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[
1]
,
[
2]
.
M
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3]
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4]
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[
5]
.
B
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by
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t
wor
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[
6]
-
[
8
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[
9]
.
B
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.
[
10
]
pr
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Evaluation Warning : The document was created with Spire.PDF for Python.
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N:
2502
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4752
De
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e
nt
of
mobile
unde
r
w
ate
r
s
e
n
s
or
s
f
or
c
ov
e
r
ing
…
(
V
ali
moham
mad
N
a
z
ar
z
e
hi)
841
c
e
n
t
r
a
l
i
z
e
d
s
o
l
ut
i
o
n
t
o
a
s
s
i
g
n
s
e
ns
o
r
s
to
gr
i
d
po
s
i
t
i
o
n
s
i
n
3D
u
n
d
e
r
wa
t
e
r
e
nvi
r
o
nm
e
n
t
s
.
Ho
we
v
e
r
,
b
e
c
a
us
e
o
f
s
e
v
e
r
e
de
t
e
c
t
i
o
n
a
n
d
c
o
m
m
u
ni
c
a
t
i
o
n
c
o
n
s
t
r
a
i
n
t
s
a
n
d
m
a
s
s
i
ve
i
nf
o
r
m
a
t
i
o
n
e
x
c
ha
n
ge
a
m
o
n
g
s
e
ns
o
r
s
,
t
h
e
c
e
n
t
r
a
l
i
z
e
d
c
o
n
t
r
o
l
i
s
n
o
t
a
f
e
a
s
i
bl
e
s
o
l
ut
i
o
n
i
n
u
n
de
r
wa
t
e
r
e
nvi
r
o
nm
e
n
t
s
[
11]
.
B
a
r
r
e
t
al
.
[
12
]
,
pr
o
p
o
s
e
d
a
d
i
s
t
r
i
b
ut
e
d
a
n
d
l
o
c
a
li
z
e
d
m
e
t
h
o
d
f
o
r
r
e
-
a
dj
us
t
m
e
n
t
o
f
m
o
bil
e
u
n
de
r
wa
t
e
r
s
e
ns
o
r
s
wa
s
pr
e
s
e
n
t
e
d.
Ho
w
e
v
e
r
,
by
us
i
n
g
t
ha
t
t
e
c
hni
que
,
t
h
e
m
o
bi
l
e
u
n
de
r
wa
t
e
r
s
e
ns
o
r
s
c
o
ul
d
o
nly
m
o
v
e
up
a
n
d
do
w
n
t
o
m
o
di
f
y
d
e
pt
h
f
o
r
m
a
xim
i
z
i
ng
c
o
v
e
r
a
ge
.
C
o
m
m
u
ni
c
a
t
i
o
n
b
a
n
dw
i
dt
h
i
s
s
e
v
e
r
e
ly
l
im
i
t
e
d
i
n
u
n
d
e
r
wa
t
e
r
e
n
vi
r
o
nm
e
n
t
[
1
1]
,
[
13]
.
T
h
e
r
e
f
o
r
e
,
de
s
i
g
ni
ng
l
a
r
ge
-
s
c
a
l
e
c
o
n
t
r
o
l
s
y
s
t
e
m
s
in
t
h
e
o
c
e
a
n
f
o
r
c
o
o
pe
r
a
t
i
n
g
o
f
a
ut
o
n
o
m
o
us
m
o
bil
e
s
e
n
s
o
r
s
i
s
d
if
f
i
c
u
l
t
[
14]
.
T
o
t
a
c
k
l
e
t
hi
s
pr
o
bl
e
m
,
we
pr
e
s
e
n
t
a
de
c
e
n
t
r
a
l
i
z
e
d
c
o
n
t
r
o
l
f
r
a
m
e
wo
r
k
whi
c
h
i
s
a
bl
e
t
o
mi
n
im
i
z
e
t
h
e
i
nf
o
r
m
a
t
i
o
n
e
xc
h
a
n
ge
a
m
o
n
g
m
o
bil
e
u
n
de
r
wa
t
e
r
s
e
n
s
o
r
s
.
