Ind
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ing
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V
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. 8
,
No.
3
,
Dec
em
be
r
20
17
, p
p
.
6
48
~
6
50
DO
I: 1
0.
11
5
91
/
i
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s
.v
8
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.
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-
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Copy
righ
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©
2
0
1
7
I
ns
titu
t
e
o
f
Adv
a
nc
e
d
Eng
i
ne
e
ring
a
nd
Sc
ie
nc
e
.
All
righ
t
s
re
s
e
rve
d.
1.
Int
r
o
d
u
ctio
n
S
m
art
Car
s
propos
e
on
l
y
c
ha
l
l
en
g
es
i
n
hu
m
an
m
ac
hi
n
e
c
om
m
un
i
c
ati
on
.
V
eh
i
c
l
es
are
be
c
om
i
ng
,
i
n
r
es
ul
t,
r
ob
oti
c
s
y
s
tem
s
tha
t
tea
m
up
w
i
th
the
dr
i
v
er
de
s
c
r
i
be
d
i
n
[1
-
3]
.
A
s
the
r
ob
oti
c
s
y
s
tem
s
be
c
om
e
ex
tr
a
c
ap
a
bl
e,
ho
w
be
s
t
to
d
i
r
ec
t
th
e
o
n
bo
ard
h
um
an
r
es
ou
r
c
es
i
s
a
n
i
nte
r
es
t
i
n
g
qu
es
t
i
on
[4
-
6]
.
A
na
l
y
s
i
s
of
c
l
ou
d
c
o
m
pu
ti
n
g
tec
hn
o
l
og
y
de
s
c
r
i
b
ed
th
e
ba
s
i
c
an
al
y
s
i
s
of
the
c
om
pu
ti
ng
tec
h
no
l
og
y
[6]
.
Com
bi
ne
the
s
tr
en
gt
hs
of
m
ac
hi
ne
s
an
d
hu
m
an
s
,
an
d
ex
ten
u
ati
ng
th
ei
r
s
ho
r
tc
om
i
ng
s
i
s
th
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of
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m
art
v
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c
l
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r
c
h
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n
ef
f
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c
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e
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as
s
oc
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at
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on
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ul
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as
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y
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c
s
up
po
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t
c
ou
nt
a
da
pt
ati
on
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od
el
f
or
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ML
da
ta
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s
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us
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ng
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pres
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ad
a
pta
t
i
on
m
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of
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as
s
oc
i
ati
o
n
r
ul
e
[7]
.
W
i
th
m
ob
i
l
e
c
om
pu
ti
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a
l
r
ea
d
y
en
c
r
oa
c
hi
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nto
v
eh
i
c
l
es
,
t
hi
s
proj
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t
a
i
m
s
to
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v
el
op
s
m
a
r
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d
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at
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d
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m
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oa
d
s
af
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.
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i
nv
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ga
te
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s
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e
ntre
aro
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d
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oa
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c
o
nte
x
t
r
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m
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tat
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l
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d
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ad
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ti
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s
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un
d
ers
tan
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i
ng
i
s
the
n
c
o
m
bi
ne
d
w
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t
h
dri
v
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z
e
m
on
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to
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ng
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o
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h
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b
i
t
h
ol
i
s
ti
c
,
s
en
s
i
ti
v
e
dri
v
er
s
up
po
r
t.
Ni
S
/
S
n
S
C
ore
-
S
he
l
l
E
m
be
dd
e
d
P
o
l
y
a
ni
l
i
ne
Com
po
s
i
te:
S
y
nth
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i
s
an
d
Charac
t
eri
z
ati
on
de
s
c
r
i
be
d
th
e
c
o
m
po
s
i
te
of
th
e
em
be
dd
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d c
ha
r
ac
teri
s
t
i
c
s
.
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he
nu
m
be
r
of
c
o
m
pl
ex
dri
v
er
h
el
p
s
y
s
t
em
s
i
s
c
on
ti
nu
al
l
y
gr
o
w
i
ng
.
T
hi
s
s
y
s
t
em
i
s
al
s
o
a
driv
er h
el
p
i
n
g s
y
s
t
em
w
h
i
c
h i
s
ba
s
e
d o
n t
he
i
d
ea
of
s
ep
arate
d
i
np
ut
an
d
pro
du
c
ti
v
i
t
y
.
