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W
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icles,
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tellig
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s
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(
I
T
S),
an
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etwo
r
k
s
with
in
th
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p
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th
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u
to
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d
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r
g
o
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n
g
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f
ican
t
c
h
an
g
es
[
1
]
.
R
ec
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d
ev
elo
p
m
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ts
in
h
ar
d
war
e,
s
o
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tem
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as
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s
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cr
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o
f
n
u
m
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s
ap
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licatio
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s
an
d
s
tan
d
ar
d
s
,
h
av
e
m
ad
e
t
h
ese
tech
n
o
l
o
g
ies
p
o
s
s
ib
le
[
2
]
.
H
o
w
e
v
e
r
,
t
h
e
r
i
s
e
i
n
r
o
a
d
a
c
c
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d
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ts
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w
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h
a
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p
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m
p
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v
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r
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a
d
s
a
f
e
t
y
[
3
]
-
[
5]
.
T
h
ese
ch
an
g
es
a
r
e
d
u
e
to
th
e
r
is
in
g
n
u
m
b
er
o
f
v
eh
icles
o
n
th
e
r
o
ad
,
a
n
d
it
is
esti
m
ated
th
at
th
e
n
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m
b
er
o
f
v
eh
icles
will
ex
ce
ed
2
b
illi
o
n
b
y
2
0
3
0
[
6
]
,
[
7]
.
T
h
e
W
o
r
ld
Hea
lth
Or
g
an
izatio
n
(
W
HO)
r
ep
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ted
th
at
r
o
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ly
1
.
5
m
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p
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p
le
d
ied
in
r
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d
ac
cid
en
ts
in
2
0
1
8
[
8
]
.
R
o
ad
ac
cid
en
ts
r
em
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a
lead
in
g
c
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s
e
o
f
in
ju
r
y
a
n
d
m
o
r
tality
wo
r
ld
wid
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em
p
h
as
izin
g
th
e
n
ee
d
f
o
r
ad
v
an
ce
d
s
af
ety
tech
n
o
lo
g
ies
[
9
]
,
[
1
0
]
.
I
n
th
is
co
n
tex
t,
v
eh
icle
-
to
-
v
e
h
icle
(
V2
V)
co
m
m
u
n
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n
s
y
s
tem
s
h
as
em
er
g
ed
as
a
p
r
o
m
is
in
g
s
o
lu
tio
n
,
en
ab
lin
g
r
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-
tim
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d
ata
tr
an
s
f
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s
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a
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d
d
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b
etwe
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v
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icles,
th
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eb
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im
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v
in
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s
af
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awa
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to
all
v
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[
1
1
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-
[
1
3
]
.
T
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s
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s
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s
e
co
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m
u
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p
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co
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DSR
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,
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in
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wir
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d
m
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t r
ec
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lig
h
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f
id
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(
L
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)
tech
n
o
lo
g
y
[
1
4
]
-
[
1
7
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
Desig
n
o
f v
eh
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to
ve
h
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c
o
mmu
n
ica
tio
n
:
a
cc
id
en
t c
o
llis
io
n
p
r
ev
en
tio
n
…
(
F
o
l
a
s
h
a
d
e
Ola
mid
e
A
r
ib
a
)
397
Du
e
to
ex
p
o
n
en
tial
g
r
o
wth
in
th
e
n
u
m
b
er
o
f
v
eh
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s
o
n
r
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ad
s
,
it
is
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p
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ted
th
at
V2
V
co
m
m
u
n
icatio
n
will
co
n
tin
u
e
to
in
cr
ea
s
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[
1
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E
v
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n
th
o
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m
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u
n
icatio
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ay
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wir
eless
co
m
m
u
n
icatio
n
is
ty
p
ically
u
n
r
eliab
le
[
1
8
]
,
[
1
9
]
.
Ma
n
y
f
ac
to
r
s
,
f
o
r
ex
am
p
le,
ch
a
n
n
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k
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m
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s
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r
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tly
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Desp
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a
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o
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te
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f
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ce
[
1
1
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[
1
3
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.
T
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es
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n
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er
s
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r
e
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e
n
ee
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f
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o
lo
g
ies
s
u
c
h
as
s
en
s
o
r
s
,
wir
eless
co
m
m
u
n
icatio
n
,
ar
t
if
icial
in
tellig
en
ce
f
o
r
r
ea
l
tim
e
awa
r
en
ess
an
d
in
ter
n
et
o
f
th
in
g
s
(
I
o
T
s
)
to
m
i
n
im
ize
h
u
m
a
n
er
r
o
r
.
Fo
r
i
n
s
tan
ce
,
An
b
ala
g
an
et
a
l
.
[
2
0
]
p
r
e
s
en
t
th
e
d
esig
n
an
d
p
r
o
to
ty
p
e
d
e
v
elo
p
m
e
n
t
o
f
V
2
V
u
s
in
g
L
iFi
tech
n
o
lo
g
y
.
T
h
e
au
th
o
r
s
p
r
o
p
o
s
ed
lig
h
t
em
itti
n
g
d
io
d
e
(
LED
)
b
u
lb
s
th
at
ca
n
s
en
d
d
ata
th
r
o
u
g
h
lig
h
t
s
p
ec
tr
u
m
as
wir
eless
o
p
tical
lin
k
in
th
e
L
iFi
tech
n
o
lo
g
y
.
T
h
e
p
r
o
p
o
s
ed
d
esig
n
was
ab
le
to
p
r
o
v
id
e
f
a
s
t
an
d
r
eliab
le
c
o
m
m
u
n
icatio
n
with
o
u
t
t
h
e
n
ee
d
f
o
r
co
m
m
u
n
icatio
n
p
r
o
to
c
o
ls
.
Gelb
al
et
a
l
.
[
2
1
]
p
r
esen
ted
p
ed
estrian
co
llis
io
n
av
o
i
d
an
ce
s
y
s
tem
f
o
r
lo
w
s
p
ee
d
au
to
n
o
m
o
u
s
s
h
u
ttles
b
ased
on
v
eh
icle
-
to
-
p
ed
estrian
(
V
2
P)
co
m
m
u
n
icatio
n
.
I
n
t
h
e
wo
r
k
,
s
m
ar
tp
h
o
n
e
was
u
s
ed
to
d
et
ec
t
p
ed
estrian
s
an
d
d
ed
icate
d
s
h
o
r
t
r
a
n
g
e
c
o
m
m
u
n
icatio
n
i
n
s
id
e
v
eh
icle
(
DSR
C
)
wer
e
u
s
ed
f
o
r
v
e
h
icle
-
to
-
ev
er
y
th
in
g
(
V2
X)
wh
en
lin
e
-
of
-
s
ig
h
t
s
en
s
o
r
s
co
u
ld
n
o
t
b
e
ef
f
ec
tiv
e.
I
n
allo
win
g
v
eh
icle
to
m
o
v
e
r
o
u
n
d
th
e
p
ed
estrian
,
th
e
au
th
o
r
s
u
s
ed
an
elastic
b
an
d
tech
n
iq
u
e.
Fo
r
r
ea
l
wo
r
l
d
ex
p
er
i
m
en
t,
th
e
p
ap
e
r
u
s
ed
a
h
a
r
d
wa
r
e
s
im
u
lato
r
in
th
e
f
o
r
m
o
f
an
a
u
to
m
ated
d
r
i
v
in
g
v
eh
icle
m
o
d
el
with
Sen
s
o
r
s
an
d
T
r
af
f
ic
to
s
im
u
late
th
e
v
eh
icle
an
d
p
ed
estrian
co
m
m
u
n
icatio
n
.