T
hi
s
a
l
go
r
i
t
hm
r
e
li
e
s
o
n
i
n
f
o
r
m
a
t
i
o
n
f
r
o
m
t
h
e
o
t
h
e
r
m
o
bil
e
u
n
de
r
wa
t
e
r
s
e
ns
o
r
s
l
o
c
a
t
e
d
i
n
t
h
e
n
e
i
g
hb
o
ur
h
oo
d
o
f
e
a
c
h
m
o
bil
e
u
n
de
r
wa
t
e
r
s
e
n
s
o
r
.
B
e
s
i
de
s
,
t
h
e
pr
o
p
o
s
e
d
a
l
go
r
i
t
hm
i
s
c
o
m
put
a
t
i
o
n
a
ll
y
e
f
f
e
c
t
i
ve
a
n
d
s
im
p
ly
im
p
l
e
m
e
n
t
e
d
a
s
i
t
us
e
s
s
o
m
e
s
i
m
p
l
e
l
o
c
a
l
c
o
n
t
r
o
l
l
a
ws
[
8]
.
He
r
e
,
we
f
o
c
us
o
n
t
h
e
pr
obl
e
m
s
p
a
t
i
o
t
e
m
po
r
a
l
c
o
v
e
r
a
ge
o
f
de
s
i
r
e
d
p
h
e
n
o
m
e
n
a
i
n
a
s
pe
c
i
f
i
c
de
pt
h
i
n
a
3D
u
n
de
r
wa
t
e
r
e
nvi
r
o
nm
e
n
t
.
I
n
[
15]
,
a
de
c
e
n
t
r
a
l
i
s
e
d
c
o
n
t
r
o
l
l
a
w
f
o
r
f
u
ll
c
o
v
e
r
a
ge
o
f
a
c
o
nf
i
ne
d
t
wo
-
di
m
e
ns
i
o
n
a
l
r
e
g
i
o
n
by
a
m
o
bil
e
u
n
d
e
r
wa
t
e
r
n
e
t
w
or
k
wa
s
s
t
udi
e
d.
T
h
e
pr
o
p
o
s
e
d
a
l
go
r
i
t
hm
wa
s
b
a
s
e
d
o
n
a
2
-
D
wo
r
ks
pa
c
e
a
s
s
u
m
pt
i
o
n
.
I
n
t
hi
s
pa
pe
r
,
t
h
e
de
c
e
n
t
r
a
l
i
z
e
d
c
o
n
t
r
o
l
l
a
ws
i
n
t
r
o
duc
e
d
i
n
[
15]
a
r
e
de
v
e
l
o
pe
d
f
o
r
s
e
ns
i
n
g
c
o
ve
r
a
ge
i
n
t
h
r
e
e
d
im
e
n
s
i
o
na
l
u
n
de
r
wa
t
e
r
s
pa
c
e
s
.
B
a
s
e
d
o
n
o
ur
m
e
t
h
o
d,
to
r
e
l
o
c
a
t
e
t
h
e
m
o
bil
e
u
n
de
r
wa
t
e
r
s
e
n
s
o
r
s
i
n
t
h
e
s
a
m
e
p
l
a
n
e
w
i
t
h
t
h
e
s
e
n
s
i
ng
a
r
e
a
a
f
t
e
r
i
ni
t
i
a
l
de
p
l
o
ym
e
n
t
,
f
i
r
s
t
l
y
t
he
un
de
r
wa
t
e
r
s
e
ns
o
r
s
t
r
a
v
e
l
t
o
wa
r
d
t
h
e
gi
ve
n
de
pt
h
us
i
n
g
pr
e
s
s
ur
e
s
e
ns
o
r
s
f
o
r
t
h
e
de
pt
h
a
d
j
u
s
t
m
e
n
t
.
T
h
e
n
,
by
a
pp
l
yi
ng
t
h
e
pr
e
s
e
n
t
e
d
a
l
go
r
i
t
hm
t
h
e
m
o
bil
e
s
e
ns
o
r
s
f
o
r
m
a
t
r
i
a
n
gu
l
a
r
gr
i
d
a
n
d
r
a
n
do
m
ly
m
o
v
e
t
o
s
pr
e
a
d
a
c
r
o
s
s
t
h
e
v
e
r
t
i
c
e
s
o
f
t
h
e
gr
i
d.
