut
om
a
ti
c
w
a
s
t
e
s
or
ti
ng
s
y
s
te
m
de
v
e
lo
pe
d
in
th
is
s
tu
dy
in
te
gr
a
te
d
m
ul
ti
pl
e
s
e
n
s
in
g
m
oda
li
ti
e
s
,
m
ic
r
oc
ont
r
ol
le
r
s
,
a
c
tu
a
to
r
s
,
a
nd
a
n
I
oT
m
oni
to
r
in
g
m
odul
e
to
e
na
bl
e
on
-
de
vi
c
e
m
a
te
r
ia
l
c
la
s
s
if
ic
a
ti
on
a
nd
c
ont
in
uous
bi
n
-
le
ve
l
m
oni
to
r
in
g.
T
hi
s
in
te
gr
a
te
d
a
r
c
hi
te
c
t
ur
e
a
ll
ow
s
e
a
c
h
s
ub
s
ys
te
m
,
r
a
ngi
ng
f
r
om
pr
oxi
m
it
y
-
ba
s
e
d
m
a
te
r
ia
l
de
te
c
ti
on
to
m
e
c
ha
ni
c
a
l
r
out
in
g
a
nd
ul
tr
a
s
oni
c
-
ba
s
e
d
c
a
pa
c
it
y
m
e
a
s
ur
e
m
e
nt
,
to
ope
r
a
te
in
a
c
oor
di
na
te
d
a
nd
r
e
p
e
a
ta
bl
e
m
a
nne
r
th
r
oughout
th
e
s
or
ti
ng
c
yc
le
.
F
ur
th
e
r
m
or
e
,
th
e
m
e
th
odi
c
a
l
s
tr
uc
tu
r
e
of
th
is
s
e
c
ti
on
out
li
ne
s
th
e
c
om
pone
nt
s
pe
c
if
ic
a
ti
ons
,
da
ta
s
e
t
c
ons
tr
uc
ti
on,
c
a
li
br
a
ti
on
a
nd
th
r
e
s
hol
di
ng
pr
oc
e
dur
e
s
,
te
s
ti
ng
pr
ot
oc
ol
,
I
oT
c
om
m
uni
c
a
ti
on
w
or
kf
lo
w
,
a
nd
r
e
li
a
bi
li
ty
c
ons
id
e
r
a
ti
ons
,
e
ns
ur
in
g t
ha
t
th
e
ove
r
a
ll
s
ys
te
m
c
a
n be
r
e
pr
oduc
e
d, e
v
a
lu
a
te
d, a
nd i
m
pr
ove
d i
n f
ut
ur
e
r
e
s
e
a
r
c
h.
2.1. Har
d
w
ar
e
c
on
f
ig
u
r
at
io
n
an
d
s
p
e
c
if
ic
at
io
n
s
T
a
bl
e
1
s
um
m
a
r
iz
e
s
th
e
m
a
in
ha
r
dw
a
r
e
c
om
pon
e
nt
s
,
ty
pi
c
a
l
m
ode
l
e
xa
m
pl
e
s
,
qu
a
nt
it
ie
s
us
e
d
in
th
e
s
ys
te
m
,
op
e
r
a
ti
ng
vol
ta
ge
, a
nd
br
ie
f
not
e
s
on
th
e
ir
f
unc
ti
on. T
h
e
w
ir
in
g
a
nd
po
w
e
r
s
c
he
m
a
ti
c
of
th
e
s
ys
te
m
is
s
how
n
in
F
ig
ur
e
1,
il
lu
s
tr
a
ti
ng
th
e
in
te
r
c
onne
c
ti
on
be
twe
e
n
s
e
ns
or
s
,
a
c
tu
a
to
r
s
,
a
nd
m
ic
r
oc
ont
r
ol
le
r
s
.
F
ig
ur
e
2
pr
ovi
de
s
a
n
ov
e
r
vi
e
w
of
th
e
a
s
s
e
m
bl
e
d
I
o
T
-
ba
s
e
d
a
ut
om
a
ti
c
w
a
s
t
e
s
or
ti
ng
s
ys
te
m
,
s
how
in
g
th
e
s
e
ns
or
c
ha
m
be
r
,
c
ont
r
ol
e
le
c
tr
oni
c
s
,
a
nd
f
our
c
ol
le
c
ti
on
bi
ns
.
I
m
pl
e
m
e
nt
a
ti
ons
c
om
bi
ni
ng
in
duc
ti
ve
a
nd
c
a
pa
c
it
iv
e
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at
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(
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1157
pr
oxi
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f
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on
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de
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c
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ti
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ve
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[
19]
, [
20]
.
T
a
bl
e
1. ma
in
ha
r
dw
a
r
e
c
om
pon
e
nt
s
C
om
pone
nt
M
ode
l
Q
t
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O
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r
a
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ge
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r
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2560
(
A
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m
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ga
2560)
1
5 V
P
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m
a
r
y c
ont
r
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a
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c
t
ua
t
or
i
nt
e
r
f
a
c
e
I
oT
m
odul
e
N
ode
M
C
U
(
E
S
P
8266)
1
3.3
-
5 V
W
i
‑
F
i
t
e
l
e
m
e
t
r
y t
o
B
l
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da
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I
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pr
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m
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t
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L
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12A
3
-
4
-
Z
/
B
Y
6
6
-
36 V
M
e
t
a
l
de
t
e
c
t
i
on (
nom
i
na
l
s
e
n
s
i
ng ≈
4 m
m
)
C
a
pa
c
i
t
i
ve
pr
oxi
m
i
t
y s
e
ns
or
s
L
J
C
18A
3
-
H
-
Z
/
B
X
6
6
-
36 V
O
r
ga
ni
c
/
di
e
l
e
c
t
r
i
c
de
t
e
c
t
i
on
I
nf
r
a
r
e
d r
e
f
l
e
c
t
i
ve
s
e
ns
or
s
(
I
R
)
E
18
-
D
80N
K
7
5 V
O
pt
i
c
a
l
c
ue
s
f
or
non
-
m
e
t
a
l
l
i
c
i
t
e
m
s
(
a
dj
us
t
a
bl
e
t
hr
e
s
hol
d)
U
l
t
r
a
s
oni
c
s
e
ns
or
s
H
C
‑
S
R
04
8
5 V
L
e
ve
l
a
nd
pr
e
s
e
nc
e
de
t
e
c
t
i
on;
r
a
nge
2
-
400
c
m
;
f
ul
l
t
hr
e
s
hol
d ≤
15 c
m
S
e
r
vo m
ot
or
s
M
G
996R
6
5 V
F
r
ont
door
s
e
r
vos
, t
op c
ove
r
, di
s
pos
a
l
m
e
c
ha
ni
s
m
S
t
e
ppe
r
m
ot
or
+dr
i
ve
r
N
E
M
A
‑
17+T
B
6600
dr
i
ve
r
1
12 V
I
nde
xe
d
r
out
i
ng:
N
E
M
A
-
17+
T
B
6600
pos
i
t
i
ons
t
he
di
s
pos
a
l
ga
t
e
/
s
e
n
s
or
c
ha
m
be
r
ove
r
t
he
t
a
r
ge
t
bi
n
w
i
t
h pr
e
c
i
s
e
, r
e
pe
a
t
a
bl
e
s
t
e
ps
a
nd r
e
t
ur
ns
t
o hom
e
.
D
C
s
t
e
p
-
dow
n
m
odul
e
s
L
M
2596
4
12 V
D
C
(
i
n)
→5
V
D
C
(
out
)
L
M
2596
D
C
–
D
C
buc
k
m
odul
e
.
I
nput
r
a
nge
4.5
-
40
V
;
a
dj
us
t
a
bl
e
out
put
1.25
-
37
V
.
I
n
t
hi
s
s
ys
t
e
m
,
t
he
m
odul
e
w
a
s
s
e
t
t
o
5.00
V
t
o
s
uppl
y
c
om
pone
nt
s
r
e
qui
r
i
ng
5
V
.
T
ypi
c
a
l
m
odu
l
e
c
ur
r
e
nt
r
a
t
i
ng w
a
s
~
2
-
3 A
(
m
odul
e
de
pe
nde
nt
)
.
P
ow
e
r
s
uppl
y
A
C
→D
C
s
w
i
t
c
hi
ng
a
da
pt
e
r
1
220 V
A
C
(
i
n)
→12
V
D
C
(
out
)
M
a
i
n vol
t
a
ge
s
our
c
e
i
n t
he
s
ys
t
e
m
F
ig
ur
e
1. C
om
pone
nt
w
ir
in
g s
c
he
m
a
ti
c
F
ig
ur
e
2. S
ys
te
m
ove
r
vi
e
w
of
t
he
I
oT
-
ba
s
e
d a
ut
om
a
ti
c
w
a
s
te
s
o
r
te
r
2.2. Ult
r
as
on
ic
an
d
p
r
e
s
e
n
c
e
s
e
n
s
in
g b
e
h
avi
or
U
lt
r
a
s
oni
c
s
e
n
s
in
g
in
th
e
s
y
s
te
m
w
a
s
u
s
e
d
f
or
two
di
s
ti
nc
t
pur
pos
e
s
:
lo
c
a
l
a
c
tu
a
ti
on
s
a
f
e
ty
a
nd
r
e
m
ot
e
le
ve
l
m
oni
to
r
in
g.
