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C
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A
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K.
He
m
a
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R
esear
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Sch
o
lar
,
Dep
ar
t
m
e
n
t
o
f
E
lectr
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an
d
E
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n
ics
E
n
g
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r
i
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g
(
Ma
r
i
n
e)
,
A
ME
T
Un
i
v
er
s
it
y
,
C
h
en
n
ai
1.
E
XI
ST
I
N
G
SYS
T
E
M
So
m
e
o
f
t
h
e
m
aj
o
r
p
r
o
b
lem
s
w
it
h
th
e
ex
i
s
ti
n
g
au
to
th
e
f
t
p
r
ev
en
t
io
n
s
y
s
te
m
o
f
f
er
n
o
p
r
o
tectio
n
w
h
e
n
th
e
k
e
y
f
o
b
is
s
to
len
.
So
a
b
r
i
llian
t
k
e
y
f
o
b
s
o
ld
in
th
e
m
ar
k
et
is
n
o
t
k
ee
n
.
Veh
icle
GP
S
b
ea
co
n
s
w
o
n
't
h
a
v
e
th
e
ca
p
ac
it
y
to
f
i
n
d
a
v
eh
icle
i
n
GP
S d
en
ied
co
n
d
itio
n
s
,
f
o
r
ex
a
m
p
le,
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s
id
e
s
tr
u
ct
u
r
es,
u
n
d
er
g
r
o
u
n
d
an
d
th
ic
k
cit
y
ar
ea
s
,
b
r
in
g
i
n
g
ab
o
u
t
th
e
lo
s
s
o
f
t
h
e
v
eh
ic
le.
T
h
e
at
p
r
esen
t
u
t
ilized
m
o
v
e
m
en
t
a
n
d
tilt
ca
u
tio
n
s
w
il
l
alar
m
th
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r
o
p
r
ieto
r
n
o
t
w
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h
s
t
an
d
in
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o
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u
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ex
p
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c
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ass
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in
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it
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b
all
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m
a
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ac
t
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f
o
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l
UI
to
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r
an
g
e,
alter
th
e
v
e
h
icle
s
ec
u
r
it
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f
r
a
m
e
w
o
r
k
.
2.
I
NT
RO
D
UCT
I
O
N
I
n
P
r
esen
t
d
a
y
s
t
h
e
f
ts
in
a
n
au
to
m
o
b
ile
is
in
cr
ea
s
in
g
a
t
a
r
ap
id
r
ate.
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to
p
r
o
tect
v
e
h
icles,
w
e
d
ev
elo
p
ed
th
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s
y
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te
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n
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is
t
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a
n
d
ME
MS
T
ec
h
n
o
lo
g
y
w
h
ic
h
is
o
p
er
ated
b
y
u
s
in
g
a
lo
w
-
co
s
t
m
icr
o
co
n
tr
o
ller
.
I
t’
s
v
er
y
c
h
e
ap
an
d
s
i
m
p
ler
co
m
p
ar
ed
to
o
th
er
an
ti
th
e
f
t
v
e
h
icle
lo
ck
i
n
g
s
y
s
te
m
s
.
T
r
ac
k
in
g
an
d
clas
s
if
icatio
n
o
f
tar
g
ets
ar
e
p
r
im
ar
y
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ce
r
n
s
i
n
a
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t
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ted
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n
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n
d
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ec
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r
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s
y
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te
m
s
.
T
h
e
tr
ac
k
in
g
a
n
d
class
i
f
icat
io
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i
n
f
o
r
m
at
io
n
ca
n
b
e
u
s
ed
f
o
r
s
tati
s
tical
p
u
r
p
o
s
es,
i.e
.
,
co
u
n
t
in
g
t
h
e
n
u
m
b
er
o
f
g
o
al
s
o
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a
p
ar
ticu
lar
t
y
p
e
a
n
d
r
eg
i
s
tr
atio
n
o
f
th
eir
v
elo
citie
s
a
n
d
d
ir
ec
tio
n
s
o
f
ar
r
iv
al.