B
y
us
i
ng
t
hi
s
t
r
i
a
n
gu
l
a
r
gr
i
d,
we
ne
e
d
t
h
e
mi
n
i
m
u
m
n
u
m
be
r
o
f
m
o
bil
e
un
de
r
wa
t
e
r
s
e
n
s
o
r
s
t
o
c
o
v
e
r
t
h
e
b
o
un
d
e
d
g
i
ve
n
de
pt
h
.
T
o
s
u
m
m
a
r
i
s
e
,
b
a
s
e
d
o
n
t
hi
s
de
c
e
n
t
r
a
l
i
s
e
d
r
a
n
do
m
c
o
n
t
r
o
l
a
l
go
r
i
t
hm
,
a
g
i
ve
n
l
a
y
e
r
o
f
t
h
e
o
c
e
a
n
c
a
n
b
e
c
o
v
e
r
e
d
by
t
h
e
mi
n
im
u
m
n
u
m
be
r
o
f
m
o
bil
e
u
nde
r
wa
t
e
r
s
e
n
s
o
r
s
.
T
hi
s
a
l
go
r
i
t
hm
c
a
n
b
e
us
e
d
f
o
r
s
ur
v
e
yi
ng
t
h
e
s
e
a
f
l
o
o
r
f
o
r
hy
dr
o
c
a
r
b
o
n
e
x
p
l
o
r
a
t
i
o
n
[
16]
,
[
17]
,
de
e
p
o
c
e
a
n
f
l
o
o
r
s
c
i
t
e
s
m
o
ni
t
o
r
i
n
g
[
18]
,
s
e
n
s
i
ng
bi
o
l
o
g
i
c
a
l
a
n
d
c
h
e
mi
c
a
l
p
h
e
n
o
m
e
n
a
i
n
d
if
f
e
r
e
n
t
de
pt
h
s
[
19]
a
n
d
e
qu
i
p
m
e
n
t
m
o
ni
t
o
r
i
n
g
a
n
d
l
e
a
k
de
t
e
c
t
i
o
n
[
20]
.
2.
P
ROB
L
E
M
S
T
AT
E
M
E
NT
C
o
v
e
r
i
n
g
a
c
e
r
t
a
i
n
l
a
y
e
r
(
de
pt
h
)
o
f
t
h
e
o
c
e
a
n
by
th
e
m
i
n
im
u
m
n
u
m
be
r
o
f
m
o
bil
e
un
d
e
r
wa
t
e
r
s
e
n
s
o
r
i
s
t
h
e
m
a
i
n
pr
o
bl
e
m
i
n
t
hi
s
r
e
s
e
a
r
c
h
.
He
r
e
,
we
i
n
t
r
o
duc
e
a
de
c
e
n
t
r
a
l
i
s
e
d
a
l
go
r
i
t
hm
f
o
r
de
p
l
o
y
men
t
o
f
a
n
e
t
wo
r
k
o
f
u
n
de
r
wa
t
e
r
m
o
bil
e
r
o
b
o
t
s
to
c
o
v
e
r
a
g
i
v
e
n
b
o
un
d
e
d
de
pt
h
i
n
u
n
de
r
wa
t
e
r
e
nvi
r
o
nm
e
n
t
s
by
l
e
a
s
t
n
u
m
be
r
o
f
u
n
de
r
wa
t
e
r
s
e
ns
o
r
s
to
ga
t
h
e
r
s
c
i
e
n
t
i
f
i
c
da
t
a
f
r
o
m
d
if
f
e
r
e
n
t
de
pt
h
s
a
n
d
f
o
r
b
e
t
t
e
r
un
de
r
s
t
a
n
d
i
ng
o
f
t
h
e
o
c
e
a
n
.
T
he
pr
e
s
e
n
t
e
d
m
e
t
h
o
d
c
o
n
s
i
s
t
s
o
f
t
h
r
e
e
s
t
a
ge
s
.
I
ni
t
i
a
l
ly
,
t
h
e
m
o
bil
e
s
e
ns
o
r
s
m
o
v
e
to
wa
r
d
th
e
g
i
ve
n
de
pt
h
.
A
t
t
h
e
e
n
d
o
f
t
hi
s
s
t
e
p
a
l
l
m
o
bil
e
u
n
d
e
r
wa
t
e
r
s
e
n
s
o
r
s
w
i
ll
be
i
n
t
h
e
s
a
m
e
de
pt
h
.