T
he
s
ys
te
m
us
e
d
e
ig
ht
ul
tr
a
s
oni
c
tr
a
n
s
duc
e
r
s
in
to
ta
l,
c
onf
ig
ur
e
d
a
s
two
s
e
n
s
or
s
pe
r
bi
n
f
or
a
c
tu
a
ti
on/
pr
e
s
e
nc
e
c
ont
r
ol
a
nd
f
our
s
e
ns
or
s
(
one
pe
r
bi
n
)
f
or
f
il
l
-
le
ve
l
m
oni
to
r
in
g.
T
he
A
r
dui
no
M
e
ga
r
e
a
d
s
a
ll
e
ig
ht
s
e
n
s
or
s
to
pe
r
f
or
m
pr
e
s
e
nc
e
c
he
c
k
s
a
nd
f
in
a
l
a
c
t
ua
ti
on
de
c
is
io
ns
. T
he
s
e
r
e
a
di
ngs
w
e
r
e
f
il
te
r
e
d
by
c
om
put
in
g
a
n
a
ve
r
a
ge
d
va
lu
e
ove
r
5
s
a
m
pl
e
s
(
10
m
s
in
te
r
va
l)
us
in
g
th
e
f
ir
m
w
a
r
e
r
out
in
e
ge
tF
il
te
r
e
dD
is
ta
nc
e
(
)
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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I
n
pa
r
a
ll
e
l,
f
our
of
th
e
ul
tr
a
s
oni
c
s
e
ns
or
s
(
one
pe
r
bi
n)
w
e
r
e
r
e
a
d
by
th
e
N
ode
M
C
U
E
S
P
8266
f
or
da
s
hboa
r
d
vi
s
ua
li
z
a
ti
on.
T
h
e
E
S
P
c
onve
r
te
d
m
e
a
s
ur
e
d
di
s
t
a
nc
e
(
c
m
)
in
to
a
f
il
l
pe
r
c
e
nt
a
ge
u
s
in
g
th
e
im
pl
e
m
e
nt
e
d
m
a
ppi
ng:
di
s
ta
nc
e
s
≤15
c
m
→100%
(
f
ul
l)
,
di
s
ta
nc
e
s
≥45
c
m
→0%
(
e
m
pt
y)
,
w
it
h
li
ne
a
r
in
te
r
pol
a
ti
on
f
or
in
te
r
m
e
di
a
te
va
lu
e
s
(
m
a
p(
di
s
ta
nc
e
,
15,
45,
100,
0)
)
.
B
ot
h
th
e
num
e
r
ic
th
r
e
s
hol
ds
us
e
d
f
or
m
a
ppi
ng
a
nd
th
e
pr
e
s
e
nc
e
th
r
e
s
hol
d
on
th
e
M
e
ga
(
im
pl
e
m
e
nt
e
d
a
s
de
te
c
tDi
s
ta
nc
e
=
10
c
m
)
w
e
r
e
doc
um
e
nt
e
d
f
or
r
e
pr
oduc
ib
il
it
y.
N
ot
e
th
a
t
th
e
M
e
ga
'
s
pr
e
s
e
nc
e
th
r
e
s
h
ol
d
(
de
te
c
tDi
s
ta
nc
e
=
10
c
m
)
w
a
s
us
e
d
f
or
c
ons
e
r
va
ti
ve
s
a
f
e
ty
/a
c
tu
a
ti
on
c
he
c
ks
,
w
hi
le
th
e
da
s
hboa
r
d
'
f
ul
l'
m
a
ppi
ng
us
e
d
≤15
c
m
to
pr
ovi
de
e
a
r
li
e
r
ope
r
a
to
r
a
le
r
ts
;
th
e
s
e
di
s
ti
nc
t
th
r
e
s
hol
ds
s
e
r
ve
di
f
f
e
r
e
nt
ope
r
a
ti
ona
l
r
ol
e
s
.
U
lt
r
a
s
oni
c
f
il
l
le
ve
l
s
e
n
s
in
g
a
nd
e
m
pi
r
ic
a
l
di
s
ta
nc
e
to
le
ve
l
m
a
ppi
ngs
a
r
e
s
ta
nda
r
d
pr
a
c
ti
c
e
in
I
oT
bi
n
r
e
s
e
a
r
c
h
a
nd
a
r
e
e
m
pl
oye
d
h
e
r
e
f
ol
lo
w
in
g
publ
is
he
d
gui
da
nc
e
[
21]
,
[
22]
.
S
ys
te
m
pe
r
f
or
m
a
nc
e
te
s
ti
ng
is
c
onduc
te
d
und
e
r
va
r
io
us
c
ondi
ti
ons
to
e
va
lu
a
te
s
or
ti
ng
a
c
c
ur
a
c
y,
pr
oc
e
s
s
in
g
ti
m
e
,
a
nd
th
e
e
f
f
e
c
ti
ve
ne
s
s
of
I
oT
m
oni
to
r
in
g.
M
e
a
s
ur
e
m
e
nt
s
a
r
e
ta
ke
n t
o e
ns
ur
e
t
ha
t
th
e
s
y
s
te
m
ope
r
a
te
s
e
f
f
ic
ie
nt
ly
a
c
r
os
s
di
f
f
e
r
e
nt
w
a
s
te
s
or
ti
ng a
nd moni
to
r
in
g s
c
e
n
a
r
io
s
.
2.
3
. I
oT
d
as
h
b
oar
d
an
d
B
ly
n
k
in
t
e
gr
at
io
n
R
e
a
l
-
ti
m
e
bi
n
le
ve
l
m
oni
to
r
in
g
w
a
s
im
pl
e
m
e
nt
e
d
on
a
N
od
e
M
C
U
(
E
S
P
8266)
us
in
g
th
e
B
ly
nk
pl
a
tf
or
m
.
T
he
E
S
P
r
e
a
d
f
our
ul
tr
a
s
oni
c
s
e
n
s
or
s
(
one
pe
r
bi
n)
a
n
d
c
onve
r
te
d
m
e
a
s
ur
e
d
di
s
ta
nc
e
(
c
m
)
in
to
a
f
il
l
pe
r
c
e
nt
a
ge
u
s
in
g
a
n
e
m
pi
r
ic
a
l
m
a
ppi
ng:
di
s
t
a
nc
e
s
≤15
c
m
a
r
e
m
a
ppe
d
to
100%
(
f
ul
l)
,
di
s
ta
nc
e
s
≥45
c
m
a
r
e
m
a
ppe
d
to
0%
(
e
m
pt
y)
,
a
nd
in
te
r
m
e
di
a
te
va
lu
e
s
a
r
e
li
ne
a
r
ly
m
a
ppe
d
(
m
a
p(
di
s
ta
nc
e
,
15,
45,
100,
0)
)
.
T
he
c
om
put
e
d
f
il
l
pe
r
c
e
nt
a
ge
s
(
le
ve
l
va
lu
e
s
)
w
e
r
e
tr
a
ns
m
it
te
d
to
t
he
B
ly
nk
da
s
hboa
r
d
vi
a
vi
r
tu
a
l
pi
ns
(
V
0
-
V
3
)
us
in
g
B
ly
nk
.vi
r
tu
a
lW
r
it
e
(
...)
,
a
nd
w
e
r
e
r
e
nde
r
e
d
on
f
our
-
ga
uge
w
id
ge
ts
,
one
g
a
uge
p
e
r
bi
n.
N
ode
M
C
U
-
ba
s
e
d
te
le
m
e
tr
y
w
it
h
c
lo
ud/
da
s
hboa
r
d
vi
s
ua
li
z
a
ti
on
is
a
c
om
m
on
li
ght
w
e
ig
ht
a
r
c
hi
te
c
tu
r
e
f
or
bi
n
-
le
ve
l
m
oni
to
r
in
g
a
nd
r
e
m
ot
e
a
le
r
ts
[
23]
.
T
e
l
e
m
e
tr
y
upda
te
oc
c
ur
r
e
d
a
t
a
ppr
oxi
m
a
te
ly
1
H
z
(
th
e
E
S
P
lo
op
in
c
lu
de
s
a
1
s
de
la
y
be
twe
e
n
m
e
a
s
ur
e
m
e
nt
s
)
.
T
h
e
E
S
P
c
ode
e
s
ta
bl
is
he
d
W
i
-
F
i
c
on
ne
c
ti
vi
ty
a
t
s
ta
r
tu
p
(
W
iF
i.
be
gi
n(
...)
)
a
nd
us
e
d
th
e
B
ly
nk
c
li
e
nt
f
or
ongoing
c
om
m
uni
c
a
ti
on
s
.
T
h
e
r
e
f
or
e
,
th
e
E
S
P
m
us
t
r
e
m
a
in
c
onne
c
te
d
to
th
e
ne
twor
k
to
pr
ovi
de
r
e
a
l
-
ti
m
e
upda
te
s
;
if
c
onne
c
ti
vi
ty
i
s
l
os
t,
t
he
da
s
hbo
a
r
d w
il
l
not
r
e
c
e
iv
e
ne
w
m
e
a
s
ur
e
m
e
nt
s
.