I
n
t
h
is
w
o
r
k
,
w
e
w
i
ll
f
o
cu
s
o
n
h
ar
d
tar
g
ets.
C
ir
cu
lar
l
y
p
o
lar
ized
p
atch
an
ten
n
a
s
ar
e
w
id
el
y
u
s
ed
in
m
o
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ile
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atel
lite
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m
m
u
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p
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g
s
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an
d
m
o
s
t
v
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h
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m
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ased
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an
d
w
id
t
h
b
u
t
r
eq
u
i
r
e
a
lar
g
er
g
r
o
u
n
d
p
lan
e
f
o
r
t
h
e
f
ee
d
in
g
n
et
w
o
r
k
.
I
n
ME
MS
tec
h
n
o
lo
g
y
,
o
n
e
wa
y
o
f
s
en
s
i
n
g
m
eta
llic o
b
j
ec
ts
is
b
y
m
a
k
in
g
u
s
e
o
f
th
eir
m
a
g
n
et
ic
p
r
o
p
er
ties
[
4
]
.
W
e
k
n
o
w
t
h
at
m
etal
lic
o
b
j
ec
ts
in
d
u
ce
a
m
a
g
n
et
ic
f
iel
d
p
ar
tly
d
u
e
to
it
s
p
er
m
a
n
e
n
tl
y
m
ag
n
etize
d
f
er
r
o
m
ag
n
etic
co
n
te
n
t
a
n
d
p
ar
tl
y
d
u
e
to
t
h
e
d
e
f
lectio
n
o
f
t
h
e
ea
r
th
m
a
g
n
et
ic
f
ield
.
T
h
is
in
d
u
ce
d
m
a
g
n
e
tic
f
ield
c
an
b
e
m
ea
s
u
r
ed
w
it
h
d
is
tr
ib
u
t
ed
p
ass
iv
e
m
a
g
n
e
to
m
eter
s
.
F
o
r
m
o
v
i
n
g
m
etal
lic
v
eh
ic
les,
t
h
e
m
ag
n
eto
m
eter
m
ea
s
u
r
e
m
en
t
s
w
il
l
v
ar
ie
s
in
ti
m
e,
w
h
ic
h
r
esu
lts
i
n
a
ti
m
e
-
d
ep
en
d
en
t
s
ig
n
al.
L
i
k
e
in
o
th
er
s
ta
n
d
ar
d
tr
ac
k
in
g
ap
p
licatio
n
b
ased
o
n
r
ad
ar
,
tim
e
d
if
f
er
e
n
ce
o
f
ar
r
iv
al
a
n
d
r
ec
eiv
ed
s
ig
n
al
s
tr
en
g
th
,
th
is
s
i
g
n
al
d
ep
en
d
s
o
n
t
h
e
p
o
s
itio
n
,
s
p
ee
d
,
o
r
ien
tatio
n
an
d
tar
g
et
s
p
ec
i
f
ic
p
ar
a
m
eter
s
Stu
d
ies
o
n
Op
tical
an
d
E
lectr
ical
P
r
o
p
er
ties
o
f
Haf
n
iu
m
O
x
id
e
Nan
o
p
ar
t
icles
i
s
d
is
cu
s
s
ed
in
[
6
]
.
T
h
e
d
if
f
er
en
ce
b
et
w
ee
n
th
e
ap
p
licatio
n
s
is
s
u
m
m
ar
i
s
ed
in
th
e
s
e
n
s
o
r
m
o
d
el
th
at
r
elat
es
th
e
q
u
a
n
titi
e
s
to
th
e
o
b
s
er
v
atio
n
s
.
T
h
e
s
a
m
e
m
o
tio
n
m
o
d
els
a
n
d
f
ilter
s
ca
n
b
e
u
s
ed
in
all
t
h
ese
ap
p
lic
atio
n
s
.