Su
g
a
n
y
ad
e
v
i
et
a
l
.
[
2
2
]
p
r
esen
ted
an
in
te
llig
en
t
s
y
s
tem
with
I
o
T
s
tech
n
o
lo
g
y
.
T
h
e
s
tu
d
y
d
ev
elo
p
e
d
an
d
im
p
lem
en
te
d
an
I
o
T
s
d
ev
ice
th
at
co
n
s
tan
tly
m
an
ag
e
ca
r
s
p
ee
d
,
m
o
n
ito
r
s
ca
r
d
is
tan
ce
an
d
war
n
ca
r
u
s
er
s
an
d
p
o
lice
o
f
an
ac
c
id
en
ts
.
T
ao
et
a
l
.
[
2
3
]
,
in
teg
r
a
ted
m
ac
h
in
e
l
ea
r
n
in
g
(
ML
)
an
d
I
o
T
s
tech
n
o
lo
g
y
to
r
ed
u
ce
r
o
o
d
ac
cid
en
t
an
d
p
r
o
v
id
es
r
ea
l
tim
e
ass
is
tan
ce
to
d
r
iv
er
s
.
T
h
e
p
ap
er
,
p
r
o
p
o
s
ed
a
s
y
s
tem
th
at
in
teg
r
ates
d
etec
tin
g
o
b
s
tr
u
ctio
n
m
ec
h
an
is
m
with
co
m
p
u
te
r
v
is
io
n
,
s
en
s
o
r
s
f
o
r
ch
ec
k
in
g
v
eh
icles,
d
r
iv
er
attitu
d
e
an
aly
s
is
an
d
s
itu
atio
n
al
aler
tn
ess
d
ee
p
lear
n
in
g
p
r
ed
ictiv
e
m
o
d
el
f
o
r
r
ea
l
tim
e
s
en
s
in
g
,
au
to
m
atic
m
eth
o
d
to
av
o
id
p
o
ten
tial
ac
ci
d
en
t,
q
u
ic
k
r
esp
o
n
s
e
tim
e
an
d
im
p
r
o
v
i
n
g
ac
cid
e
n
t
v
ictim
s
.
T
h
e
r
esu
lts
s
h
o
wed
th
at,
th
e
p
r
o
p
o
s
ed
s
y
s
tem
p
r
o
p
er
ly
lim
ited
ac
cid
en
t
p
r
o
b
ab
ilit
y
wh
ile
im
p
r
o
v
in
g
d
r
iv
er
aler
tn
ess
.
Als
o
,
Sh
in
d
e
et
a
l
.
[
2
4
]
p
r
o
p
o
s
ed
th
e
co
m
b
in
atio
n
o
f
I
o
T
s
,
ar
tific
ial
in
tellig
en
ce
(
A
I)
,
an
d
ML
f
o
r
s
m
ar
t
r
o
ad
s
af
et
y
an
d
p
r
e
v
en
tio
n
(
SR
SP
)
s
y
s
te
m
alo
n
g
m
o
u
n
tain
.
T
h
e
wo
r
k
u
tili
ze
d
s
en
s
o
r
s
f
o
r
r
ea
l
tim
e
in
f
o
r
m
atio
n
g
ath
er
i
n
g
s
u
ch
as
co
n
d
itio
n
s
o
f
r
o
ad
,
tr
af
f
ic
v
o
lu
m
e
an
d
clim
ate
s
tr
u
ctu
r
e
alo
n
g
m
o
u
n
tain
p
ath
s
.
T
h
e
g
ath
er
ed
d
ata
is
an
aly
ze
d
with
Al
alg
o
r
ith
m
to
d
etec
t
an
d
p
r
ed
ict
ac
cid
e
n
t.
T
h
e
au
th
o
r
s
also
p
r
o
v
id
e
s
af
ety
p
r
ev
en
tio
n
m
eth
o
d
s
b
y
th
e
in
tr
o
d
u
ctio
n
o
f
V2
V
an
d
V2
I
c
o
m
m
u
n
i
ca
tio
n
p
r
o
t
o
co
ls
.
T
h
er
e
f
o
r
e,
th
e
p
r
o
p
o
s
ed
SR
S
P
s
y
s
tem
was
ab
le
to
r
ed
u
ce
d
an
g
er
ass
o
ciate
d
with
m
o
u
n
tain
r
o
a
d
u
s
er
,
h
en
ce
r
ed
u
c
in
g
s
o
cial
ef
f
ec
t
o
f
ac
cid
en
ts
.
R
o
y
et
a
l
.
[
2
5
]
,
d
em
o
n
s
tr
ated
an
d
d
ev
elo
p
e
d
a
s
m
ar
t
tech
n
o
lo
g
y
f
o
r
v
e
h
i
cle
m
o
n
ito
r
i
n
g
a
n
d
ac
cid
en
t
p
r
ev
en
tio
n
o
n
m
o
u
n
tain
p
ath
.
T
h
e
s
tu
d
y
p
r
o
p
o
s
ed
th
e
in
teg
r
atio
n
o
f
g
lo
b
al
s
y
s
tem
f
o
r
m
o
b
ile
co
m
m
u
n
icatio
n
s
(
GSM)
,
g
lo
b
al
p
o
s
itio
n
in
g
s
y
s
te
m
(
GPS),
an
d
s
en
s
o
r
s
o
n
an
a
d
v
an
c
ed
r
ed
u
ce
d
in
s
tr
u
ctio
n
s
et
co
m
p
u
ter
m
ac
h
in
e
(
AR
M
)
m
icr
o
co
n
tr
o
ller
f
o
r
p
r
ev
en
tin
g
tr
af
f
ic
ca
u
s
ed
ac
cid
en
ts
b
y
en
h
an
cin
g
s
itu
atio
n
aler
tn
ess
an
d
im
p
r
o
v
i
n
g
s
o
lu
t
io
n
tim
e.
T
h
e
au
t
h
o
r
s
u
s
ed
G
SM
to
au
to
m
atica
lly
s
en
d
co
n
tacts
an
d
v
eh
icle
’
s
p
o
s
itio
n
v
ia
a
s
h
o
r
t
m
ess
ag
e
s
er
v
ice
(
SMS
)
,
GPS
f
o
r
m
o
n
ito
r
in
g
th
e
v
eh
icle
co
n
tin
u
o
u
s
ly
an
d
d
if
f
e
r
en
t
s
en
s
o
r
s
f
o
r
c
h
ec
k
in
g
co
llis
io
n
,
m
o
n
ito
r
s
p
ee
d
s
an
d
o
b
s
tac
les.
T
h
er
ef
o
r
e
,
th
e
p
r
o
p
o
s
ed
s
y
s
tem
was
ab
le
to
p
r
o
v
id
e
a
r
o
b
u
s
t
an
d
b
etter
a
p
p
r
o
ac
h
f
o
r
p
r
ev
e
n
tin
g
r
o
ad
a
cc
id
en
t.
W
an
g
et
a
l
.