2.4. Ac
t
u
at
io
n
an
d
m
e
c
h
an
ic
al
s
e
q
u
e
n
c
e
A
c
tu
a
ti
on
w
a
s
e
xe
c
ut
e
d
a
f
te
r
th
e
c
la
s
s
if
ic
a
ti
on
d
e
c
is
io
n
a
nd
e
nf
or
c
e
d
a
s
in
gl
e
it
e
m
pr
oc
e
s
s
in
g
c
yc
l
e
.
I
n
th
e
s
ys
te
m
,
th
e
to
p
c
ove
r
w
a
s
in
it
ia
ll
y
ope
n
to
a
ll
ow
a
n
it
e
m
to
be
dr
oppe
d
in
to
th
e
s
e
ns
or
c
ha
m
be
r
.
O
nc
e
a
n
obj
e
c
t
w
a
s
de
te
c
te
d
a
nd
c
la
s
s
if
ie
d,
th
e
c
ont
r
ol
le
r
f
ir
s
t
ve
r
i
f
i
e
d
bi
n
pr
e
s
e
nc
e
a
nd
lo
c
k
s
ta
te
,
th
e
n
c
lo
s
e
d
th
e
to
p
c
ove
r
to
pr
e
ve
nt
a
ddi
ti
ona
l
it
e
m
s
f
r
om
e
nt
e
r
in
g
dur
in
g
th
e
s
or
ti
ng
ope
r
a
ti
on.
N
e
xt
,
th
e
s
te
ppe
r
m
ot
or
dr
ove
th
e
s
e
ns
or
c
ha
m
be
r
to
th
e
ta
r
ge
t
bi
n
.
O
nc
e
in
pos
it
io
n
,
t
he
di
s
pos
a
l
s
e
r
vo
w
a
s
a
c
tu
a
te
d
to
r
e
le
a
s
e
th
e
it
e
m
.
A
f
te
r
r
e
le
a
s
e
,
th
e
s
te
ppe
r
r
e
tu
r
ne
d
th
e
s
e
ns
or
c
ha
m
be
r
to
it
s
hom
e
pos
it
io
n
,
a
nd
th
e
to
p
c
ove
r
w
a
s
r
e
ope
ne
d
to
a
c
c
e
pt
th
e
ne
xt
it
e
m
.
T
he
f
i
r
m
w
a
r
e
r
e
qui
r
e
d
s
e
ns
or
s
ta
bi
li
ty
be
f
or
e
a
c
tu
a
ti
on
to
a
voi
d
f
a
ls
e
tr
ig
ge
r
s
, e
ns
ur
in
g r
e
li
a
bl
e
one
i
te
m
pe
r
c
yc
le
ope
r
a
ti
on. I
nde
xe
d m
e
c
ha
ni
c
a
l
r
out
in
g us
in
g s
te
ppe
r
m
ot
or
s
a
nd
r
e
le
a
s
e
s
e
r
vos
w
a
s
c
ons
is
te
nt
w
it
h
pr
io
r
s
m
a
r
t
bi
n
r
out
in
g
i
m
pl
e
m
e
nt
a
ti
ons
r
e
qui
r
in
g
pr
e
c
is
e
,
r
e
pe
a
ta
bl
e
m
ot
io
n
[
24]
. T
he
c
la
s
s
if
ic
a
ti
on a
nd a
c
tu
a
ti
on l
ogi
c
a
r
e
s
um
m
a
r
i
z
e
d i
n t
he
f
lo
w
c
ha
r
t
s
how
n i
n F
ig
ur
e
3.
2.5. Dat
a ac
q
u
is
it
io
n
an
d
d
at
as
e
t
s
t
r
u
c
t
u
r
e
D
a
ta
a
c
qui
s
it
io
n
w
a
s
pe
r
f
or
m
e
d
by
bot
h
c
ont
r
ol
le
r
s
:
th
e
A
r
dui
no
M
e
ga
w
a
s
th
e
pr
im
a
r
y
lo
gge
r
f
or
c
la
s
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if
ic
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ti
on
e
v
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nt
s
a
nd
a
c
tu
a
to
r
a
c
ti
ons
,
w
hi
le
th
e
N
ode
M
C
U
(
E
S
P
8266)
pr
ov
id
e
d
pe
r
io
di
c
le
ve
l
te
le
m
e
tr
y
f
or
da
s
hboa
r
d
vi
s
ua
li
z
a
ti
on.
D
ur
in
g
e
xpe
r
im
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nt
a
l
r
uns
,
th
e
A
r
dui
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M
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ga
s
tr
e
a
m
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d
di
a
gnos
ti
c
out
put
to
th
e
s
e
r
ia
l
c
ons
ol
e
(
vi
e
w
e
d
vi
a
th
e
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r
dui
no
I
D
E
S
e
r
ia
l
M
oni
to
r
a
t
9600
ba
ud)
;
th
is
out
put
in
c
lu
de
d
c
la
s
s
if
ic
a
ti
on
r
e
s
ul
ts
,
s
e
ns
or
r
e
a
di
ngs
,
a
c
tu
a
ti
on
ti
m
e
s
ta
m
ps
,
a
nd
s
ta
tu
s
f
la
gs
.
T
h
e
s
e
obs
e
r
va
ti
ons
w
e
r
e
r
e
c
or
de
d
dur
in
g
te
s
ti
ng
f
or
s
ubs
e
que
nt
a
n
a
ly
s
is
.
T
h
e
N
ode
M
C
U
w
r
ot
e
f
il
l
le
ve
l
va
lu
e
s
to
B
ly
nk
vi
r
tu
a
l
pi
ns
(
V
0
-
V
3)
a
t
≈1 H
z
. T
he
s
e
va
lu
e
s
w
e
r
e
l
ogge
d on the
B
ly
nk
s
e
r
ve
r
a
nd w
e
r
e
us
e
d t
o c
r
os
s
-
c
h
e
c
k l
e
ve
l
m
e
a
s
ur
e
m
e
nt
s
.
2.6. Calib
r
at
io
n
an
d
t
h
r
e
s
h
ol
d
in
g p
r
oc
e
d
u
r
e
s
S
e
ns
or
c
a
li
br
a
ti
on
a
nd
f
il
te
r
in
g
pr
oc
e
dur
e
s
w
e
r
e
a
s
f
ol
lo
w
s
.
D
ig
it
a
l/
pr
oxi
m
it
y
s
e
ns
or
s
w
e
r
e
de
bounc
e
d by double s
a
m
pl
in
g (
two r
e
a
ds
w
it
h 5 ms
s
e
pa
r
a
ti
on
)
a
nd only a
c
c
e
pt
e
d w
he
n s
ta
bl
e
. T
he
A
r
dui
no
im
pl
e
m
e
nt
e
d
a
s
ta
bi
li
ty
c
ount
e
r
s
uc
h
th
a
t
c
la
s
s
if
ic
a
ti
on
or
a
c
tu
a
ti
on
pr
oc
e
e
de
d
onl
y
a
f
te
r
r
e
qui
r
e
dS
ta
bi
li
ty
C
ount
=
10
c
ons
e
c
ut
iv
e
s
ta
bl
e
c
yc
le
s
.
U
lt
r
a
s
o
ni
c
f
il
te
r
in
g
di
f
f
e
r
e
d
by
c
ont
r
ol
le
r
:
th
e
M
e
ga
us
e
d
a
5
-
s
a
m
pl
e
a
ve
r
a
ge
d
w
in
dow
(
10
m
s
s
pa
c
in
g)
f
or
p
r
e
s
e
nc
e
/a
c
tu
a
ti
on
de
c
is
io
ns
,
w
hi
le
th
e
E
S
P
pe
r
f
or
m
e
d
s
in
gl
e
m
e
a
s
ur
e
m
e
nt
s
p
e
r
lo
op
f
or
le
ve
l
di
s
pl
a
y
a
n
d
m
a
ppi
ng.
T
he
s
e
di
f
f
e
r
e
nt
f
il
te
r
in
g
c
hoi
c
e
s
r
e
f
le
c
te
d
di
s
ti
nc
t
r
e
qui
r
e
m
e
nt
s
:
th
e
M
e
g
a
pr
io
r
it
iz
e
d
a
c
tu
a
ti
on
r
obus
tn
e
s
s
(
5
-
s
a
m
pl
e
a
v
e
r
a
gi
ng+
s
t
a
bi
li
ty
c
ount
e
r
)
to
a
voi
d
f
a
ls
e
tr
ig
ge
r
s
,
w
he
r
e
a
s
th
e
E
S
P
pr
io
r
it
iz
e
d
da
s
hboa
r
d
r
e
s
pons
iv
e
ne
s
s
a
nd
th
e
r
e
f
or
e
us
e
d
s
in
gl
e
s
a
m
pl
e
r
e
a
di
ngs
a
t
≈1
H
z
f
or
ne
a
r
r
e
a
l
-
ti
m
e
vi
s
ua
li
z
a
ti
on.