Ho
w
e
v
er
,
w
e
d
o
n
o
t
f
o
cu
s
o
n
s
u
g
g
est
in
g
p
ar
ticu
lar
m
o
tio
n
m
o
d
els,
an
d
f
ilter
s
,
s
i
n
ce
th
e
s
e
ch
o
ices
ar
e
s
tan
d
ar
d
in
liter
atu
r
e
s
t
u
d
y
o
f
o
p
tical,
s
u
r
f
ac
e
m
o
r
p
h
o
lo
g
ical
a
n
d
elec
tr
ical
p
r
o
p
er
ties
o
f
m
a
n
g
a
n
ese
o
x
id
e
n
a
n
o
p
ar
ticles,
is
e
x
p
lai
n
ed
in
[
7
]
.
I
n
s
tead
,
w
e
f
o
cu
s
o
n
t
h
e
ap
p
licatio
n
s
p
ec
i
f
ic
f
u
n
d
a
m
e
n
tal
q
u
e
s
tio
n
s
o
f
o
b
s
er
v
e
ab
ilit
y
an
d
g
eo
m
e
tr
y
f
o
r
th
e
s
e
n
s
o
r
m
o
d
el.
I
n
t
h
is
p
ap
er
[
8
]
d
escr
ib
es
th
at
t
h
e
An
E
f
f
icie
n
t
Sel
f
-
R
e
co
n
f
i
g
u
r
atio
n
a
n
d
R
o
u
te
Sel
ec
tio
n
f
o
r
W
ir
eles
s
Sen
s
o
r
Net
w
o
r
k
s
.
Fig
u
r
e
1
.
Ov
er
all
Har
d
w
ar
e
D
esig
n
o
f
Ve
h
icle
U
n
it
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
502
-
4752
I
n
d
o
n
esia
n
J
E
lec
E
n
g
&
C
o
m
p
Sci,
Vo
l
.
9
,
No
.
1
,
J
an
u
ar
y
201
8
:
11
8
–
1
2
2
120
3.
F
E
AT
U
RE
S AN
D
I
T
S D
E
S
CRIPT
I
O
N
T
h
e
Ov
er
all
Har
d
w
ar
e
De
s
i
g
n
o
f
Ve
h
icle
U
n
it
a
s
ap
p
ea
r
ed
i
n
F
ig
u
r
e
1.
T
h
e
ac
co
m
p
a
n
y
in
g
m
o
d
u
le
s
ar
e
ex
ec
u
ted
in
t
h
i
s
v
e
n
t
u
r
e
r
ec
o
r
d
ed
b
en
ea
th
:
a)
S
m
a
rt
L
o
c
k
T
h
e
f
r
a
m
e
w
o
r
k
is
f
u
r
n
is
h
ed
co
n
s
eq
u
e
n
tl
y
w
h
e
n
t
h
e
d
r
i
v
er
m
o
v
es
f
ar
f
r
o
m
th
e
v
e
h
icle.
I
t
i
s
in
ca
p
ac
itated
j
u
s
t
w
h
e
n
a
p
ar
t
icu
lar
m
o
tio
n
i
s
m
ad
e
i
n
t
h
e
h
an
d
-
h
eld
r
e
m
o
te
k
e
y
co
x
co
m
b
.
T
h
e
3
D
s
ig
n
al
i
s
p
r
o
d
u
ce
d
in
m
id
-
air
a
n
d
ca
n
b
e
r
ein
v
e
n
ted
b
y
th
e
clie
n
t
o
n
th
e
f
l
y
.
T
h
e
air
s
i
g
n
al
is
p
er
ce
iv
ed
u
tili
zi
n
g
a
3
-
p
iv
o
t
ME
MS
A
cc
eler
o
m
eter
th
at
d
etec
t
s
t
h
e
g
r
av
itatio
n
al
co
m
p
el
s
ap
p
lied
u
p
o
n
it
[
1
]
.