He
nc
e,
th
e
driv
er
en
t
ers
hi
s
i
n
pu
t
on
a
tou
c
h
pa
d
w
h
i
c
h
i
s
l
oc
at
e
d
on
the
r
i
g
ht
s
up
po
r
t
of
hi
s
s
ea
t
an
d
th
e
c
ar perf
or
m
s
th
e e
x
ac
ti
ng
a
c
ti
on
t
ha
t
t
he
dri
v
er
w
a
nts
i
t
to
p
erf
or
m
.
A
t
ou
c
h
pa
d
o
n
t
he
s
u
pp
o
r
t
m
ov
ed
us
t
o
us
e
o
ur
s
m
art
ph
on
e
as
the
i
np
u
t
d
ev
i
c
e,
as
s
m
art
ph
on
e
i
s
v
er
y
c
om
m
on
an
d
ea
s
y
t
o
ut
i
l
i
z
e.
T
hi
s
s
y
s
tem
f
oc
us
es
ou
r
att
e
nti
o
n
to
c
on
tr
ol
the
c
ar
wi
th
ou
r
a
nd
r
o
i
d m
ob
i
l
es
.
2.
P
r
o
p
o
se
d
S
y
st
ems
Cons
eq
ue
nt
l
y
,
s
m
art
ph
on
es
are
woul
d
be
a
great
i
de
a
i
f
w
e
c
an
us
e
a
nd
r
o
i
d
s
m
art
ph
on
es
as
i
np
u
t
Co
ntrol
l
er
.
A
n
droi
d
m
ob
i
l
es
are
v
er
y
us
ef
ul
th
es
e
d
a
y
s
.
A
n
droi
d
m
ob
i
l
es
are
v
er
y
f
r
eq
ue
nt
th
es
e
da
y
s
.
T
hi
s
s
y
s
tem
ha
s
3
c
on
tr
ol
s
the
c
ar,
(
i
)
ac
c
e
l
ero
m
e
ter
(
i
i
)
v
oi
c
e
r
ec
og
ni
t
i
on
an
d
(
i
i
i
)
t
ou
c
h
pa
n
el
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJE
E
CS
IS
S
N:
2
50
2
-
4
75
2
Des
i
gn
of
A
n
droi
d
B
as
ed
S
ma
r
t Car
(
D.
W
i
l
fr
ed
S
hi
j
u
)
649
2.1.
Ho
m
e S
cr
ee
n
T
he
ho
m
e
pa
ge
i
nc
l
ud
es
l
og
i
n
an
d
c
on
ne
c
t
i
v
i
t
y
of
B
l
u
eto
oth
de
v
i
c
e.
T
he
B
l
u
eto
ot
h
de
v
i
c
e
i
s
c
on
ne
c
t
ed
t
o
th
e
s
m
art
ph
on
e
the
n
th
e
a
l
l
B
l
ue
to
oth
c
o
ntrol
l
e
d
c
on
tr
o
l
l
e
r
s
are
wor
k
i
ng
ba
s
ed
on
us
er
i
n
pu
t
on
m
ob
i
l
e p
ho
n
e u
s
i
ng
t
ou
c
h
pa
n
el
. F
i
g
ure
1,
s
h
o
w
s
ho
m
e p
ag
e.
F
i
g
ure
1.
H
om
e p
ag
e
2.
2.
A
c
ce
ler
o
m
eter
T
hi
s
ac
c
el
erom
ete
r
us
ed
to
m
ov
e
the
c
ar
d
i
r
ec
ti
on
.
T
h
i
s
ac
c
el
erom
ete
r
r
ota
t
es
36
00
a
l
l
s
i
de
s
.T
hi
s
Fig
ur
e
2 s
h
o
w
s
t
he
s
am
pl
e o
f
ac
c
el
erom
ete
r
.
F
i
gu
r
e
2.
A
c
c
el
erom
ete
r
c
on
tr
ol
2.
3.
V
o
ic
e Re
cog
n
it
ion
V
oi
c
e
IP
i
s
ut
i
l
i
z
ed
t
o
c
on
t
r
ol
th
e
c
ar.
T
he
ba
s
i
c
i
de
a
to
be
us
ed
i
n
t
w
o
di
f
f
erent
wa
y
i
nte
r
n
ets
or
wi
th
ou
t
i
nt
ernet
op
t
i
on
s
. F
i
g
ure
3,
s
h
o
w
s
V
oi
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e R
ec
og
n
i
ti
on
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N:
25
02
-
4
75
2
IJE
E
CS
V
ol
.
8
,
N
o.
3
,
Dec
em
be
r
2017
:
648
–
6
50
650
F
i
g
ure
3.