[
26
]
p
r
esen
ted
a
f
r
am
ewo
r
k
th
at
p
r
ev
en
t
d
if
f
e
r
en
t
k
in
d
s
o
f
ac
cid
en
t
s
u
ch
as
r
ea
r
en
d
an
d
h
ea
d
o
n
co
llis
io
n
s
,
T
-
b
o
n
e
an
d
p
e
d
estrian
ac
cid
en
t
with
t
h
e
aid
o
f
R
asp
b
er
r
y
Pi
4
Mo
d
el
B
an
d
o
p
en
s
o
u
r
ce
co
m
p
u
ter
v
is
io
n
(
Op
e
n
C
V
)
L
ib
r
ar
y
.
T
h
e
au
th
o
r
s
m
ad
e
u
s
e
o
f
d
ee
p
lea
r
n
in
g
alg
o
r
ith
m
to
m
o
n
ito
r
,
ca
l
cu
late
d
is
tan
ce
an
d
d
etec
t
r
ea
l
-
p
er
io
d
m
ater
ial
to
g
iv
e
ea
r
ly
war
n
s
ig
n
al.
T
h
e
o
u
tco
m
e
o
f
th
e
s
tu
d
y
s
h
o
wed
t
h
a
t;
th
e
m
eth
o
d
was
ef
f
ec
tiv
e
f
o
r
d
is
tr
ac
ted
d
r
i
v
er
s
with
a
s
p
ee
d
o
f
0
.
0
9
s
ec
o
n
d
s
p
er
f
r
am
e.
T
h
e
r
ev
iewe
d
o
f
th
e
af
o
r
e
m
e
n
tio
n
ed
liter
atu
r
es
s
h
o
ws
th
at
ex
is
tin
g
s
y
s
tem
s
r
ely
in
g
s
o
le
ly
o
n
W
iFi
f
ac
e
lim
itatio
n
s
in
laten
cy
,
in
ter
f
er
en
ce
,
an
d
r
eliab
ilit
y
,
esp
ec
ially
in
h
ig
h
-
d
e
n
s
ity
tr
af
f
i
c.
L
iFi
,
wh
ich
u
s
e
s
v
is
ib
le
lig
h
t
co
m
m
u
n
icatio
n
,
o
f
f
e
r
s
a
co
m
p
lem
en
tar
y
alter
n
ativ
e
with
h
ig
h
er
b
an
d
wid
th
an
d
lo
wer
in
ter
f
er
en
ce
b
u
t
is
co
n
s
tr
ain
ed
b
y
lin
e
-
of
-
s
ig
h
t
r
eq
u
ir
em
en
ts
.
I
n
teg
r
atin
g
b
o
th
L
iFi
an
d
W
iFi
ca
n
o
v
er
co
m
e
in
d
iv
id
u
al
wea
k
n
ess
es,
cr
ea
tin
g
a
r
o
b
u
s
t
h
y
b
r
id
co
m
m
u
n
ic
atio
n
s
y
s
tem
.
T
h
er
ef
o
r
e,
t
h
is
s
tu
d
y
aim
s
to
d
esig
n
an
d
test
s
u
ch
a
s
y
s
tem
f
o
r
a
cc
id
en
t
p
r
e
v
en
tio
n
,
f
o
cu
s
in
g
o
n
r
ea
l
-
tim
e
d
ata
tr
an
s
f
er
,
r
e
d
u
ce
d
laten
c
y
,
an
d
im
p
r
o
v
e
d
r
eliab
ilit
y
.
Ou
r
m
a
in
co
n
tr
ib
u
tio
n
ar
e
as
f
o
llo
ws:
(
i)
d
esig
n
an
d
s
im
u
late
o
f
L
iFi
-
W
iFi
V2
V
ac
cid
en
t
co
llis
io
n
p
r
e
v
en
tio
n
co
m
m
u
n
icatio
n
s
y
s
tem
cir
cu
it
u
s
in
g
Pro
teu
s
s
o
f
twar
e
,
(
ii)
d
ev
elo
p
a
n
d
im
p
lem
en
t th
e
p
r
o
p
o
s
ed
s
y
s
tem
,
an
d
(
iii)
test
in
g
o
f
th
e
p
r
o
p
o
s
ed
p
r
o
to
t
y
p
e
s
y
s
tem
.
T
h
is
p
ap
er
is
s
tr
u
ctu
r
ed
as
f
o
llo
ws
:
s
ec
tio
n
2
d
ep
icts
t
h
e
m
eth
o
d
u
tili
ze
d
in
th
e
d
esig
n
an
d
s
im
u
latio
n
o
f
L
iFi
-
W
iFi
V2
V
ac
cid
en
t
p
r
e
v
en
tio
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m
u
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i
ca
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Pr
o
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y
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tem
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ch
itectu
r
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,
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o
m
p
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n
en
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elec
tio
n
,
cir
c
u
it
d
esig
n
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in
teg
r
atio
n
o
f
co
m
m
u
n
icatio
n
p
r
o
to
co
l
,
s
im
u
latio
n
test
in
g
an
d
p
r
o
p
o
s
ed
s
y
s
tem
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to
t
y
p
e
d
ev
elo
p
m
en
t
a
n
d
im
p
lem
en
tatio
n
.
Sectio
n
3
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6
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3
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TEL
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24
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2
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Ap
r
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20
26
:
3
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398
p
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r
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io
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ctio
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ality
test
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t,
tim
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d
p
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m
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ec
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g
iv
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clu
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io
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th
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2.
M
E
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H
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T
h
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p
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o
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ed
V2
V
s
y
s
tem
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teg
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ates
L
iFi
an
d
W
iFi
co
m
m
u
n
icatio
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f
o
r
ac
cid
en
t
p
r
ev
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n
t,
en
ab
lin
g
r
ea
l
-
tim
e
d
ata
ex
ch
an
g
e
b
etwe
en
v
eh
icles.
T
h
e
s
y
s
tem
ap
p
r
o
ac
h
ad
o
p
te
d
in
th
is
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t
u
d
y
is
s
elec
tio
n
o
f
co
m
p
o
n
en
ts
,
L
iFi
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W
iFi
tr
an
s
m
itter
,
an
d
r
ec
eiv
er
s
y
s
tem
d
e
s
ig
n
,
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ata
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m
m
u
n
icatio
n
d
es
ig
n
,
s
im
u
latio
n
an
d
test
in
g
o
n
Pro
teu
s
s
o
f
twar
e,
b
r
ea
d
b
o
a
r
d
test
in
g
,
p
r
o
to
t
y
p
e
d
ev
elo
p
m
en
t,
test
in
g
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d
p
er
f
o
r
m
an
ce
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alu
atio
n
as o
u
tlin
ed
in
Fig
u
r
e
1
.
C
om
pon
e
nt
S
e
l
e
c
t
i
on
L
i
F
i
-
W
i
F
i
T
r
a
ns
m
i
t
t
e
r
C
i
r
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ui
t
D
e
s
i
gn
L
i
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i
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W
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R
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c
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r
C
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r
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t
D
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s
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gn
B
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a
dbo
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r
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e
s
t
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ng
P
r
ot
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C
on
s
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r
uct
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on
P
e
r
f
or
m
a
nc
e
T
e
s
t
i
ng
I
nt
e
gr
a
t
i
on of
c
om
m
uni
c
a
t
i
on
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r
ot
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ol
S
i
m
ul
a
t
i
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e
s
t
on
P
r
ot
e
us
S
of
t
w
a
r
e
Fig
u
r
e
1
.
B
lo
ck
d
iag
r
am
o
f
th
e
s
y
s
tem
ap
p
r
o
ac
h
2
.