A
s
to
len
k
e
y
f
o
b
s
u
b
s
eq
u
en
t
l
y
ca
n
'
t
b
e
u
s
ed
to
g
o
in
to
th
e
v
eh
icle
w
it
h
o
u
t
p
la
y
in
g
o
u
t
t
h
e
m
y
s
ter
y
s
ig
n
al.
T
h
e
s
ec
r
et
k
e
y
is
p
u
t
a
w
a
y
in
a
n
ex
ter
n
al
n
o
n
-
u
n
p
r
e
d
ictab
le
s
er
ial
E
E
P
R
OM
m
e
m
o
r
y
.
b)
Cry
pto
g
ra
ph
ic
E
ntr
y
I
f
th
e
s
i
g
n
al
is
s
u
b
s
tan
tia
l
t
h
e
k
e
y
f
o
b
as
ap
p
ea
r
ed
in
Fi
g
u
r
e
2
tr
an
s
m
i
ts
a
o
n
e
o
f
a
k
i
n
d
en
co
d
e
d
co
d
e
th
at
p
r
o
g
r
ess
io
n
s
ea
ch
ti
m
e
w
h
e
n
th
is
m
o
tio
n
is
m
ad
e
.
R
C
4
Stre
a
m
C
ip
h
er
C
r
y
p
to
g
r
ap
h
ic
ca
lcu
la
tio
n
g
u
ar
a
n
tees
t
h
e
w
ellb
ei
n
g
o
f
t
h
e
in
f
o
r
m
a
tio
n
tr
a
n
s
m
itted
.
T
h
e
k
e
y
f
o
b
s
p
ea
k
s
w
it
h
ca
r
v
eh
icle
u
n
i
t
u
ti
lizi
n
g
I
E
E
E
8
0
2
.
1
5
.
4
[
9
]
r
em
o
te
s
y
s
te
m
s
ad
m
in
i
s
tr
atio
n
co
n
v
e
n
tio
n
.
T
h
is
k
ee
p
s
ch
ea
ts
f
r
o
m
r
ec
o
g
n
izi
n
g
th
e
s
tatic
co
d
es
w
h
ic
h
w
er
e
u
tili
ze
d
as
a
p
ar
t
o
f
m
o
r
e
s
ea
s
o
n
ed
k
e
y
l
ess
p
ass
a
g
e
f
r
a
m
e
w
o
r
k
s
.
T
h
e
r
em
o
te
p
ar
ce
ls
ar
e
lik
e
w
i
s
e
u
s
ed
to
q
u
an
ti
f
y
th
e
v
icin
it
y
o
f
t
h
e
k
e
y
f
o
b
to
th
e
v
e
h
icle.
Fig
u
r
e
2
.
S
m
ar
t K
e
y
f
o
b
Un
it
c)
T
o
uch Ig
nitio
n
A
d
o
u
b
le
la
y
er
k
e
y
i
n
g
m
et
h
o
d
o
lo
g
y
i
s
ta
k
en
a
f
ter
a
m
id
v
eh
ic
le
s
tar
t
p
r
ep
ar
e.
T
h
is
co
m
p
r
i
s
es
o
f
p
r
o
g
r
am
m
i
n
g
an
d
eq
u
ip
m
en
t
k
e
y
s
.
A
n
u
n
u
s
u
al
to
u
ch
s
ig
n
a
l
is
m
ad
e
o
n
t
h
e
6
5
K
C
o
lo
u
r
T
o
u
ch
s
cr
ee
n
T
FT
Dis
p
la
y
t
h
at
g
o
es
ab
o
u
t
as
th
e
p
r
o
d
u
ct
k
e
y
.
T
h
e
f
r
a
m
e
w
o
r
k
co
n
f
i
r
m
s
t
h
is
a
n
d
af
ter
th
at
ac
k
n
o
w
led
g
e
s
th
e
eq
u
ip
m
e
n
t
co
r
e
w
h
ich
is
th
e
r
ea
l
k
e
y
f
o
b
r
eg
u
lar
l
y
u
tili
ze
d
.