V
oi
c
e c
on
tr
o
l
3
. Con
clus
ion
P
h
y
s
i
c
al
l
y
c
ha
l
l
e
ng
e
d
p
eo
p
l
es
us
i
ng
whee
l
c
ha
i
r
,
ou
r
proj
ec
t
us
ed
a
n
a
i
d.
T
he
p
eo
p
l
e
j
us
t
ne
ed
t
o
g
i
v
e
the
c
om
m
an
ds
us
i
ng
a
nd
r
o
i
d
m
ob
i
l
es
.
T
hi
s
propos
ed
m
od
el
al
s
o
us
ed
to
arm
y
de
pa
r
tm
en
t
us
i
n
g
f
or
tr
an
s
po
r
tat
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on
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ou
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um
an
c
an
tr
an
s
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the
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on
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p
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od
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,
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as
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q
ua
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m
artDr
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e,
th
e
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m
artDr
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v
e
t
ec
hn
o
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nc
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u
de
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y
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nd
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oi
d
ap
pl
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v
e
l
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ar,
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t
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od
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el
o
pto
ad
d
ed
t
hi
s
v
a
l
ue
f
ore
v
er.
Ref
er
en
ce
s
[1]
Hei
d
i
M
o
n
s
o
n
Bl
u
e
to
o
t
h
t
e
c
h
n
o
l
o
g
y
& i
m
p
l
e
m
e
n
ta
t
i
o
n
s
,
J
o
h
n
W
i
l
e
y
&
So
n
s
,
1
9
9
9
.
[2]
J
Po
tt
s
,
SSu
k
i
tt
a
n
o
n
.
Ex
p
l
o
i
ti
n
g
Bl
u
e
t
o
o
t
h
o
n
A
n
d
ro
i
d
De
v
i
c
e
s
fo
r Ho
m
e
S
e
c
u
r
i
ty
.
1
5
-
1
8
M
a
rc
h
2
0
1
2
.
[3]
Vi
c
e
n
te
M
i
l
a
n
e
s
e
t
a
l
.
Dri
v
e
rl
e
s
s
Ve
h
i
c
l
e
s
i
n
ro
a
d
s
.
In
te
r
n
a
ti
o
n
a
l
IEEE
Con
f
e
re
n
c
e
o
n
In
t
e
l
l
i
g
e
n
t
Tra
n
s
p
o
rta
t
i
o
n
Sy
s
te
m
s
.
O
c
t
-
2
0
1
1
:
6
6
8
-
6
7
3
[4]
Ari
ta
Dey
e
t
a
l
.
T
h
re
e
M
e
th
o
d
Con
tro
l
l
e
d
A
n
d
ro
i
d
Ba
s
e
d
R
o
b
o
ti
c
Ve
h
i
c
l
e
Us
i
n
g
B
l
u
e
t
o
o
th
.
IJ
ARC
CE,
Se
p
-
2
0
1
5
:
2
1
2
-
2
1
6
[5]
Nare
n
d
e
r
Ku
m
a
ra
n
d
Rit
i
k
a
Pa
h
u
j
a
.
An
d
r
o
i
d
Ph
o
n
e
C
o
n
tro
l
l
e
d
Bl
u
e
to
o
t
h
Ro
b
o
t
Us
i
n
g
8
0
5
1
M
i
c
ro
c
o
n
tro
l
l
e
r
.
IJ
SER
.
J
u
l
y
-
2
0
1
4
:
14
-
17
.
[6]
Ki
ru
b
a
k
a
ra
m
o
o
r
th
i
R,
Ari
v
a
z
h
a
g
a
n
D,
Hel
e
n
D.
An
a
l
y
s
i
s
o
f
Clo
u
d
Co
m
p
u
ti
n
g
T
e
c
h
n
o
l
o
g
y
.
In
d
i
a
n
Jo
u
rn
a
l
o
f
Sc
i
e
n
c
e
a
n
d
T
e
c
h
n
o
l
o
g
y
.
2
0
1
5
:
8
(2
1
)
.
[7]
Sa
th
y
a
n
a
ra
y
a
n
a
n
D,
Kri
s
h
n
a
m
u
rth
y
M
.
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e
ff
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i
e
n
t
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ti
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l
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s
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d
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n
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u
p
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rt
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u
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a
p
ta
t
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o
n
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o
d
e
l
fo
r
XM
L
Dat
a
b
a
s
e
s
Us
i
n
g
X
Q
u
e
ry
.
In
te
rn
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Ap
p
l
i
e
d
En
g
i
n
e
e
ri
n
g
Res
e
a
r
c
h
.
2
0
1
5
;
1
0
(
6
)
:
1
6
1
2
9
-
1
6
1
4
7
.
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