1
.
Sy
s
t
e
m
a
rc
hite
ct
ure
T
h
e
s
y
s
tem
ar
ch
itectu
r
e
in
Fig
u
r
e
2
illu
s
tr
ates
th
e
r
ea
l
-
life
V2
Vco
m
m
u
n
icatio
n
s
y
s
tem
d
esig
n
ed
f
o
r
co
llis
io
n
p
r
ev
en
tio
n
u
s
in
g
L
iFi
an
d
W
iFi
tech
n
o
lo
g
ies.
T
h
e
d
iag
r
am
d
ep
icts
two
v
eh
icles,
ea
ch
eq
u
ip
p
e
d
with
L
iFi
tr
an
s
m
itter
s
/r
ec
eiv
er
s
f
o
r
s
h
o
r
t
r
an
g
e
co
m
m
u
n
icatio
n
a
n
d
W
iFi
m
o
d
u
les
f
o
r
ex
ten
d
e
d
co
n
n
ec
tiv
ity
.
At
th
e
co
r
e
o
f
ea
ch
v
e
h
icle
’
s
s
y
s
tem
is
an
E
SP
3
2
m
icr
o
co
n
tr
o
ller
,
wh
ich
p
r
o
ce
s
s
es
d
ata
an
d
h
an
d
les
W
iFi
co
m
m
u
n
icatio
n
[
2
6
]
.
T
h
e
E
SP
3
2
in
ter
f
ac
es
with
an
HC
-
SR
0
4
u
ltra
s
o
n
ic
s
en
s
o
r
to
m
ea
s
u
r
e
th
e
d
is
tan
ce
o
f
n
ea
r
b
y
v
e
h
icles.
Fo
r
L
iFi
,
a
h
ig
h
-
in
ten
s
ity
L
E
D
o
f
0
.
5
W
,
an
d
6
5
0
n
m
tr
an
s
m
its
d
ata
v
ia
lig
h
t
m
o
d
u
latio
n
[
2
7
]
,
w
h
ile
a
p
h
o
to
d
io
d
e
r
ec
ei
v
es
s
ig
n
als,
en
ab
lin
g
h
ig
h
-
s
p
e
ed
,
s
h
o
r
t
-
r
a
n
g
e
co
m
m
u
n
icatio
n
id
ea
l
f
o
r
lin
e
-
of
-
s
ig
h
t
s
ce
n
ar
io
s
[
2
6
]
.
T
h
e
L
i
Fi
m
o
d
u
latio
n
u
s
es
tech
n
iq
u
es
s
u
ch
as
on
-
o
f
f
k
ey
in
g
(
O
OK)
an
d
o
r
th
o
g
o
n
al
f
r
eq
u
e
n
cy
d
i
v
is
io
n
m
u
ltip
lex
i
n
g
(
OFDM)
[
2
7
]
.
T
h
e
E
SP
3
2
’
s
W
iFi
m
o
d
u
le,
co
n
f
ig
u
r
ed
f
o
r
th
e
I
E
E
E
8
0
2
.
1
1
p
s
tan
d
ar
d
,
s
u
p
p
o
r
ts
lo
n
g
e
r
-
r
an
g
e
co
m
m
u
n
icatio
n
in
n
o
n
-
lin
e
-
of
-
s
ig
h
t
co
n
d
itio
n
s
,
s
u
ch
as
h
i
g
h
way
s
[
2
8
]
.
I
E
E
E
8
0
2
.
1
1
p
s
tan
d
ar
d
is
em
p
lo
y
in
I
T
S
f
o
r
s
m
all
laten
cy
an
d
r
eliab
le
co
m
m
u
n
icatio
n
b
et
wee
n
v
eh
icles.
T
h
e
s
y
s
tem
s
w
itch
es
b
etwe
en
L
iF
i
an
d
W
iFi
b
a
s
ed
o
n
lin
e
-
of
-
s
ig
h
t
av
ailab
ilit
y
to
en
s
u
r
e
r
eliab
le
d
ata
tr
an
s
f
er
.
A
co
llis
io
n
p
r
ev
en
tio
n
alg
o
r
ith
m
p
r
o
ce
s
s
es
d
is
tan
ce
d
ata
to
ca
lcu
late
tim
e
-
to
-
co
llis
io
n
an
d
t
r
ig
g
er
s
aler
ts
v
ia
a
liq
u
id
cr
y
s
tal
d
is
p
lay
(
L
C
D
)
d
is
p
lay
if
a
co
llis
io
n
r
is
k
is
d
etec
ted
.
T
h
is
a
r
ch
itectu
r
e
lev
er
ag
es
L
iFi
’
s
lo
w
laten
cy
an
d
W
iFi
’
s
r
o
b
u
s
tn
ess
to
en
h
a
n
ce
r
o
a
d
s
af
ety
.
2
.
2
.
Co
m
po
nents selec
t
io
n
I
n
o
r
d
er
to
b
u
ild
a
p
r
o
to
ty
p
e,
an
d
th
e
n
m
o
d
elled
u
s
in
g
ad
v
an
ce
d
s
o
f
twar
e
t
o
o
ls
,
th
is
s
tu
d
y
b
e
g
in
s
with
a
ca
r
ef
u
lly
ch
o
s
en
s
et
o
f
co
m
p
o
n
en
ts
.
Pre
m
iu
m
co
m
p
o
n
en
ts
ar
e
in
co
r
p
o
r
ate
d
in
to
t
h
e
s
y
s
tem
’
s
ch
o
s
en
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
Desig
n
o
f v
eh
icle
to
ve
h
icle
c
o
mmu
n
ica
tio
n
:
a
cc
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en
t c
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p
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(
F
o
l
a
s
h
a
d
e
Ola
mid
e
A
r
ib
a
)
399
ar
ch
itectu
r
e
to
g
u
ar
an
tee
d
ep
e
n
d
ab
ilit
y
an
d
f
u
n
ctio
n
ality
in
p
r
ac
tical
ap
p
licatio
n
s
.
T
h
e
h
ar
d
war
e
co
m
p
o
n
en
ts
ch
o
s
en
f
o
r
t
h
is
s
tu
d
y
ar
e
i
n
ten
d
ed
to
g
u
ar
a
n
tee
V2
V
co
m
m
u
n
icatio
n
s
y
s
tem
’
s
r
eliab
le
o
p
er
atio
n
an
d
ef
f
ec
tiv
en
ess
.
T
wo
Ar
d
u
in
o
u
n
iv
er
s
al
n
o
d
e
(
Ar
d
u
in
o
UNO
)
n
am
ely
:
Mic
r
o
co
n
tr
o
ller
E
SP
3
2
co
n
tr
o
ls
th
e
ce
n
tr
al
p
r
o
ce
s
s
in
g
u
n
it
an
d
co
o
r
d
in
ates
th
e
s
y
s
tem
’
s
f
u
n
ctio
n
s
b
o
th
at
th
e
tr
an
s
m
itter
an
d
r
ec
eiv
er
e
n
d
r
esp
ec
tiv
ely
[
2
9
]
.
A
h
ig
h
in
ten
s
ity
L
E
D
is
an
o
th
er
co
m
p
o
n
en
t
u
s
ed
to
tr
an
s
m
it
d
at
a
th
r
o
u
g
h
a
lig
h
t
m
o
d
u
latio
n
at
th
e
v
eh
icle
h
ea
d
lig
h
t
[
3
0
]
.