T
h
is
ele
m
e
n
t
ca
n
b
e
i
n
cid
e
n
tall
y
i
n
ca
p
ac
itated
an
d
e
m
p
o
w
er
ed
u
s
i
n
g
SM
S
s
en
t
b
y
t
h
e
p
r
o
p
r
ieto
r
.
T
h
is
i
s
v
alu
ab
le
in
t
h
e
cir
c
u
m
s
ta
n
ce
s
,
f
o
r
e
x
a
m
p
le,
w
h
e
n
so
m
eb
o
d
y
(
lik
e
a
r
ep
air
m
a
n
)
o
th
er
th
a
n
th
e
p
r
o
p
r
ieto
r
n
ee
d
s
to
d
ea
l
w
it
h
th
e
v
e
h
icle
an
d
th
e
p
r
o
p
r
ieto
r
d
o
es
n
o
t
n
ee
d
t
h
e
o
th
er
i
n
d
iv
id
u
a
l
t
o
k
n
o
w
t
h
e
m
y
s
ter
y
o
n
s
cr
ee
n
s
ec
r
et
k
e
y
.
A
s
er
ial
E
E
P
R
OM
m
e
m
o
r
y
is
u
tili
ze
d
to
s
to
r
e
th
e
w
atc
h
w
o
r
d
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esia
n
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4752
Desig
n
a
n
d
I
m
p
leme
n
ta
tio
n
o
f Next
Gen
era
tio
n
A
u
to
mo
tive
Th
eft
P
r
ev
en
tive
S
ystem
(
K
.
H
ema
)
121
d)
M
o
t
io
n Ala
r
m
Th
e
v
eh
ic
le
u
n
i
t
al
w
a
y
s
s
cr
ee
n
s
th
e
v
e
h
icle
m
o
v
e
m
en
t
a
f
ter
b
ein
g
f
u
r
n
is
h
ed
(
b
o
lted
)
.
T
h
e
in
te
g
r
ated
m
o
v
e
m
e
n
t
d
etec
tin
g
s
u
b
s
y
s
t
e
m
m
ea
s
u
r
es
t
h
e
v
e
h
icles
t
h
r
ee
-
d
i
m
en
s
io
n
a
l
p
o
s
itio
n
an
d
r
ec
o
g
n
izes
an
y
u
n
ap
p
r
o
v
ed
ch
a
n
g
e
i
f
t
h
e
v
e
h
icles
ar
e
m
o
v
ed
o
r
tilt
ed
th
at
s
u
r
p
ass
e
s
an
ed
g
e
le
v
el
[
1
0
]
.
T
h
e
af
f
ec
tab
ilit
y
o
f
th
is
ca
p
ac
it
y
ca
n
b
e
b
ala
n
ce
d
o
n
th
e
T
o
u
ch
s
cr
ee
n
s
h
o
w
GU
I
to
v
iab
l
y
s
ta
y
a
w
a
y
f
r
o
m
an
y
f
alse
n
o
tice
s
t
h
at
ar
e
r
eg
u
lar
w
it
h
ex
i
s
ti
n
g
v
eh
i
cle
s
ec
u
r
it
y
f
r
a
m
e
w
o
r
k
s
[
1
1
]
.
W
h
en
s
o
m
eb
o
d
y
tr
ies
to
b
r
e
ak
in
to
th
e
v
e
h
icl
e
p
er
s
u
asi
v
el
y
,
t
h
e
aler
t tr
i
g
g
er
s
th
e
s
ir
en
a
n
d
h
ea
d
li
g
h
t
s
an
d
s
en
d
s
a
n
SMS to
t
h
e
p
r
o
p
r
ieto
r
.
e)
Vehicle
T
ra
c
k
i
ng
GP
S
an
d
GSM
in
n
o
v
at
io
n
s
e
m
p
o
w
er
t
h
e
v
e
h
icle
p
r
o
p
r
ieto
r
s
to
tr
ac
k
an
d
s
cr
ee
n
t
h
e
v
e
h
icle
w
it
h
P
DA
at
w
h
e
n
ev
er
f
r
o
m
a
n
y
p
l
ac
e.