T
he
E
S
P
di
s
ta
nc
e
→l
e
ve
l
m
a
ppi
ng
w
a
s
m
a
p(
di
s
ta
nc
e
15,45,100,0)
;
th
e
M
e
ga
’
s
pr
e
s
e
nc
e
th
r
e
s
hol
d
(
de
t
e
c
tDi
s
ta
nc
e
)
w
a
s
s
e
t
to
10
c
m
.
T
e
c
hni
que
s
f
or
im
pr
ovi
ng
ul
tr
a
s
oni
c
di
s
ta
nc
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c
c
ur
a
c
y,
s
uc
h a
s
K
a
lm
a
n
f
il
te
r
i
ng
a
nd
m
ul
ti
-
s
a
m
pl
e
a
ve
r
a
gi
ng,
a
r
e
c
om
m
onl
y
r
e
por
te
d i
n t
he
l
it
e
r
a
tu
r
e
a
nd mot
iv
a
te
t
he
f
il
te
r
in
g c
hoi
c
e
s
a
dopt
e
d i
n t
he
pr
e
s
e
nt
s
tu
dy
[
25]
.
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1159
F
ig
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3. W
a
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s
or
ti
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c
ha
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m
f
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c
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2.7. T
e
s
t
in
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r
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oc
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d
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val
u
at
io
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m
e
t
r
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T
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w
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a
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to
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a
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tr
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ls
w
e
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e
pe
r
f
o
r
m
e
d
(
25
tr
ia
ls
pe
r
c
la
s
s
:
or
ga
ni
c
,
non
-
or
ga
ni
c
,
m
e
ta
l,
a
nd
ot
he
r
s
)
.
F
or
e
a
c
h
tr
ia
l
,
a
n
ope
r
a
to
r
pl
a
c
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a
s
in
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s
a
m
pl
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e
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ove
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to
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s
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out
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,
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hum
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obs
e
r
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r
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e
r
if
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out
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out
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om
e
be
f
or
e
th
e
tr
ia
l
r
e
s
ul
t
w
a
s
r
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c
or
de
d. T
r
ia
ls
pr
oc
e
e
de
d only
a
f
te
r
t
he
s
e
ns
or
s
t
a
bi
li
ty
c
ondi
ti
on de
s
c
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ubs
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ti
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2.6 wa
s
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a
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d.
W
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in
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a
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on
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put
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ta
l
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or
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out
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vi
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d
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th
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to
ta
l
num
be
r
of
t
r
ia
ls
.
P
e
r
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la
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pe
r
f
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w
a
s
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e
por
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a
s
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c
is
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r
e
c
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ll
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m
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us
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onf
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20
25
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1155
-
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1160
(
c
ount
s
a
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p
e
r
c
e
nt
a
ge
s
)
.
T
im
in
g
m
e
a
s
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m
e
nt
s
c
om
pr
is
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d
:
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)
s
e
n
s
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r
e
s
pon
s
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ti
m
e
,
de
f
in
e
d
a
s
th
e
e
la
p
s
e
d
ti
m
e
f
r
om
in
it
ia
l
de
te
c
ti
on
to
c
la
s
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if
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r
de
c
is
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n,
a
nd
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tr
a
ns
i
t/
ope
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a
ti
on
ti
m
e
,
de
f
in
e
d
a
s
th
e
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p
s
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d
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om
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te
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ti
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c
om
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of
m
e
c
ha
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a
l
a
c
tu
a
ti
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it
e
m
r
e
l
e
a
s
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a
nd
r
e
tu
r
n
to
hom
e
)
.
M
e
c
ha
ni
c
a
l
f
a
il
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e
s
w
e
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m
oni
to
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y
by
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e
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s
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ope
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a
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e
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de
f
in
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d
a
s
a
c
tu
a
to
r
or
door
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a
lf
unc
ti
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e
.g.,
s
e
r
vo
s
ta
ll
, s
te
ppe
r
m
is
s
e
d i
nde
x, or
m
is
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li
gne
d door
)
.
2.8. E
n
vi
r
on
m
e
n
t
al
an
d
r
e
li
ab
il
it
y c
on
s
id
e
r
at
io
n
s
T
he
s
y
s
te
m
’
s
s
e
ns
in
g
a
nd
a
c
tu
a
ti
on
pe
r
f
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m
a
nc
e
d
e
pe
nde
d
on
e
nvi
r
onm
e
nt
a
l
c
ondi
ti
ons
a
nd
ha
r
dw
a
r
e
r
obus
tn
e
s
s
;
th
e
r
e
f
or
e
,
th
e
e
xp
e
r
im
e
nt
a
l
e
va
lu
a
ti
on
a
c
c
ount
e
d
f
or
c
om
m
on
f
ie
ld
f
a
c
to
r
s
.
U
lt
r
a
s
oni
c
s
e
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or
s
pr
ove
d
s
e
ns
it
iv
e
to
t
e
m
pe
r
a
tu
r
e
,
hum
id
it
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a
nd
to
hi
ghl
y
a
bs
or
be
nt
or
ir
r
e
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a
r
s
ur
f
a
c
e
s
;
in
duc
ti
ve
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e
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or
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pe
nde
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on
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e
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l
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oxi
m
it
y
a
nd
g
e
om
e
tr
y;
c
a
pa
c
it
iv
e
s
e
ns
or
s
w
e
r
e
a
f
f
e
c
te
d
by
m
oi
s
tu
r
e
a
nd
m
a
te
r
ia
l
pe
r
m
it
ti
vi
ty
;
a
nd
in
f
r
a
r
e
d
de
te
c
to
r
s
c
oul
d
be
in
f
lu
e
nc
e
d
by
a
m
bi
e
nt
li
ght
in
g
a
nd
r
e
f
le
c
ti
ve
s
ur
f
a
c
e
s
.
M
e
c
ha
ni
c
a
l
c
om
pone
nt
s
(
s
e
r
vos
,
s
te
ppe
r
m
ot
or
s
,
a
nd
li
nka
g
e
s
)
w
e
r
e
s
ubj
e
c
t
to
w
e
a
r
,
m
is
a
li
gnm
e
nt
,
a
nd
to
r
que
li
m
it
a
ti
ons
unde
r
lo
a
d.
T
o
m
it
ig
a
te
th
is
is
s
u
e
,
th
e
f
ir
m
w
a
r
e
im
pl
e
m
e
nt
e
d
s
ta
bi
li
ty
a
nd
s
a
f
e
ty
c
he
c
k
s
(
a
ve
r
a
ge
d/
f
il
te
r
e
d
ul
tr
a
s
oni
c
r
e
a
di
ngs
on
th
e
M
e
g
a
,
r
e
qui
r
e
dS
ta
bi
li
ty
C
ount
,
pr
e
s
e
nc
e
th
r
e
s
hol
d
de
te
c
tDi
s
ta
nc
e
=
10 c
m
, a
nd
a
t
im
e
out
m
e
c
ha
ni
s
m
u
s
in
g m
il
li
s
(
)
)
.
3.
R
E
S
U
L
T
S
A
N
D
D
I
S
C
U
S
S
I
O
N
T
h
e
e
xpe
r
im
e
nt
a
l
e
va
lu
a
ti
on
m
e
a
s
ur
e
d
th
e
pe
r
f
or
m
a
nc
e
of
th
e
in
te
gr
a
te
d
I
oT
-
e
na
bl
e
d
w
a
s
te
s
or
ti
ng
s
ys
te
m
a
c
r
os
s
c
la
s
s
if
ic
a
ti
on,
ti
m
in
g,
a
nd
te
l
e
m
e
tr
y
di
m
e
ns
io
n
s
.
T
h
e
f
ol
lo
w
in
g
s
ub
s
e
c
ti
ons
s
um
m
a
r
iz
e
th
e
r
a
ndomi
z
e
d
tr
ia
l
pr
ot
oc
ol
,
ove
r
a
ll
out
c
om
e
s
,
c
la
s
s
if
ic
a
ti
on
r
e
s
ul
ts
w
it
h
pe
r
-
c
la
s
s
m
e
tr
ic
s
,
ti
m
in
g
a
nd
th
r
oughput
m
e
a
s
ur
e
m
e
nt
s
,
a
nd
I
o
T
da
s
hbo
a
r
d
be
ha
vi
or
.
T
h
e
y
a
ls
o
a
n
a
ly
z
e
f
a
il
ur
e
m
ode
s
a
nd
di
s
c
u
s
s
c
om
pa
r
a
ti
ve
i
m
pl
ic
a
ti
ons
.