A
p
h
o
to
r
esis
to
r
also
k
n
o
wn
as
lig
h
t
-
d
ep
en
d
en
t
r
esis
to
r
(
L
DR
)
i
s
u
s
ed
at
th
e
r
ec
eiv
e
r
to
d
etec
t
ch
an
g
es
in
lig
h
t
in
ten
s
ity
an
d
co
n
v
er
t
th
em
i
n
to
elec
tr
ical
s
ig
n
als
[
3
1
]
.
Als
o
,
HC
-
SR
0
4
Ultr
aso
n
ic
s
en
s
o
r
s
k
n
o
wn
as
tr
an
s
ce
iv
er
s
is
a
n
o
t
h
er
c
o
m
p
o
n
en
t
t
h
at
is
u
s
ed
to
ca
lcu
late
th
e
tim
e
in
ter
v
al
b
etwe
en
s
en
d
in
g
a
n
d
r
ec
eiv
in
g
s
ig
n
al
t
o
d
eter
m
i
n
e
t
h
e
d
is
tan
ce
o
f
o
b
ject
[
3
2
]
.
Oth
er
co
m
p
o
n
en
ts
ar
e
L
C
D
s
cr
ee
n
s
[
3
3
]
to
n
o
tify
d
r
iv
er
s
o
f
co
llis
io
n
r
is
k
s
,
J
u
m
p
er
wir
es,
b
r
ea
d
b
o
ar
d
s
,
c
o
n
n
ec
to
r
s
,
m
u
lti
-
m
eter
,
r
esis
to
r
,
tr
an
s
is
to
r
s
,
d
io
d
es,
ca
p
ac
ito
r
s
,
6
V
tr
a
n
s
f
o
r
m
er
,
an
d
1
2
V
tr
a
n
s
f
o
r
m
er
f
o
r
th
e
p
o
wer
s
y
s
tem
u
n
it.
I
n
ad
d
itio
n
to
th
e
h
ar
d
war
e,
t
h
e
p
r
o
ject
in
clu
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es
a
n
u
m
b
er
o
f
s
o
f
twar
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elem
en
ts
n
ec
ess
ar
y
f
o
r
its
cr
ea
tio
n
an
d
f
u
n
ctio
n
in
g
.
T
h
e
cir
cu
it
d
esig
n
is
test
ed
a
n
d
v
alid
ated
u
s
in
g
Pro
teu
s
s
im
u
latio
n
s
to
m
ak
e
s
u
r
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all
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tr
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co
m
p
o
n
en
ts
wo
r
k
p
r
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p
er
ly
b
e
f
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e
p
h
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s
ical
ass
em
b
ly
.
R
e
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e
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ve
r
Tr
an
s
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tte
r
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32
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P
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r
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04
u
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r
as
on
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at
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y
9V
L
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Fig
u
r
e
2
.
Sy
s
tem
ar
c
h
itectu
r
e
o
f
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iFi
-
W
iFi
r
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l
-
life
V2
V
co
m
m
u
n
icatio
n
2
.
3
.
Da
t
a
c
o
mm
un
ica
t
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g
n
T
h
e
d
e
s
i
g
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o
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h
e
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i
Fi
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V
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o
m
m
u
n
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ti
o
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te
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e
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e
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y
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o
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.
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e
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e
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o
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e
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e
d
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t
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h
e
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r
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m
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i
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m
i
c
r
o
c
o
n
t
r
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l
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e
r
u
s
i
n
g
A
r
d
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i
n
o
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e
g
r
a
t
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e
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o
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m
e
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v
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r
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(
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p
r
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at
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a
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es
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g
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e
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r
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e
d
e
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d
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d
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o
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p
r
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m
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s
e
c
t
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n
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n
a
m
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y
;
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m
i
c
r
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c
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n
t
r
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e
r
p
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a
m
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t
r
a
n
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it
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r
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ei
v
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e
s
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g
n
.
T
h
e
t
r
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s
m
i
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ct
io
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l
l
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ts
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a
t
a
o
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c
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o
d
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l
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te
t
h
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d
a
t
a
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n
to
a
h
i
g
h
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n
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e
n
s
i
t
y
L
E
D
f
o
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L
i
Fi
a
n
d
d
i
s
p
l
a
y
t
h
e
s
t
at
u
s
o
f
t
h
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v
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h
i
c
l
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o
n
a
n
L
C
D
s
c
r
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n
,
w
h
il
e
t
h
e
r
e
ce
i
v
e
r
d
e
t
e
ct
s
t
h
e
h
i
g
h
i
n
t
e
n
s
it
y
s
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g
n
a
l
,
a
m
p
l
i
f
y
,
r
e
c
o
v
e
r
a
n
d
d
i
s
p
l
a
y
t
h
e
d
e
c
o
d
e
d
d
a
t
a
.
2
.
3
.
1
.
E
SP3
2
m
icro
c
o
ntr
o
lle
r
pro
g
ra
mm
ing
T
h
e
p
r
o
g
r
am
m
i
n
g
o
f
E
SP
3
2
m
icr
o
co
n
t
r
o
ller
in
v
o
lv
es
w
r
itin
g
an
d
u
p
lo
a
d
in
g
c
o
d
es
u
s
in
g
th
e
Ar
d
u
in
o
I
DE
.
T
h
e
p
r
o
ce
s
s
s
tar
ts
with
in
itializa
tio
n
o
f
tr
an
s
m
itter
an
d
r
ec
eiv
er
n
o
d
es,
th
e
n
u
ltra
s
o
n
ic
s
en
s
o
r
d
is
tan
ce
m
ea
s
u
r
em
en
t
o
f
d
is
tan
ce
.
Af
ter
co
m
p
u
tin
g
o
f
th
e
d
is
tan
ce
,
d
ata
p
ac
k
et
is
f
o
r
m
ed
an
d
tr
an
s
m
itted
th
r
o
u
g
h
L
iFi
lin
k
in
th
e
tr
an
s
m
itter
n
o
d
e
an
d
p
h
o
to
d
io
d
e
at
th
e
r
ec
eiv
er
with
th
e
h
elp
o
f
W
iFi
co
m
m
u
n
icatio
n
lin
k
.
I
f
L
iFi
s
ig
n
al
is
d
etec
ted
at
th
e
r
ec
eiv
er
,
th
e
p
ac
k
ets
ar
e
d
ec
o
d
e
d
a
n
d
d
is
p
lay
ed
o
n
th
e
r
ec
eiv
e
r
L
C
D,
i
f
n
o
t
th
e
r
ec
eiv
er
n
o
d
e
waits
f
o
r
W
iFi
p
ac
k
et
an
d
p
ass
es
th
e
i
n
f
o
r
m
atio
n
.
T
h
is
cy
cle
is
r
ep
e
ated
ev
er
y
1
0
0
m
s
in
o
r
d
e
r
to
en
s
u
r
e
co
n
tin
u
o
u
s
u
p
d
ates o
f
v
eh
icle
d
is
tan
ce
.
T
h
e
f
lo
wch
ar
t
o
f
th
e
p
r
o
ce
s
s
is
s
h
o
wn
in
Fig
u
r
e
3
.
2
.
3
.
2
.