T
h
e
i
m
m
ed
iate
u
p
g
r
ad
e
in
th
i
s
co
m
p
o
n
e
n
t
is
its
ca
p
ac
i
t
y
to
illu
m
i
n
ate
th
e
v
eh
ic
le
p
o
s
itio
n
n
o
t
w
it
h
s
tan
d
in
g
a
m
id
a
GP
S
b
lack
o
u
t
u
til
izin
g
d
ea
d
r
etr
ib
u
tio
n
s
tr
ateg
y
.
T
h
is
i
s
ac
co
m
p
li
s
h
ed
w
ith
th
e
ass
is
tan
ce
o
f
I
n
er
tial
Na
v
i
g
atio
n
Sen
s
o
r
s
th
at
co
m
p
r
is
e
s
o
f
a
3
-
p
iv
o
t
ME
M
S
Ma
g
n
e
to
m
eter
an
d
a
3
-
h
u
b
ME
MS
A
cc
e
ler
o
m
eter
w
h
ic
h
w
i
ll g
o
ab
o
u
t a
s
a
tilt
r
ep
aid
co
m
p
ass
m
o
d
u
le.
f)
Ca
r
Sea
rc
her
W
h
en
th
e
p
r
o
p
r
ieto
r
ap
p
r
o
ac
h
es
th
e
v
e
h
icle,
t
h
e
f
r
a
m
e
w
o
r
k
co
n
s
eq
u
e
n
tl
y
co
n
f
ir
m
s
t
h
e
co
d
e
f
r
o
m
th
e
r
e
m
o
te
k
e
y
a
n
d
th
e
v
eh
ic
l
e
p
r
o
d
u
ce
s
a
h
ea
d
lig
h
t
g
li
m
m
er
an
d
h
o
r
n
b
ee
p
to
d
em
o
n
s
tr
ate
its
n
ea
r
n
ess
[
2
]
.
T
h
is
ele
m
e
n
t
is
k
n
o
w
n
as
a
n
au
to
d
is
co
v
er
er
,
an
d
it
h
elp
s
th
e
p
r
o
p
r
ieto
r
to
f
i
n
d
th
e
v
e
h
icle
i
n
a
p
ar
k
i
n
g
g
ar
ag
e
w
h
er
e
a
f
e
w
v
eh
ic
les a
r
e
s
to
p
p
ed
.
g)
G
P
S F
ence
T
h
is
ele
m
e
n
t
co
n
f
in
e
s
t
h
e
v
e
h
icle
d
ev
e
lo
p
m
en
t
i
n
s
id
e
a
p
ar
ticu
lar
ter
r
ito
r
y
.
Fo
r
i
n
s
ta
n
ce
,
if
t
h
e
p
r
o
p
r
iet
o
r
n
ee
d
s
th
e
au
to
to
m
o
v
e
j
u
s
t
in
s
id
e
a
p
ar
ticu
l
ar
city
,
o
n
ce
it
m
o
v
e
s
o
u
t
o
f
cit
y
o
u
t
s
k
ir
t
s
th
e
p
r
o
p
r
iet
o
r
w
o
u
ld
p
r
o
m
p
tl
y
g
et
an
SMS
r
ea
d
y
w
i
th
r
eg
ar
d
s
t
o
th
e
p
r
ese
n
t
ar
ea
o
f
th
e
v
e
h
i
c
le.
T
h
e
f
a
s
cin
a
tin
g
ele
m
e
n
t
h
er
e
is
t
h
e
clie
n
t
ca
n
m
o
d
i
f
y
th
e
f
e
n
ce
s
p
an
i
n
th
e
T
o
u
ch
s
cr
ee
n
s
h
o
w
.