T
h
e
n
,
t
h
e
y
f
o
r
m
a
t
r
i
a
n
gu
l
a
r
gr
i
d
a
c
r
o
s
s
t
h
e
s
pe
c
if
i
e
d
de
pt
h
t
h
a
t
c
o
ve
r
s
t
h
e
w
h
o
l
e
a
r
e
a
.
F
i
na
ll
y
,
t
o
o
p
t
i
m
a
ll
y
s
pr
e
a
d
t
he
m
o
bil
e
un
de
r
wa
t
e
r
s
e
n
s
o
r
s
a
c
r
o
s
s
t
h
e
g
i
ve
n
de
pt
h
,
t
h
e
m
o
bil
e
u
n
de
r
wa
t
e
r
s
e
ns
o
r
s
r
a
n
do
m
ly
m
o
v
e
t
o
o
c
c
up
y
t
h
e
v
e
r
t
i
c
e
s
o
f
t
h
e
c
o
m
m
o
n
gr
i
d.
F
i
g
ur
e
1
s
h
o
ws
th
e
t
w
o
-
di
m
e
n
s
i
o
n
a
l
b
o
un
d
e
d
s
e
ns
i
ng
r
e
gi
o
n
ℛ
.
P
r
o
bl
e
m
a
s
s
u
m
pt
i
o
n
s
a
r
e
,
:
n
u
m
b
e
r
o
f
m
o
bi
l
e
u
n
de
r
wa
t
e
r
s
e
ns
o
r
s
(
.
)
∈
ℛ
3
:
c
oor
di
n
a
t
e
o
f
t
h
e
m
o
bi
l
e
u
n
de
r
wa
t
e
r
s
e
n
s
o
r
>
0
,
≥
√
3
:
m
o
bil
e
u
n
de
r
wa
t
e
r
s
e
n
s
o
r
s
’
s
e
ns
i
ng
a
n
d
c
o
m
m
u
ni
c
a
t
i
o
n
r
a
n
g
e
,
r
e
s
pe
c
t
i
v
e
ly
>
0
:
:
di
s
c
r
e
t
e
t
i
m
e
i
ns
t
a
n
c
e
us
e
d
f
o
r
c
o
m
m
u
ni
c
a
t
i
o
n
by
m
o
bil
e
u
n
de
r
wa
t
e
r
s
e
n
s
o
r
s
[
21]
-
Sphe
r
e
-
bas
e
d
s
e
ns
ing
mode
l
:
I
t
i
s
a
s
s
u
m
e
d
e
a
c
h
m
o
bil
e
un
de
r
wa
t
e
r
s
e
n
s
o
r
s
’
s
e
n
s
i
ng
r
a
n
ge
i
s
.
I
t
m
e
a
ns
e
a
c
h
m
o
bi
l
e
u
n
de
r
wa
t
e
r
s
e
n
s
o
r
s
c
a
n
r
e
l
i
a
bly
s
e
n
s
e
o
bj
e
c
t
s
w
i
t
hi
n
a
d
i
s
t
a
n
c
e
o
f
f
r
o
m
t
h
e
m
o
bil
e
un
de
r
wa
t
e
r
s
e
n
s
o
r
’
s
po
s
i
t
i
o
n
.
I
n
t
h
e
f
o
ll
o
w
i
ng,
we
de
f
i
ne
a
s
p
h
e
r
e
s
uc
h
t
h
a
t
t
h
e
m
o
bil
e
u
n
de
r
wa
t
e
r
s
e
n
s
o
r
l
o
c
a
t
e
d
i
n
i
t
s
c
e
n
t
e
r
c
a
n
s
e
ns
e
o
bj
e
c
t
s
wi
t
hi
n
t
h
e
s
p
h
e
r
e
,
,
=
{
∈
ℛ
3
;
∥
(
−
(
)
)
∥
≤
}
(1
)
-
Sphe
r
e
-
bas
e
d
c
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unication
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l
:
I
t
i
s
a
s
s
u
m
e
d
e
a
c
h
m
o
bil
e
u
n
de
r
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t
e
r
s
e
n
s
o
r
s
h
a
s
a
c
o
m
m
u
nica
t
i
o
n
r
a
n
ge
o
f
>
0
w
i
ll
b
e
a
bl
e
t
o
e
x
c
h
a
n
ge
i
n
f
o
r
m
a
t
i
o
n
w
i
t
h
o
t
h
e
r
m
o
bil
e
u
n
de
r
wa
t
e
r
s
e
n
s
o
r
s
t
h
a
t
a
r
e
pl
a
c
e
d
i
ns
i
de
a
s
p
h
e
r
e
w
i
t
h
r
a
d
i
us
c
e
n
t
e
r
e
d
a
t
t
h
e
m
o
bil
e
un
de
r
wa
t
e
r
s
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n
s
o
r
s
’
po
s
i
t
i
o
n
.