Circ
uit
des
ig
n f
o
r
t
ra
ns
m
it
t
er
T
r
an
s
m
itter
cir
cu
it
was
d
esig
n
an
d
s
im
u
lated
u
s
in
g
Pro
te
u
s
s
o
f
twar
e
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im
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im
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latio
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en
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o
n
m
en
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n
d
th
en
in
teg
r
ated
with
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d
u
in
o
I
DE
f
o
r
t
h
e
f
ir
m
war
e
co
d
e.
Fig
u
r
e
4
s
h
o
ws
th
e
Pro
teu
s
tr
an
s
m
itter
cir
cu
it
s
ch
em
atic.
Desig
n
o
f
th
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it
was
c
ar
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ied
o
u
t
u
s
in
g
s
ix
m
ain
c
o
m
p
o
n
e
n
ts
n
am
ely
;
m
icr
o
co
n
tr
o
ller
E
SP
3
2
,
W
iFi
m
o
d
u
le,
HC
-
SR
0
4
u
ltra
s
o
n
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c
s
en
s
o
r
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L
E
D
p
o
wer
tr
an
s
m
i
tter
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u
le,
d
r
iv
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cir
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it
an
d
L
C
D.
T
h
e
m
icr
o
c
o
n
tr
o
ller
E
SP
3
2
GPI
O
o
u
tp
u
t
is
co
n
n
ec
ted
to
th
e
T
R
I
G
p
i
n
o
f
u
ltra
s
o
n
ic
wh
ile
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6
9
3
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TEL
KOM
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elec
o
m
m
u
n
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p
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t E
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l
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Vo
l.
24
,
No
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2
,
Ap
r
il
20
26
:
3
9
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-
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e
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t
o
f
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2
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h
e
d
r
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it
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e
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p
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ly
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cto
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ield
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t
t
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r
(
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)
was
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ed
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to
th
e
d
ata
in
p
u
t
o
f
th
e
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S
P3
2
W
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m
o
d
u
le,
wh
ich
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id
th
e
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tr
an
s
m
is
s
io
n
o
f
th
e
en
co
d
ed
in
f
o
r
m
atio
n
.
T
h
e
HC
-
SR
0
4
u
ltra
s
o
n
ic
s
en
s
o
r
was
p
o
wer
ed
f
r
o
m
th
e
s
am
e
+5
V
r
eg
u
lated
s
u
p
p
l
y
as th
e
Ar
d
u
i
n
o
to
en
s
u
r
e
s
tab
le
o
p
e
r
atio
n
a
n
d
9
V
to
p
o
wer
t
h
e
L
E
D
cir
cu
it.
S
t
a
r
t
In
i
t
i
a
l
i
z
a
t
i
o
n
(
t
r
a
n
s
m
i
t
t
er
n
o
d
e
a
n
d
r
ec
ei
v
er
n
o
d
e)
D
i
s
t
a
n
c
e
m
ea
s
u
r
em
en
t
(
U
l
t
r
a
s
o
n
i
c
S
en
s
o
r
)
D
a
t
a
F
o
r
m
a
t
i
o
n
(
L
i
F
i
+
W
i
F
i
l
i
n
k
)
L
IF
I
S
i
g
n
a
l
D
e
t
e
c
t
e
d
D
e
c
o
d
e
S
i
g
n
a
l
D
i
s
p
l
a
y
o
u
t
p
u
t
U
p
d
a
t
e
o
u
t
p
u
t
(
W
i
F
i
L
i
n
k
)
S
t
o
p
Y
es
Y
es
NO
W
a
i
t
i
f
n
o
L
i
F
i
s
i
g
n
a
l
(
W
i
F
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L
i
n
K
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NO
Fig
u
r
e
3
.
Flo
wch
ar
t
o
f
E
SP
3
2
m
icr
o
co
n
tr
o
ller
p
r
o
g
r
am
m
in
g
Fig
u
r
e
4
.
T
r
an
s
m
itter
cir
cu
it d
esig
n
o
n
Pro
teu
s
2
.
3
.
3
.
Circ
uit
des
ig
n f
o
r
t
he
re
ce
iv
er
R
ec
eiv
er
cir
cu
it wa
s
d
esig
n
o
n
Pro
teu
s
with
f
o
u
r
m
ajo
r
c
o
m
p
o
n
en
ts
n
am
ely
; m
icr
o
co
n
tr
o
l
ler
E
SP
3
2
,
KY
0
1
8
p
h
o
t
o
d
io
d
e,
co
m
p
a
r
ato
r
an
d
L
C
D
m
o
d
u
le
as
d
e
p
icted
in
Fig
u
r
e
5
.
T
h
e
KY
0
1
8
p
h
o
to
d
i
o
d
e
in
r
ev
er
s
e
b
iased
was c
o
n
n
ec
ted
to
an
o
p
e
r
atio
n
al
am
p
lifie
r
with
1
0
k
Ω
r
esis
to
r
th
at
s
et
th
e
g
a
in
o
f
th
e
am
p
lifie
r
.
T
h
e
am
p
lifie
d
s
ig
n
al
was
th
e
n
f
ed
i
n
to
a
c
o
m
p
ar
at
o
r
,
wh
i
ch
was
co
n
n
ec
ted
to
E
SP
3
2
m
icr
o
co
n
tr
o
ller
to
d
ec
o
d
e
th
e
d
ata.
E
SP
3
2
m
icr
o
co
n
tr
o
ller
was
also
co
n
n
ec
ted
to
L
C
D
in
ter
f
ac
e
to
u
p
d
ate
an
d
d
is
p
lay
th
e
r
ec
eiv
ed
d
ata
,
wh
ich
p
r
o
ce
s
s
e
s
p
h
o
to
d
i
o
d
e
s
ig
n
als,
h
o
s
ts
W
iFi
ac
ce
s
s
p
o
in
t
(
AP)
,
an
d
d
r
iv
es
L
C
D
cr
ea
tin
g
V2
V
ne
two
r
k
f
o
r
h
y
p
er
te
x
t tr
a
n
s
f
er
p
r
o
t
o
co
l
(
HT
T
P
)
POST
f
r
o
m
tr
an
s
m
itter
.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
Desig
n
o
f v
eh
icle
to
ve
h
icle
c
o
mmu
n
ica
tio
n
:
a
cc
id
en
t c
o
llis
io
n
p
r
ev
en
tio
n
…
(
F
o
l
a
s
h
a
d
e
Ola
mid
e
A
r
ib
a
)
401
2
.
3
.
4
.
I
nte
g
ra
t
io
n o
f
co
m
m
u
nica
t
io
n pro
t
o
co
l
T
h
is
s
ec
tio
n
d
is
cu
s
s
es
th
e
p
r
o
ce
d
u
r
e
em
p
lo
y
ed
in
th
e
in
teg
r
atio
n
o
f
OOK
co
m
m
u
n
icatio
n
in
to
p
r
o
to
co
l
in
to
th
e
d
esig
n
ed
L
i
Fi
-
W
iF
i
V2
V
s
y
s
tem
.
T
h
e
d
ata
to
b
e
tr
a
n
s
m
itted
was
f
ir
s
t
f
o
r
m
atted
b
y
th
e
tr
an
s
m
itter
a
well
-
d
elin
ea
te
d
co
m
m
u
n
icatio
n
s
f
r
am
e
.