T
h
is
ad
ap
tab
ilit
y
e
n
ab
les
th
e
clien
t to
s
et
a
v
ir
tu
al
f
e
n
ce
th
a
t c
an
b
e
at
th
e
b
u
ild
i
n
g
le
v
el,
r
o
ad
le
v
el,
cit
y
lev
e
l o
r
s
tate
lev
el.
h)
F
uel C
ut
-
o
f
f
T
h
is
co
m
p
o
n
en
t
is
p
r
ec
io
u
s
p
ar
ticu
lar
l
y
in
th
e
e
v
e
n
t
o
f
an
au
to
r
o
b
b
er
y
.
O
n
th
e
o
f
f
c
h
an
ce
th
at
t
h
e
v
eh
ic
le
is
s
o
m
e
w
a
y
o
r
an
o
t
h
er
h
ac
k
ed
in
to
a
n
d
tak
e
n
,
y
o
u
ca
n
s
en
d
t
h
e
m
ess
a
g
e
t
h
at
w
i
ll
g
r
ad
u
all
y
r
e
m
o
v
e
th
e
f
u
el
s
u
p
p
l
y
,
co
n
s
eq
u
e
n
tl
y
i
m
p
air
in
g
t
h
e
v
eh
icle.
A
Ser
v
o
Mo
to
r
co
n
tr
o
lled
v
alv
e
is
u
ti
lized
to
cu
t
t
h
e
f
u
el
s
u
p
p
l
y
.
4.
CO
NCLU
SI
O
N
I
n
th
i
s
w
o
r
k
,
w
e
p
r
o
p
o
s
ed
a
te
ch
n
iq
u
e
to
o
f
f
er
in
s
u
r
a
n
ce
n
o
t
w
it
h
s
tan
d
i
n
g
w
h
e
n
t
h
e
k
e
y
f
o
b
is
s
to
le
n
,
an
d
w
e
ca
ll
i
t
th
e
g
en
u
i
n
e
b
r
illi
an
t
k
e
y
f
o
b
.
I
t
en
ab
les
u
s
to
tr
ac
k
th
e
v
eh
ic
le
ev
e
n
in
GP
S
d
en
ied
s
it
u
atio
n
s
,
f
o
r
ex
a
m
p
le,
i
n
s
id
e
s
tr
u
ct
u
r
e
s
,
u
n
d
er
g
r
o
u
n
d
a
n
d
th
ic
k
cit
y
lo
ca
les.
T
h
e
p
r
esen
t
-
d
a
y
m
o
v
e
m
e
n
t
an
d
til
t
ca
u
tio
n
s
w
i
ll
alar
m
t
h
e
p
r
o
p
r
ieto
r
n
o
t
w
it
h
s
ta
n
d
in
g
f
o
r
a
n
i
n
ad
v
er
te
n
t
to
u
ch
b
y
a
p
ass
i
n
g
i
n
d
iv
id
u
al
o
r
a
n
in
cid
en
ta
l
h
it
b
y
a
b
all
f
r
o
m
a
p
lay
i
n
g
t
y
k
e.
O
u
r
f
r
a
m
e
w
o
r
k
tak
e
s
o
u
t
t
h
is
w
it
h
m
o
v
ab
le
m
o
v
e
m
e
n
t
aler
t
af
f
ec
tab
ilit
y
h
i
g
h
li
g
h
t.
A
f
o
ca
l
UI
to
ac
cu
m
u
late,
m
o
d
i
f
y
t
h
e
v
eh
icle
s
ec
u
r
it
y
f
r
a
m
e
w
o
r
k
,
w
h
ich
i
s
ab
s
en
t
i
n
th
e
p
ast
v
e
h
icle
p
lan
s
.
W
e
u
n
e
q
u
iv
o
ca
ll
y
tr
u
s
t
th
at
t
h
ese
co
m
p
o
n
en
ts
w
it
h
o
u
t
a
d
o
u
b
t
w
il
l
ac
co
m
p
li
s
h
b
est
i
n
th
e
au
to
m
o
ti
v
e.