3.1. E
xp
e
r
im
e
n
t
al
s
u
m
m
ar
y
A
s
e
t
of
10
0
r
a
n
dom
iz
e
d
tr
ia
ls
w
a
s
c
o
nd
uc
te
d
to
e
va
l
u
a
te
t
he
in
te
gr
a
te
d
I
o
T
-
e
na
bl
e
d
w
a
s
t
e
s
or
ti
n
g
s
y
s
t
e
m
(
25
tr
i
a
l
s
p
e
r
c
l
a
s
s
:
m
e
ta
l,
non
-
or
g
a
n
ic
, or
ga
ni
c
,
a
n
d
ot
he
r
s
)
. E
a
c
h t
r
ia
l
c
on
s
i
s
t
e
d
of
a
n
op
e
r
a
to
r
pl
a
c
i
ng
a
s
i
ngl
e
s
a
m
pl
e
i
nt
o
t
he
d
e
vi
c
e
,
a
ut
o
m
a
ti
c
m
a
t
e
r
i
a
l
c
la
s
s
if
ic
a
ti
on
,
m
e
c
h
a
ni
c
a
l
r
o
ut
i
ng
a
nd
di
s
po
s
a
l,
a
nd
hu
m
a
n
ve
r
if
ic
a
t
io
n
o
f
t
he
out
c
o
m
e
. T
he
f
o
ll
o
w
in
g s
e
c
ti
on
s
pr
e
s
e
n
t
c
l
a
s
s
if
ic
a
t
io
n
r
e
s
ul
t
s
, pe
r
-
c
l
a
s
s
pe
r
f
or
m
a
n
c
e
m
e
tr
i
c
s
,
a
nd
t
i
m
in
g m
e
a
s
ur
e
m
e
nt
s
d
e
r
iv
e
d
f
r
o
m
t
he
s
e
tr
i
a
l
s
.
3.2.
C
la
s
s
if
i
c
at
io
n
r
e
s
u
lt
s
T
a
bl
e
2
r
e
por
ts
th
e
4×
4
c
onf
us
io
n
m
a
tr
ix
(
gr
ound
tr
ut
h
vs
.
pr
e
di
c
te
d)
.
O
ve
r
a
ll
,
th
e
s
ys
te
m
c
or
r
e
c
tl
y
c
la
s
s
if
ie
d
89
out
of
100
s
a
m
pl
e
s
,
yi
e
ld
in
g
a
n
ove
r
a
ll
a
c
c
ur
a
c
y
of
89.0%
.
M
os
t
m
e
ta
l
s
a
m
pl
e
s
w
e
r
e
c
or
r
e
c
tl
y
r
out
e
d
(
23/
25)
;
m
is
c
la
s
s
if
ic
a
ti
ons
f
or
m
e
ta
l
w
e
r
e
r
a
r
e
a
nd
w
e
r
e
r
out
e
d
to
non
-
or
ga
ni
c
bi
ns
.
N
on
-
or
ga
ni
c
it
e
m
s
e
xhi
bi
te
d
th
e
hi
ghe
s
t
c
onf
us
io
n:
5
non
-
or
ga
ni
c
s
a
m
pl
e
s
w
e
r
e
m
is
r
out
e
d
(
1→or
ga
ni
c
;
4→othe
r
s
)
.
O
r
ga
ni
c
it
e
m
s
w
e
r
e
la
r
ge
ly
c
or
r
e
c
tl
y
c
la
s
s
if
ie
d
(
21/
25)
,
w
it
h
f
o
ur
c
a
s
e
s
c
onf
u
s
e
d
a
s
non
-
or
ga
ni
c
. T
he
'
ot
he
r
s
'
c
a
te
gor
y w
a
s
pe
r
f
e
c
tl
y r
e
c
ogni
z
e
d i
n our
t
r
ia
ls
(
25/
25)
.
3.3.
P
e
r
-
c
la
s
s
p
e
r
f
or
m
an
c
e
T
a
bl
e
3
s
um
m
a
r
iz
e
s
pe
r
-
c
la
s
s
pr
e
c
is
io
n,
r
e
c
a
ll
,
a
nd
F
1
-
s
c
or
e
.
K
e
y
obs
e
r
va
ti
ons
a
r
e
:
i)
m
e
ta
l
a
tt
a
in
s
th
e
hi
ghe
s
t
pr
e
c
is
io
n
(
100.0%
)
w
it
h
a
r
e
c
a
ll
of
92.0%
,
in
di
c
a
ti
ng
r
e
li
a
bl
e
pos
it
iv
e
pr
e
di
c
ti
ons
f
or
m
e
ta
l
,
ii
)
non
-
or
ga
ni
c
s
how
s
th
e
lo
w
e
s
t
pr
e
c
i
s
io
n
(
76.9%
)
a
nd
m
ode
r
a
te
r
e
c
a
ll
(
80.0%
)
,
r
e
f
le
c
ti
ng
f
a
ls
e
po
s
it
iv
e
s
to
ot
he
r
bi
ns
,
ii
i)
o
r
ga
ni
c
a
c
hi
e
ve
s
s
tr
ong
pr
e
c
is
io
n
(
95.5%
)
a
nd
a
c
c
e
pt
a
bl
e
r
e
c
a
ll
(
84.0%
)
,
a
nd
iv
)
th
e
'
ot
he
r
s
'
c
la
s
s
e
xhi
bi
ts
p
e
r
f
e
c
t
r
e
c
a
ll
(
100.0%
)
a
nd
hi
gh
pr
e
c
is
io
n
(
86.2
%
)
.
T
he
s
e
c
la
s
s
le
v
e
l
m
e
tr
ic
s
hi
ghl
ig
ht
w
h
e
r
e
th
e
s
e
ns
or
f
us
io
n
a
nd
th
r
e
s
hol
di
ng
lo
gi
c
pe
r
f
or
m
w
e
ll
a
nd
w
he
r
e
f
ur
th
e
r
im
p
r
ove
m
e
nt
s
(
e
.g.,
a
ddi
ti
ona
l
s
e
ns
in
g
m
oda
li
ti
e
s
or
th
r
e
s
hol
d
tu
ni
ng)
w
oul
d
r
e
duc
e
c
onf
us
io
n.
F
ig
ur
e
4
il
lu
s
tr
a
te
s
th
e
ove
r
a
ll
s
uc
c
e
s
s
r
a
te
f
or
e
a
c
h
w
a
s
te
c
a
te
gor
y,
pr
ovi
di
ng
a
vi
s
ua
l
c
om
pa
r
is
on
of
th
e
s
ys
te
m
’
s
c
la
s
s
if
ic
a
ti
on
pe
r
f
or
m
a
nc
e
a
nd
hi
ghl
ig
ht
in
g va
r
ia
ti
ons
i
n a
c
c
ur
a
c
y a
m
ong me
ta
l,
non
-
or
ga
ni
c
,
or
ga
ni
c
, a
nd othe
r
s
.
T
a
bl
e
2. C
onf
us
io
n m
a
tr
ix
(
c
ount
s
)
f
or
4
-
c
la
s
s
s
or
ti
ng
G
r
ound/
p
r
e
di
c
t
e
d
M
e
t
a
l
N
on
-
or
ga
ni
c
O
r
ga
ni
c
O
t
he
r
s
S
uppor
t
M
e
t
a
l
23
2
0
0
25
N
on
-
or
ga
ni
c
0
20
1
4
25
O
r
ga
ni
c
0
4
21
0
25
O
t
he
r
s
0
0
0
25
25
T
ot
a
l
(
c
ount
e
d)
23
26
22
29
100
Evaluation Warning : The document was created with Spire.PDF for Python.
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nt
J
A
dv A
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c
i
I
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:
2252
-
8814
D
e
s
ig
n and implem
e
nt
at
io
n of
an i
nt
e
r
ne
t
of
t
hi
ngs
-
ba
s
e
d auto
m
at
ic
w
as
te
s
o
r
ti
ng s
y
s
te
m
(
A
k
hm
ad T
auf
ik
)
1161
T
a
bl
e
3. P
e
r
-
c
la
s
s
pe
r
f
or
m
a
nc
e
m
e
tr
ic
s
C
l
a
s
s
TP
FP
FN
P
r
e
c
i
s
i
on
R
e
c
a
l
l
F1
-
s
c
or
e
S
uppor
t
(
n)
M
e
t
a
l
23
0
2
1.0000 (
100.00%
)
0.9200 (
92.00%
)
0.9583 (
95.83%
)
25
N
on
-
or
ga
ni
c
20
6
5
0.7692 (
76.92%
)
0.8000 (
80.00%
)
0.7843 (
78.43%
)
25
O
r
ga
ni
c
21
1
4
0.9545 (
95.45%
)
0.8400 (
84.00%
)
0.8936 (
89.36%
)
25
O
t
he
r
s
25
4
0
0.8621 (
86.21%
)
1.0000 (
100.00%
)
0.9265 (
92.65%
)
25
A
c
c
ur
a
c
y
89.0%
F
ig
ur
e
4. S
uc
c
e
s
s
r
a
te
of
w
a
s
t
e
s
or
ti
ng
3.4.
T
im
in
g an
d
t
h
r
ou
gh
p
u
t
T
a
bl
e
4
pr
e
s
e
nt
s
c
yc
le
-
ti
m
e
a
nd
s
e
n
s
or
-
r
e
s
pons
e
s
ta
ti
s
ti
c
s
(
m
e
a
n±s
ta
nda
r
d
de
vi
a
ti
on)
.
O
ve
r
a
ll
m
e
a
n
c
yc
le
ti
m
e
w
a
s
11.50±2.20
s
pe
r
it
e
m
,
yi
e
ld
in
g
a
th
e
or
e
ti
c
a
l
t
hr
oughput
of
a
ppr
oxi
m
a
te
ly
3600/11.50≈313
it
e
m
s
pe
r
hour
unde
r
c
ont
in
uous
ope
r
a
ti
on.