T
h
e
f
r
am
e
its
elf
s
tar
t
with
a
p
r
ea
m
b
le
th
at
allo
ws
th
e
r
ec
eiv
er
ac
q
u
ir
e
th
e
s
ig
n
al,
f
o
llo
wed
b
y
s
y
n
ch
r
o
n
izatio
n
o
f
th
e
b
y
te,
p
a
y
lo
ad
le
n
g
th
,
ac
tu
al
d
is
tan
ce
s
en
s
o
r
v
alu
e,
er
r
o
r
d
etec
tio
n
with
c
h
ec
k
s
u
m
,
a
n
d
f
i
n
ally
en
d
m
ar
k
er
.
Af
ter
b
u
ild
i
n
g
th
e
f
r
a
m
e,
th
e
tr
an
s
m
itter
co
n
v
er
ts
ea
ch
b
it
in
t
o
lig
h
t
s
ig
n
als
u
s
in
g
OOK
m
o
d
u
latio
n
,
with
a
lo
g
ic
“
1
”
r
ep
r
esen
ted
b
y
tu
r
n
i
n
g
th
e
L
E
D
o
n
f
o
r
a
ce
r
tain
b
it
p
er
io
d
,
an
d
a
lo
g
ic
“
0
”
b
y
tu
r
n
in
g
th
e
L
E
D
o
f
f
f
o
r
t
h
e
s
am
e
p
e
r
io
d
.
T
o
en
s
u
r
e
ac
c
u
r
ac
y
an
d
p
r
e
v
en
t
tim
in
g
er
r
o
r
s
,
th
e
L
E
D
is
d
r
iv
en
b
y
a
MO
SF
E
T
s
witch
with
a
p
r
ec
is
e
ti
m
er
in
th
e
E
SP
3
2
,
m
ain
tain
in
g
s
tead
y
b
it in
ter
v
al
s
d
esp
ite
s
im
u
ltan
eo
u
s
W
iFi
o
p
er
atio
n
s
.
Fig
u
r
e
5
.
R
ec
eiv
er
cir
c
u
it o
n
P
r
o
teu
s
2
.
4
.
Sim
ula
t
i
o
n a
nd
t
esting
Prio
r
to
h
a
r
d
war
e
d
ev
elo
p
m
e
n
t,
s
im
u
latio
n
an
d
test
in
g
wa
s
ca
r
r
ied
o
u
t
o
n
Pro
teu
s
to
c
o
n
f
ir
m
t
h
e
L
iFi
-
W
iF
i
V2
V
co
m
m
u
n
icati
o
n
s
y
s
tem
o
p
e
r
atio
n
.
T
h
e
m
ai
n
g
o
als
ar
e
t
o
ch
ec
k
if
th
e
tr
an
s
m
itter
ca
n
p
r
o
d
u
ce
L
E
D
p
u
ls
es
th
at
ar
e
p
r
o
p
o
r
ti
o
n
ate
to
t
h
e
d
is
tan
ce
,
v
er
if
y
th
e
r
ec
eiv
er
’
s
ab
ilit
y
to
u
s
e
KY
-
0
1
8
p
h
o
to
d
io
d
e
m
o
d
u
le
in
p
u
ls
e
d
etec
tio
n
an
d
p
r
ec
is
e
d
is
tan
ce
s
d
is
p
lay
o
n
th
e
L
C
D.
T
h
e
tr
an
s
m
itter
cir
cu
it
d
esig
n
s
im
u
latio
n
b
eg
in
s
with
test
in
g
if
E
SP
3
2
en
co
d
es
th
e
d
is
tan
ce
g
en
er
ate
d
f
r
o
m
th
e
u
ltra
s
o
n
ic
s
en
s
o
r
a
n
d
th
en
ch
ec
k
e
d
if
it
’
s
d
ig
ital
o
u
tp
u
t
co
n
n
ec
ted
t
o
MO
SF
E
T
th
r
o
u
g
h
th
e
1
k
Ω
r
esis
to
r
is
ab
le
to
s
witch
ON
an
d
OFF
th
e
L
E
D.
Du
r
in
g
th
e
s
im
u
latio
n
,
it
was o
b
s
er
v
ed
th
at
th
e
L
E
D
co
m
e
u
p
at
h
ig
h
s
p
ee
d
r
elatin
g
to
th
e
en
co
d
ed
d
ata.
T
h
is
p
r
o
ce
s
s
in
d
icate
th
at
th
e
m
ic
r
o
co
n
tr
o
ller
p
er
f
o
r
m
s
b
o
th
tr
an
s
m
is
s
io
n
an
d
d
ata
g
ath
e
r
in
g
.
Ad
d
itio
n
ally
,
th
e
p
h
o
to
d
i
o
d
e
at
th
e
r
ec
eiv
er
w
as
ex
p
o
s
ed
to
th
e
m
o
d
u
lated
L
E
D
s
ig
n
al
f
r
o
m
th
e
tr
a
n
s
m
itter
an
d
s
en
t
to
an
o
p
er
atio
n
al
a
m
p
lifie
r
.
An
o
s
cillo
s
co
p
e
was
u
s
ed
to
ch
ec
k
th
e
ef
f
ec
t
o
f
c
h
an
g
in
g
r
es
is
to
r
v
alu
e
o
f
th
e
o
p
er
atio
n
al
a
m
p
lifie
r
;
th
e
o
u
t
p
u
t
p
r
o
d
u
ce
s
s
am
e
wav
e
f
o
r
m
r
elate
d
to
ON
an
d
OFF
m
o
d
u
l
ated
L
E
D
f
r
o
m
th
e
tr
an
s
m
itter
.
T
h
e
o
u
tp
u
t
f
r
o
m
t
h
e
am
p
lifie
r
was
r
estru
ctu
r
ed
t
o
a
d
i
g
ital
p
u
ls
e
b
y
a
c
o
m
p
a
r
a
to
r
th
en
tr
an
s
f
er
r
e
d
an
d
d
ec
o
d
ed
b
y
E
SP
3
2
m
ic
r
o
co
n
tr
o
ller
.
T
h
e
d
ec
o
d
ed
d
is
tan
ce
was
d
is
p
lay
ed
o
n
t
h
e
L
C
D
s
cr
ee
n
o
f
th
e
r
ec
eiv
er
,
s
h
o
win
g
p
r
o
p
er
t
r
an
s
m
itted
d
is
tan
ce
f
r
o
m
t
h
e
tr
an
s
m
itter
to
th
e
r
ec
eiv
e
r
.
2
.
5
.
P
r
o
po
s
ed
s
y
s
t
em
pro
t
o
t
y
pe
dev
elo
pm
ent
a
nd
im
plem
ent
a
t
io
n
T
h
e
L
iFi
-
W
iFi
V2
V
co
m
m
u
n
icatio
n
s
y
s
tem
p
r
o
to
t
y
p
e
w
as
d
ev
elo
p
ed
a
f
ter
cir
cu
it
d
esig
n
an
d
s
im
u
latio
n
o
n
Pro
teu
s
s
o
f
twar
e.
Firstl
y
,
th
e
tr
an
s
m
itter
h
ar
d
war
e
co
m
p
o
n
e
n
ts
n
am
ely
:
E
SP
3
2
m
icr
o
co
n
tr
o
ller
,
HC
-
SR
0
4
u
ltra
s
o
n
ic
s
en
s
o
r
an
d
0
.
5
W
wh
ite
L
E
D
p
o
wer
ed
b
y
a
9
V
b
at
ter
y
an
d
5
V
p
o
we
r
s
u
p
p
ly
wer
e
ass
em
b
led
o
n
a
b
r
ea
d
b
o
ar
d
f
o
r
test
in
g
as
d
ep
icted
in
Fig
u
r
e
6
.