RE
F
E
R
E
NC
E
S
[1
]
S
p
e
e
ter T
H.
T
ra
n
sf
o
rm
a
ti
o
n
h
a
n
d
mo
ti
o
n
fo
r
tele
ma
n
i
p
u
l
a
ti
o
n
.
P
r
e
se
n
c
e
,
1
9
9
2
;
1
(
1
);
6
3
–
7
9
.
[2
]
Zh
a
n
g
L
ix
ia.
In
telli
g
e
n
t
p
a
rk
in
g
sy
ste
m
a
p
p
li
c
a
ti
o
n
ma
in
ten
a
n
c
e
.
Un
iv
e
rsit
y
o
f
e
l
e
c
tro
n
ic
sc
ien
c
e
a
n
d
tec
h
n
o
l
o
g
y
p
re
ss
.
2
0
1
3
;
0
3
.
[3
]
Ra
k
ij
a
s M
.
M
a
g
n
e
ti
c
o
b
jec
t
tr
a
c
k
in
g
b
a
se
d
ma
g
n
e
ti
c
se
n
so
r me
a
s
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re
me
n
ts.
U.S
.
P
a
ten
t
6
2
6
9
3
2
4
;
2
0
0
1
.
[4
]
L
e
n
z
J.
M
a
g
n
e
ti
c
se
n
so
rs
a
n
d
th
e
ir a
p
p
li
c
a
t
io
n
s.
IEE
E
S
e
n
s
o
rs
,
2
0
0
6
;
6
(3
)
;
6
3
1
–
6
4
9
.
[5
]
Oh
a
n
d
J
K
a
n
d
Ba
n
g
W
C,
e
t
a
l.
In
e
rtia
l
se
n
so
r
-
b
a
se
d
re
c
o
g
n
it
io
n
o
f
3
-
D
c
h
a
ra
c
ter
g
e
stu
re
s
wit
h
a
n
e
n
se
mb
le
o
f
c
la
ss
if
ier
s.
P
re
se
n
ted
a
t
t
h
e
9
t
h
I
n
t.
W
o
rk
sh
o
p
o
n
F
ro
n
ti
e
rs i
n
Ha
n
d
w
rit
in
g
Re
c
o
g
n
it
io
n
.
2
0
0
4
.
[6
]
Ja
y
a
r
a
m
a
n
V
,
S
a
g
a
d
e
v
a
n
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a
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r
R.
S
t
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ies
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Op
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ica
l
a
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d
El
e
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trica
l
Pro
p
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rties
o
f
Ha
fn
i
u
m
Ox
id
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Na
n
o
p
a
rt
icle
s.
J
o
u
rn
a
l
o
f
E
lec
tro
n
ic M
a
ter
ia
ls
,
2
0
1
7
;
1
-
6.
[7
]
V
ij
a
y
a
m
a
ri
A
,
S
a
d
a
y
a
n
d
i
K,
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P
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A
stu
d
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p
ti
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su
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lo
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a
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d
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p
ro
p
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o
f
ma
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n
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s.
J
o
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a
l
o
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M
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:
M
a
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n
El
e
c
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,
2
0
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8.
[8
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M
.
A
.
M
a
n
iv
a
sa
g
a
m
,
T
.
A
n
a
n
th
a
n
,
2
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7
.
A
n
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f
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s,
IJ
M
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R
,
9
(2
)
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p
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A
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lh
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No
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id
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a
h
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ip
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n
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m
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h
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2
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.
M
a
x
im
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g
En
e
rg
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ff
icie
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c
y
f
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Co
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m
p
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Circu
it
P
o
w
e
r
in
D
o
w
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li
n
k
M
a
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iv
e
M
IM
O
W
irele
s
s
Ne
t
w
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rk
s
,
In
ter
n
a
ti
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a
l
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o
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e
c
trica
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a
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d
Co
m
p
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ter
E
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(
IJ
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,
7
(
6
),
p
p
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9
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.
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