,
=
{
∈
ℛ
3
;
∥
(
−
(
)
)
∥
≤
}
(
2)
I
n
t
hi
s
pa
pe
r
,
i
t
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a
s
s
u
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d
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a
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m
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n
s
o
r
s
h
a
v
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a
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d
.
M
o
r
e
o
v
e
r
,
i
t
is
a
s
s
u
m
e
d
t
h
a
t
t
h
e
de
pt
h
a
n
d
t
h
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b
o
un
da
r
y
o
f
t
h
e
s
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ns
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n
g
r
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g
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a
r
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v
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bl
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f
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r
a
l
l
m
o
bil
e
s
e
n
s
o
r
s
a
pr
i
o
r
i
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
2502
-
4752
I
n
do
n
e
s
i
a
n
J
E
l
e
c
E
n
g
&
C
o
m
p
S
c
i
,
Vo
l
.
25
,
N
o
.
2
,
F
e
b
r
ua
r
y
20
22
:
840
-
846
842
F
i
gur
e
1.
T
h
e
gi
v
e
n
b
o
un
de
d
a
r
e
a
de
n
o
t
e
d
by
R
e
c
t
a
n
gu
l
a
r
,
r
e
pr
e
s
e
n
t
e
d
by
,
a
n
d
̂
r
e
pr
e
s
e
n
t
e
d
by
*
-
A
s
s
umption
2.
1
:
T
h
e
s
e
n
s
i
ng
r
e
g
i
o
n
i
s
a
b
o
un
de
d
a
n
d
c
o
nn
e
c
t
e
d
s
e
t
.
-
De
f
ini
ti
on
2.
3:
(
T
r
i
a
n
gu
l
a
r
f
u
l
l
c
o
v
e
r
a
ge
)
:
s
uppo
s
e
b
e
t
h
e
u
nl
im
i
t
e
d
s
e
t
o
f
pot
e
n
t
i
a
l
t
r
i
a
n
gu
l
a
r
gr
i
ds
v
e
r
t
i
c
e
s
t
h
a
t
c
utt
i
n
g
t
h
e
s
e
n
s
i
ng
r
e
g
i
o
n
(
ℛ
)
to
e
qui
l
a
t
e
r
a
l
t
r
i
a
n
g
l
e
s
t
h
a
t
t
h
e
i
r
s
i
de
s
a
r
e
√
3
.
T
h
e
f
i
n
i
t
e
s
e
t
o
f
̂
=
∩
ℛ
i
s
s
a
i
d
to
tr
i
a
n
gu
l
a
r
f
u
ll
c
o
v
e
r
a
ge
i
f
,
∀
∈
,
∃
∈
̂
,
∥
(
−
)
∥
≤
(
3)
n
o
t
i
c
e
t
h
a
t
,
s
o
m
e
pa
r
t
o
f
b
o
un
da
r
y
o
f
ℛ
m
a
y
b
e
n
ot
c
o
v
e
r
e
d
,
a
s
s
h
o
wn
i
n
F
i
gur
e
1.
B
a
s
e
d
o
n
t
h
e
de
f
i
n
i
t
i
o
n
2.
3,
t
h
e
s
e
t
i
s
a
t
r
i
a
n
gu
l
a
r
f
u
ll
c
o
v
e
r
a
ge
o
f
t
h
e
s
e
n
s
i
ng
r
e
g
i
o
n
ℛ
.