S
e
ns
or
r
e
s
pons
e
(
c
la
s
s
if
ic
a
ti
on
la
te
nc
y)
a
ve
r
a
ge
d
4.37±1.09
s
.
P
e
r
-
c
la
s
s
ti
m
in
g
s
how
s
m
e
ta
l
it
e
m
s
r
e
qui
r
e
d
th
e
lo
nge
s
t
c
yc
le
ti
m
e
s
(
13.55±1.07
s
)
a
nd
th
e
lo
nge
s
t
s
e
ns
or
r
e
s
pons
e
(
5.12±0.77
s
)
,
w
hi
le
th
e
'
ot
he
r
s
'
c
la
s
s
w
a
s
f
a
s
te
s
t
(
9.82±1.02
s
c
yc
le
ti
m
e
;
3.64±0.69
s
s
e
ns
or
r
e
s
pons
e
)
.
T
he
ti
m
in
g
r
e
s
ul
ts
r
e
f
le
c
t
bot
h
th
e
im
pl
e
m
e
nt
e
d
s
ta
bi
li
ty
c
he
c
ks
in
f
ir
m
w
a
r
e
a
nd
th
e
m
e
c
ha
ni
c
a
l
tr
a
ve
l
di
s
ta
nc
e
r
e
qui
r
e
d f
or
i
nde
xi
ng t
o t
a
r
ge
t
bi
ns
.
T
a
bl
e
4.
T
im
in
g a
nd t
hr
oughput s
ta
ti
s
ti
c
s
(
m
e
a
n±
s
ta
nda
r
d de
vi
a
ti
on
, s
e
c
onds
)
C
l
a
s
s
S
uppor
t
(
n)
C
yc
l
e
t
i
m
e
m
e
a
n (
s
)
C
yc
l
e
t
i
m
e
s
t
d (
s
)
S
e
ns
or
r
e
s
pons
e
m
e
a
n (
s
)
S
e
ns
or
r
e
s
pons
e
s
t
d (
s
)
M
e
t
a
l
25
13.55
1.07
5.12
0.77
N
on
-
or
ga
ni
c
25
12.57
1.74
4.01
1.03
O
r
ga
ni
c
25
10.83
2.17
4.67
1.14
O
t
he
r
s
25
9.82
1.02
3.64
0.69
O
ve
r
a
l
l
100
11.50
2.20
4.37
1.09
3.5.
I
oT
t
e
le
m
e
t
r
y an
d
d
as
h
b
oar
d
vi
s
u
al
iz
at
io
n
D
ur
in
g
e
xpe
r
im
e
nt
s
,
th
e
da
s
hboa
r
d
s
e
r
ve
d
two
pur
pos
e
s
:
i
)
r
e
m
ot
e
vi
s
ua
li
z
a
ti
on
of
bi
n
f
il
l
le
ve
ls
to
c
onf
ir
m
s
ys
te
m
be
ha
vi
or
,
a
nd
ii
)
a
s
e
c
ond
a
r
y
lo
ggi
ng
e
ndpo
in
t
f
or
c
r
os
s
-
c
he
c
ki
ng
m
e
a
s
ur
e
d
va
lu
e
s
.
T
he
N
ode
M
C
U
e
s
t
a
bl
is
he
d
W
i
-
F
i
c
onne
c
ti
vi
ty
a
t
s
ta
r
tu
p
(
W
iF
i.
be
gi
n(
...)
)
a
nd
us
e
d
th
e
B
ly
nk
c
li
e
nt
f
or
ongoing
c
om
m
uni
c
a
ti
on.
F
ig
ur
e
s
5
a
nd
6
s
how
th
e
w
e
b
a
nd
m
obi
le
da
s
hboa
r
d
vi
e
w
s
us
e
d
dur
in
g
th
e
tr
ia
ls
.
T
he
s
e
vi
e
w
s
w
e
r
e
us
e
d
onl
y
f
or
m
oni
to
r
in
g
a
nd
di
d
no
t
pa
r
ti
c
ip
a
te
in
th
e
r
e
a
l
-
ti
m
e
a
c
tu
a
ti
on
lo
gi
c
,
w
hi
c
h
r
e
m
a
in
e
d
unde
r
t
he
c
ont
r
ol
of
t
he
A
r
dui
no M
e
ga
.
3.6.
F
ai
lu
r
e
an
al
ys
is
W
e
in
s
pe
c
te
d
m
is
c
l
a
s
s
if
ie
d
tr
ia
ls
to
id
e
nt
if
y
r
oot
c
a
us
e
s
.
B
a
s
e
d
on
th
e
c
onf
us
io
n
m
a
tr
ix
a
s
s
how
n
in
T
a
bl
e
2
,
th
e
pr
in
c
ip
a
l
f
a
il
ur
e
m
ode
s
w
e
r
e
:
i
)
a
m
bi
guous
s
e
ns
o
r
r
e
a
di
ngs
due
to
obj
e
c
t
or
ie
nt
a
ti
on
or
m
ix
e
d
m
a
te
r
ia
ls
,
ii
)
of
f
-
c
e
nt
e
r
or
ti
lt
e
d
it
e
m
dr
ops
th
a
t
pr
e
ve
nt
e
d
r
e
pr
e
s
e
nt
a
ti
ve
s
e
ns
or
s
ig
na
ls
,
iii
)
va
r
ia
ti
on
in
obj
e
c
t
s
ha
pe
a
nd s
iz
e
, a
nd
iv
)
i
nhe
r
e
nt
ly
m
ix
e
d/
a
m
bi
guous
w
a
s
te
i
te
m
s
.
F
ur
th
e
r
a
na
ly
s
is
s
how
e
d t
ha
t
th
e
f
ou
r
non
-
or
ga
ni
c
it
e
m
s
r
out
e
d
to
th
e
ot
he
r
bi
n
w
e
r
e
pr
im
a
r
il
y
th
e
r
e
s
ul
t
of
im
pe
r
f
e
c
t
dr
op
pos
it
io
n.
B
e
c
a
u
s
e
s
e
ns
or
s
di
d
not
r
e
c
e
iv
e
r
e
pr
e
s
e
nt
a
ti
ve
r
e
a
di
ng
s
,
th
e
s
e
it
e
m
s
c
oul
d
not
be
c
onf
id
e
nt
ly
c
la
s
s
if
ie
d
a
s
non
-
or
ga
ni
c
. A
lt
hough the
s
e
e
ve
nt
s
c
ount
e
d a
s
c
la
s
s
if
ic
a
ti
on f
a
il
ur
e
s
f
or
t
he
non
-
or
ga
ni
c
c
la
s
s
, t
he
pr
e
s
e
nc
e
of
t
he
f
our
th
“
ot
he
r
s
”
bi
n
pr
e
ve
nt
e
d
in
c
or
r
e
c
t
r
out
in
g
to
s
e
ns
it
iv
e
c
a
te
gor
ie
s
(
e
.g.,
m
e
ta
l)
a
nd
th
us
a
c
te
d
a
s
a
n
e
f
f
e
c
ti
ve
s
a
f
e
ty
buf
f
e
r
.
T
hi
s
be
h
a
vi
or
de
m
ons
tr
a
te
d
th
a
t
th
e
ot
he
r
bi
n
f
unc
ti
one
d
a
s
in
te
nde
d
;
it
s
a
f
e
ly
c
a
pt
ur
e
d
a
m
bi
guous
it
e
m
s
(
25/
25
s
u
c
c
e
s
s
f
or
te
s
te
d
la
r
ge
s
ha
pe
it
e
m
s
)
a
nd
r
e
duc
e
d
th
e
r
is
k
of
pr
obl
e
m
a
ti
c
m
is
r
out
e
s
.
A
s
im
m
e
di
a
te
m
it
ig
a
ti
ons
,
w
e
ha
d
im
pl
e
m
e
nt
e
d
s
of
twa
r
e
-
le
ve
l
s
ta
bi
li
ty
c
he
c
ks
(
r
e
qui
r
e
dS
ta
bi
li
ty
C
ount
=
10)
a
nd
a
5
-
s
a
m
pl
e
a
ve
r
a
gi
ng
w
in
dow
f
or
ul
tr
a
s
oni
c
r
e
a
di
ngs
to
r
e
duc
e
f
a
ls
e
tr
ig
ge
r
s
.
D
ur
in
g
th
e
100
r
a
ndomi
z
e
d
tr
ia
ls
,
no
m
e
c
ha
ni
c
a
l
f
a
il
ur
e
s
w
e
r
e
obs
e
r
ve
d
th
a
t
pr
e
ve
nt
e
d
th
e
s
ys
te
m
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f
r
om
c
om
pl
e
ti
ng
it
s
s
or
ti
ng
c
yc
le
s
.
T
hi
s
c
onc
lu
s
io
n
w
a
s
ba
s
e
d
on
di
r
e
c
t
ope
r
a
to
r
obs
e
r
va
ti
on
a
nd
in
s
pe
c
ti
on
of
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a
gnos
ti
c
s
e
r
ia
l
out
put
r
e
c
or
de
d dur
in
g t
e
s
ti
ng.