T
h
e
r
ec
eiv
er
h
ar
d
war
e
co
m
p
o
n
en
ts
n
am
ely
KY
-
0
1
8
p
h
o
to
d
i
o
d
e
m
o
d
u
le,
E
SP
3
2
m
i
cr
o
co
n
tr
o
ller
an
d
0
.
5
W
wh
ite
L
E
D
p
o
wer
ed
b
y
a
9
V
b
atter
y
a
n
d
5
V
p
o
wer
s
u
p
p
ly
wer
e
ass
em
b
led
o
n
a
b
r
ea
d
b
o
ar
d
f
o
r
test
in
g
as
d
e
p
icted
in
Fig
u
r
e
7
.
T
r
an
s
m
itter
an
d
r
ec
eiv
e
r
E
SP
3
2
m
icr
o
co
n
tr
o
ller
co
d
es
wer
e
u
p
lo
ad
e
d
u
s
in
g
Ar
d
u
in
o
I
DE
wh
ich
was
co
n
n
ec
ted
t
o
a
co
m
p
u
ter
s
y
s
tem
u
s
in
g
u
n
iv
er
s
al
s
er
ial
b
u
s
(
USB
)
in
ter
f
ac
e.
Af
ter
b
r
ea
d
b
o
ar
d
test
in
g
,
d
eb
u
g
g
in
g
,
tr
o
u
b
lesh
o
o
tin
g
,
b
o
th
cir
cu
its
wer
e
m
o
u
n
ted
o
n
a
b
o
a
r
d
with
wh
ee
ls
.
Fig
u
r
e
8
(
a)
illu
s
tr
ate
th
e
p
r
o
p
o
s
ed
s
y
s
tem
p
r
o
to
ty
p
e
o
n
a
b
o
ar
d
with
wh
ee
ls
’
im
p
l
em
en
tatio
n
a
n
d
p
r
o
p
o
s
ed
s
y
s
tem
p
r
o
to
ty
p
e
o
n
a
b
o
ar
d
with
w
h
ee
ls
’
co
m
m
u
n
icatio
n
test
in
g
h
as b
ee
n
illu
s
tr
at
ed
in
Fig
u
r
e
8
(
b
)
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6
9
3
0
TEL
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
,
Vo
l.
24
,
No
.
2
,
Ap
r
il
20
26
:
3
9
6
-
4
0
6
402
Fig
u
r
e
6
.
Pro
t
o
ty
p
e
o
f
th
e
t
r
an
s
m
itter
cir
cu
it o
n
b
r
ea
d
b
o
ar
d
s
h
o
win
g
th
e
0
.
5
W
wh
ite
L
E
D
an
d
HC
-
SR
0
4
u
ltra
s
o
n
ic
s
en
s
o
r
Fig
u
r
e
7
.
Pro
t
o
ty
p
e
o
f
th
e
r
ec
e
iv
er
cir
cu
it o
n
b
r
ea
d
b
o
a
r
d
s
h
o
win
g
th
e
L
C
D
an
d
KY
0
1
8
p
h
o
to
d
io
d
e
(
a)
(
b
)
Fig
u
r
e
8
.
Pro
p
o
s
ed
p
r
o
to
ty
p
e
s
y
s
tem
o
n
a
b
o
a
r
d
with
wh
ee
l
s
h
o
win
g
th
e
tr
an
s
m
itter
a
n
d
r
e
ce
iv
er
s
y
s
tem
:
(
a)
im
p
lem
en
tatio
n
an
d
(
b
)
co
m
m
u
n
icatio
n
test
in
g
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
e
L
iFi
-
W
iFi
V2
V
co
m
m
u
n
icatio
n
th
at
was
n
o
w
f
u
lly
o
p
er
atio
n
al,
p
r
o
g
r
am
m
ed
th
r
o
u
g
h
Ar
d
u
in
o
I
DE
,
th
e
s
y
s
tem
d
y
n
am
icall
y
d
etec
ts
v
eh
icle
c
o
llis
io
n
b
ased
o
n
r
ea
l
-
tim
e
in
p
u
t
f
r
o
m
u
ltra
s
o
n
ic
an
d
p
h
o
to
d
i
o
d
e
s
en
s
o
r
,
en
s
u
r
in
g
r
esp
o
n
s
iv
en
ess
to
th
e
v
eh
icle
d
is
tan
ce
.
T
h
e
v
alid
atio
n
p
h
ase
f
o
cu
s
es
o
n
f
u
n
ctio
n
ality
test
in
g
a
n
d
en
h
a
n
ce
m
en
t,
tim
e
an
d
s
y
s
tem
r
eli
ab
ilit
y
an
d
p
e
r
f
o
r
m
an
ce
o
f
h
y
b
r
id
L
iFi
-
W
iFi
.
3
.
1
.
F
un
ct
io
na
lity
t
esting
a
n
d e
nh
a
ncem
ent
T
h
e
h
a
r
d
war
e
s
y
s
tem
o
f
t
h
e
L
iFi
-
W
iF
i
V2
V
co
m
m
u
n
icatio
n
p
r
o
to
ty
p
e
was
s
u
b
jecte
d
t
o
r
ig
o
r
o
u
s
f
u
n
ctio
n
ality
test
in
g
to
en
s
u
r
e
it
p
er
f
o
r
m
s
to
th
e
h
ig
h
est
s
tan
d
ar
d
.
T
h
is
p
h
ase
was
cr
i
tical
f
o
r
en
h
an
cin
g
s
y
s
tem
p
er
f
o
r
m
an
c
e
an
d
id
e
n
t
if
y
in
g
an
y
er
r
o
r
s
.
T
h
r
o
u
g
h
an
iter
ativ
e
p
r
o
ce
s
s
,
is
s
u
es
d
etec
t
ed
wer
e
ad
d
r
ess
ed
an
d
r
eso
lv
ed
,
wh
ich
was
v
it
al
f
o
r
th
e
p
r
o
g
r
ess
iv
e
o
p
tim
is
atio
n
o
f
th
e
s
y
s
tem
.
Fo
r
i
n
s
tan
ce
,
test
s
wer
e
co
n
d
u
cte
d
in
d
o
o
r
s
to
m
in
im
ize
am
b
ien
t
lig
h
t
as
illu
s
tr
ated
i
n
Fig
u
r
e
9
,
with
tr
an
s
m
itter
an
d
r
ec
eiv
er
alig
n
e
d
to
m
ea
s
u
r
e
v
ar
io
u
s
d
is
tan
ce
s
as th
e
L
E
D
g
en
er
ates p
u
ls
es w
h
ich
wer
e
b
ein
g
r
ec
eiv
e
d
b
y
t
h
e
p
h
o
to
d
io
d
e
u
s
in
g
E
SP
3
2
as
th
e
m
icr
o
c
o
n
tr
o
ller
an
d
c
o
n
f
ig
u
r
ed
it
t
o
b
e
a
wir
eless
AP
.
W
i
Fi
test
s
s
en
t
H
T
T
P
GE
T
r
eq
u
ests
th
r
o
u
g
h
a
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Fi
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itti
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4.
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NCLU
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p
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c
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m
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m
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en
tar
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r
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in
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r
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i
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5G
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tellig
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t tr
an
s
p
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tatio
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s
o
lu
tio
n
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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