F
ig
ur
e
5. M
oni
to
r
in
g s
ys
te
m
i
nt
e
r
f
a
c
e
on B
ly
nk w
e
bs
it
e
F
ig
ur
e
6. M
oni
to
r
in
g s
ys
te
m
in
te
r
f
a
c
e
us
in
g B
ly
nk
a
ppl
ic
a
ti
on
3.7.
C
om
p
ar
at
iv
e
d
is
c
u
s
s
io
n
T
a
bl
e
5
s
um
m
a
r
iz
e
s
r
e
p
r
e
s
e
n
ta
t
iv
e
s
o
r
te
r
s
ys
te
m
s
a
nd
th
e
i
r
r
e
p
or
te
d
pe
r
f
o
r
m
a
nc
e
.
C
om
pa
r
e
d
to
th
e
c
i
te
d
w
o
r
ks
,
th
e
p
r
e
s
e
n
t
s
ys
te
m
ha
n
dl
e
d
a
la
r
g
e
r
c
l
a
s
s
i
f
ic
a
ti
o
n
(
f
ou
r
c
a
t
e
go
r
ie
s
)
a
n
d
w
a
s
v
a
l
id
a
te
d
on
a
s
ubs
ta
nt
ia
l
ly
la
r
ge
r
te
s
t
s
e
t
(
n=
100
)
,
yi
e
ld
in
g
89
.0
%
r
e
po
r
t
e
d
a
c
c
u
r
a
c
y
.
T
he
o
th
e
r
t
w
o
s
t
ud
ie
s
r
e
po
r
t
e
d
100
%
a
c
c
u
r
a
c
y
;
ho
w
e
ve
r
on
ly
a
d
dr
e
s
s
e
d
bi
na
r
y
s
o
r
t
in
g
ta
s
ks
(
m
e
t
a
l
vs
non
-
m
e
t
a
l
o
r
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r
ga
n
ic
vs
non
-
o
r
g
a
n
ic
)
w
it
h
m
u
c
h
s
m
a
ll
e
r
t
r
ia
l
c
o
un
ts
(
n=
10
a
n
d
8
)
,
w
hi
c
h
r
e
d
uc
e
s
t
he
s
ta
ti
s
ti
c
a
l
s
t
r
e
n
gt
h
of
th
os
e
c
la
i
m
s
.
F
r
o
m
a
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li
c
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a
n
d
o
pe
r
a
t
io
ns
v
ie
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po
in
t,
th
e
s
ys
te
m
’
s
te
l
e
m
e
tr
y
c
ou
ld
be
f
e
d
in
to
c
a
m
pus
f
a
c
il
it
ie
s
m
a
na
ge
m
e
nt
o
r
m
un
ic
i
pa
l
w
a
s
te
da
s
hb
oa
r
ds
to
tr
ig
ge
r
c
ol
le
c
ti
o
n
e
ve
nt
s
a
n
d
p
r
io
r
it
iz
e
h
ig
h
-
f
i
ll
lo
c
a
ti
ons
,
th
e
r
e
b
y
r
e
d
uc
in
g
u
nne
c
e
s
s
a
r
y
tr
uc
k
t
r
ip
s
a
nd
a
s
s
oc
ia
te
d
e
m
is
s
io
ns
.
P
il
ot
de
pl
o
ym
e
nt
s
s
h
ou
ld
th
e
r
e
f
o
r
e
in
c
lu
d
e
s
ta
k
e
ho
ld
e
r
e
nga
ge
m
e
nt
(
f
a
c
i
li
ti
e
s
,
w
a
s
te
c
o
nt
r
a
c
to
r
s
,
a
nd
l
oc
a
l
a
ut
ho
r
it
ie
s
)
to
d
e
te
r
m
in
e
in
t
e
g
r
a
t
io
n
in
te
r
f
a
c
e
s
a
n
d
da
t
a
-
s
ha
r
in
g
pr
ot
oc
o
ls
.
T
a
bl
e
5. C
om
pa
r
a
ti
ve
s
um
m
a
r
y of
s
m
a
r
t
w
a
s
te
s
or
ti
ng s
ys
te
m
s
S
t
udy (
r
e
f
)
Y
e
a
r
C
a
t
e
gor
i
e
s
ha
ndl
e
d
K
e
y s
e
ns
or
s
/
m
e
t
hod
I
oT
m
oni
t
or
i
ng
T
r
i
a
l
s
(
r
e
por
t
e
d)
R
e
por
t
e
d
a
c
c
ur
a
c
y
T
hi
s
w
or
k
2025
4 (
m
e
t
a
l
, non
-
or
ga
ni
c
, or
ga
ni
c
,
a
nd
ot
he
r
s
)
I
nduc
t
i
ve
+c
a
pa
c
i
t
i
ve
+I
R
+ult
r
a
s
oni
c
;
A
r
dui
no M
e
ga
(
c
l
a
s
s
i
f
i
c
a
t
i
on
a
nd
a
c
t
ua
t
i
on)
+N
ode
M
C
U
(
t
e
l
e
m
e
t
r
y)
;
N
E
M
A
-
17+s
e
r
vos
Y
e
s
(
B
l
ynk
)
100
89.0%
R
um
a
ns
ya
h
e
t
al
.
[
16]
2022
2 (
m
e
t
a
l
vs
non
-
m
e
t
a
l
)
I
nduc
t
i
ve
+c
a
pa
c
i
t
i
ve
+ult
r
a
s
oni
c
;
N
ode
M
C
U
(
c
l
a
s
s
i
f
i
c
a
t
i
on, a
c
t
ua
t
i
on
a
nd
t
e
l
e
m
e
t
r
y)
;
s
e
r
vo
Y
e
s
(
B
l
ynk
)
10
100%
I
s
m
a
i
l
e
t
al
.
[
17]
2023
2 (
non
-
or
ga
ni
c
vs
or
ga
ni
c
)
C
a
pa
c
i
t
i
ve
+ult
r
a
s
oni
c
;
A
r
dui
no U
no
(
c
l
a
s
s
i
f
i
c
a
t
i
on
a
nd
a
c
t
ua
t
i
on)
+N
ode
M
C
U
(
t
e
l
e
m
e
t
r
y)
;
s
e
r
vo
Y
e
s
(
B
l
ynk
)
8
100%
S
a
nt
os
o
e
t
al
.
[
18]
2021
2 (
non
-
or
ga
ni
c
vs
or
ga
ni
c
)
C
a
pa
c
i
t
i
ve
+induc
t
i
ve
;
A
r
dui
no N
a
no
(
c
l
a
s
s
i
f
i
c
a
t
i
on
a
nd
a
c
t
ua
t
i
on)
;
s
e
r
vo
NO
20
80%
3.8. L
im
it
at
io
n
s
an
d
f
u
t
u
r
e
w
or
k
T
he
s
e
n
s
or
c
ha
m
be
r
de
s
ig
n
w
a
s
not
opt
im
a
l,
c
a
us
in
g
s
om
e
i
te
m
s
to
f
a
ll
ti
lt
e
d
o
r
of
f
-
c
e
nt
e
r
;
th
is
pr
oduc
e
d
a
m
bi
guous
s
e
n
s
or
r
e
a
di
ngs
a
nd w
a
s
a
pr
im
a
r
y
c
a
us
e
of
s
e
ve
r
a
l
c
la
s
s
if
ic
a
ti
on
e
r
r
or
s
.
I
n
a
ddi
ti
on,
th
e
li
m
it
e
d
num
be
r
a
nd
pl
a
c
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m
e
nt
of
s
e
ns
or
s
r
e
du
c
e
d
th
e
s
y
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te
m
’
s
to
le
r
a
nc
e
to
va
r
ia
ti
ons
in
obj
e
c
t
or
ie
nt
a
ti
on
a
nd
s
iz
e
.
R
e
a
l
-
ti
m
e
bi
n
-
le
ve
l
m
oni
to
r
in
g
de
pe
nd
e
d
e
nt
ir
e
ly
on
a
W
i
-
F
i
c
onne
c
ti
on:
w
he
n
th
e
N
od
e
M
C
U
lo
s
t
ne
twor
k
a
c
c
e
s
s
,
te
le
m
e
tr
y
w
a
s
not
de
li
ve
r
e
d
to
th
e
da
s
hboa
r
d
,
a
nd
le
ve
ls
c
oul
d
not
be
m
oni
to
r
e
d
onl
in
e
,
w
hi
c
h
li
m
it
s
m
oni
to
r
in
g
r
e
li
a
bi
li
ty
in
lo
c
a
ti
ons
w
it
h
uns
ta
bl
e
ne
twor
ks
.
T
he
s
or
te
r
a
ls
o
r
e
li
e
d
on
a
w
ir
e
d
220 V A
C
m
a
in
s
s
uppl
y;
t
hi
s
de
pe
nde
nc
e
on a
l
oc
a
l
pow
e
r
out
l
e
t
r
e
s
tr
ic
ts
de
pl
oym
e
nt
opt
io
ns
a
nd ma
ke
s
of
f
-
gr
id
ope
r
a
ti
on
in
f
e
a
s
ib
le
.
M
or
e
ove
r
,
th
e
de
vi
c
e
w
a
s
not
de
s
ig
n
e
d
f
or
out
door
us
e
or
w
a
te
r
e
xpos
ur
e
.
W
it
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ba
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(
A
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1163
a
w
a
te
r
pr
oof
e
nc
lo
s
ur
e
a
nd
pr
ope
r
s
e
a
li
ng/
dr
a
in
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ge
,
th
e
e
le
c
tr
oni
c
s
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nd
a
c
tu
a
to
r
s
a
r
e
vul
ne
r
a
bl
e
to
r
a
in
a
nd
e
nvi
r
onm
e
nt
a
l
in
gr
e
s
s
;
th
e
r
e
f
or
e
,
th
e
c
ur
r
e
nt
s
ys
te
m
i
s
s
ui
ta
bl
e
onl
y f
or
i
ndoor
o
r
s
he
lt
e
r
e
d i
ns
ta
ll
a
ti
ons
.
R
e
c
om
m
e
nde
d
im
pr
ove
m
e
nt
s
in
c
lu
de
a
m
e
c
ha
ni
c
a
l
r
e
de
s
ig
n
of
th
e
c
ha
m
be
r
(
e
.g.,
c
ha
m
be
r
or
gui
de
r
a
il
s
)
a
nd
r
e
-
pos
it
io
ni
ng
or
a
ddi
ti
on
of
pr
oxi
m
it
y
s
e
ns
or
s
to
im
pr
ove
r
e
a
di
ng
r
obus
tn
e
s
s
a
nd
r
e
duc
e
or
ie
nt
a
ti
on
s
e
ns
it
iv
it
y,
to
ge
th
e
r
w
it
h
lo
c
a
l
te
le
m
e
tr
y
buf
f
e
r
i
ng
to
to
le
r
a
te
in
te
r
m
it
te
nt
ne
twor
k
out
a
ge
s
.
F
or
out
door
de
pl
oym
e
nt
, w
e
r
e
c
om
m
e
nd a
w
a
te
r
pr
oof
e
nc
lo
s
ur
e
w
it
h a
ppr
opr
ia
te
s
e
a
li
ng a
nd dr
a
in
a
ge
. A
s
a
n
a
lt
e
r
na
ti
ve
or
c
om
pl
e
m
e
nt
a
r
y
a
ppr
oa
c
h,
a
ddi
ng
a
c
a
m
e
r
a
w
it
h
li
ght
w
e
ig
ht
on
-
de
vi
c
e
im
a
ge
pr
oc
e
s
s
in
g
(
e
.g.,
c
om
pa
c
t
c
onvolut
io
na
l
m
ode
ls
)
c
oul
d
s
ubs
t
a
nt
ia
ll
y
im
pr
ove
m
a
te
r
ia
l
di
s
c
r
im
in
a
ti
on,
th
a
t’
s
be
c
a
us
e
th
e
ir
pe
r
f
or
m
a
nc
e
ge
ne
r
a
ll
y
in
c
r
e
a
s
e
s
a
s
th
e
a
m
ount
a
nd
di
ve
r
s
it
y
of
la
be
le
d
tr
a
in
in
g
da
ta
gr
ow
.
H
ow
e
ve
r
,
im
a
ge
-
ba
s
e
d
c
la
s
s
if
ic
a
ti
on
r
e
qui
r
e
s
a
la
be
le
d
da
ta
s
e
t,
a
ddi
ti
ona
l
c
om
put
e
a
nd
pow
e
r
budge
t,
a
nd
c
a
r
e
f
ul
a
tt
e
nt
io
n
to
pr
iv
a
c
y
a
nd
li
ght
in
g
c
ondi
t
io
ns
.
T
o
r
e
m
ove
r
e
li
a
nc
e
on
m
a
in
s
pow
e
r
f
or
f
ie
ld
o
r
of
f
-
gr
i
d
de
pl
oym
e
nt
s
,
f
ut
ur
e
w
or
k
s
houl
d
e
va
lu
a
te
s
ol
a
r
-
pow
e
r
e
d
o
pe
r
a
ti
on
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it
h
ba
tt
e
r
y
bu
f
f
e
r
in
g
a
nd
pow
e
r
budge
ti
ng.
A
ddi
ti
ona
l
e
xt
e
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io
n
s
c
oul
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in
c
lu
d
e
s
im
pl
e
c
a
r
bon
a
c
c
ount
in
g
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e
.g.,
e
s
ti
m
a
ti
ng
a
voi
de
d c
ol
le
c
ti
on
tr
ip
s
f
r
om
te
le
m
e
tr
y)
a
nd
e
m
be
ddi
ng
th
e
de
vi
c
e
in
to
c
a
m
pus
e
duc
a
ti
ona
l
pr
ogr
a
m
s
to
pr
om
ot
e
s
our
c
e
-
s
e
gr
e
ga
ti
on be
ha
vi
or
.
4.
C
O
N
C
L
U
S
I
O
N
T
hi
s
s
tu
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pr
e
s
e
nt
e
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in
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g
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th
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t
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om
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ul
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s
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te
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la
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ti
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duc
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p
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c
it
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,
a
nd
in
f
r
a
r
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m
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ha
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w
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h
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l
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ti
m
e
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m
e
tr
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N
ode
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C
U
+
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ly
nk
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he
s
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m
w
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s
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r
im
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ll
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li
da
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r
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ll
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c
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ur
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c
y
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n=
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it
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a
m
e
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n
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yc
le
ti
m
e
of
11.5±2.2
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pe
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it
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m
.
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y
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tr
e
ngt
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r
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e
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c
e
r
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ba
s
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la
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ic
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ti
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our
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c
a
m
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dy
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oT
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s
ua
li
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ti
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M
a
in
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it
a
ti
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lu
de
d
c
ha
m
be
r
/d
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pos
it
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e
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it
iv
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pe
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or
r
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ot
e
m
oni
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in
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nd l
a
c
k of
w
e
a
th
e
r
pr
oof
in
g (
in
door
us
e
onl
y)
.
F
or
de
pl
oym
e
nt
,
w
e
r
e
c
om
m
e
nd
f
ie
ld
pi
lo
ti
ng,
m
e
c
ha
ni
c
a
l
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de
s
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a
nd
e
xt
r
a
c
o
m
pl
e
m
e
nt
a
r
y
s
e
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or
s
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or
opt
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na
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li
ght
w
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a
ge
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oc
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in
g)
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a
nd
e
nc
lo
s
ur
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w
e
a
th
e
r
pr
oof
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g.
O
ve
r
a
ll
,
th
e
w
or
k
de
m
ons
tr
a
te
d
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pr
a
c
ti
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a
l,
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w
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c
os
t
a
ppr
oa
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h s
ui
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bl
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or
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a
m
pus
t
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ia
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le
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de
nt
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le
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r
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io
r
it
iz
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d i
m
pr
ove
m
e
nt
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or
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oduc
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e
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A
C
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ut
hor
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ll
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ta
nc
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om
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e
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r
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F
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or
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t
hr
ough
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2023 Applied E
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ne
e
r
in
g R
e
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a
r
c
h P
r
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A
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C
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C
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M
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So
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e
s
t.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
2252
-
8814
I
nt
J
A
dv A
ppl
S
c
i
,
V
ol
.
14
, N
o.
4
,
D
e
c
e
m
be
r
20
25
:
1155
-
1165
1164
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e
f
in
di
ngs
of
th
is
s
tu
dy
a
r
e
a
va
il
a
bl
e
w
it
hi
n
th
e
a
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ti
c
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R
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F
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N
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s
us
t
a
i
na
bl
e
c
i
r
c
ul
a
r
e
c
onom
y
a
ppr
oa
c
h
f
or
s
m
a
r
t
w
a
s
t
e
m
a
na
ge
m
e
nt
s
y
s
t
e
m
t
o
a
c
hi
e
ve
s
us
t
a
i
na
bl
e
de
ve
l
opm
e
nt
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m
s
r
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l
a
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d
t
o
t
he
m
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na
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m
e
nt
a
nd
ut
i
l
i
z
a
t
i
on
of
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hol
d
w
a
s
t
e
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s
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n
f
r
om
t
he
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e
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pe
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t
i
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a
m
i
l
y
e
duc
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r
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s
t
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c
s
r
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l
a
t
e
d
t
o
i
l
l
e
ga
l
dum
p
i
ng;
a
m
i
xe
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nf
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bi
ns
i
nt
e
gr
a
t
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d
m
on
i
t
or
i
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s
ys
t
e
m
us
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B
l
ynk,”
I
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C
onf
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r
e
nc
e
Se
r
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or
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c
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pr
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he
n
s
i
ve
r
e
vi
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w
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a
ppl
i
c
a
t
i
ons
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nd
f
ut
ur
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pr
os
pe
c
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s
i
n
he
a
l
t
hc
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r
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,
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gr
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ul
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ur
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a
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hom
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a
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c
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a
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f
or
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a
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duc
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t
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a
g
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i
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m
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i
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I
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nd
a
ge
ne
t
i
c
a
l
gor
i
t
hm
–
f
uz
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r
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nc
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ba
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d
c
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r
a
l
i
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m
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f
or
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n
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f
f
i
c
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e
nt
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c
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oc
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r
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ki
ng
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nd
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r
qua
l
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y
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