A
s
a
r
e
s
ul
t
,
i
f
we
de
p
l
o
y
t
h
e
m
o
bil
e
un
d
e
r
wa
t
e
r
s
e
n
s
o
r
n
e
t
w
o
r
k
a
n
d
pl
a
c
e
t
h
e
m
a
t
v
e
r
t
i
c
e
s
o
f
t
h
e
m
e
n
t
i
o
n
e
d
gr
i
d,
t
h
e
n
t
h
e
m
o
bi
l
e
s
e
n
s
o
r
n
e
t
w
o
r
k
c
a
n
s
e
ns
e
a
ny
o
bj
e
c
t
l
o
c
a
t
e
d
i
n
t
h
e
g
i
v
e
n
l
a
y
e
r
o
f
t
h
e
o
c
e
a
n
.
-
T
he
or
e
m
2.
1:
S
uppo
s
e
ℛ
⊆
ℛ
2
b
e
t
h
e
s
e
ns
i
ng
r
e
g
i
o
n
a
n
d
t
h
e
a
r
e
a
o
f
ℛ
i
s
de
n
o
t
e
d
by
(
ℛ
)
.
S
uppo
s
e
̂
c
o
n
s
i
s
t
o
f
a
s
e
t
o
f
v
e
r
t
i
c
e
s
o
f
t
h
e
t
r
i
a
n
gu
l
a
r
gr
i
d
t
h
a
t
c
o
v
e
r
t
h
e
g
i
v
e
n
l
a
y
e
r
o
f
t
h
e
o
c
e
a
n
.
F
ur
t
h
e
r
m
o
r
e
,
a
s
s
u
m
e
t
h
a
t
t
h
e
m
i
n
im
u
m
n
u
m
be
r
o
f
p
o
i
n
t
s
we
n
e
e
d
to
c
o
v
e
r
ℛ
i
s
(
)
a
l
s
o
s
uppo
s
e
t
h
a
t
t
h
e
l
e
a
s
t
n
u
m
be
r
o
f
ve
r
t
i
c
e
s
i
n
̂
i
s
(
)
.
T
h
e
n
,
→
0
2
(
)
=
→
0
2
(
)
=
2
√
3
9
(
ℛ
)
(
4)
s
e
e
[
22]
a
n
d
[
23]
f
o
r
t
h
e
pr
oo
f
.
W
e
t
a
ke
a
d
v
a
n
t
a
ge
o
f
t
h
e
c
o
n
c
e
pt
o
f
gr
a
ph
t
o
e
x
p
l
a
i
n
t
h
a
t
t
h
e
m
o
bil
e
u
n
de
r
wa
t
e
r
s
e
n
s
o
r
s
c
o
m
m
u
n
i
c
a
t
e
to
ot
h
e
r
m
o
bi
l
e
s
e
n
s
o
r
s
l
o
c
a
t
e
d
i
n
t
h
e
i
r
c
o
m
m
u
ni
c
a
t
i
o
n
r
a
n
ge
.
I
t
i
s
o
bvi
o
us
t
h
a
t
t
h
e
m
o
bil
e
un
de
r
wa
t
e
r
s
e
n
s
o
r
s
c
a
n
n
o
t
e
x
c
h
a
n
ge
d
a
t
a
to
ot
h
e
r
m
o
bil
e
s
e
n
s
o
r
s
o
ut
o
f
t
h
e
i
r
c
o
m
m
u
ni
c
a
t
i
o
n
r
a
n
ge
a
s
i
n
un
de
r
wa
t
e
r
e
nvi
r
o
nm
e
n
t
s
t
h
e
c
o
m
m
u
ni
c
a
t
i
o
n
r
a
n
g
e
i
s
s
e
v
e
r
e
l
y
li
mi
t
e
d.
A
s
a
r
e
s
u
l
t
,
t
h
e
y
s
h
o
u
l
d
m
o
ve
c
l
o
s
e
to
e
a
c
h
o
t
h
e
r
to
b
e
a
bl
e
t
o
c
o
m
m
u
ni
c
a
t
e
a
n
d
c
o
o
r
di
n
a
t
e
t
h
e
i
r
m
o
t
i
o
n
.
W
e
a
s
s
u
m
e
t
h
a
t
t
h
e
m
o
bil
e
u
nde
r
wa
t
e
r
s
e
n
s
o
r
s
f
o
r
m
a
gr
a
ph
s
o
t
h
a
t
t
h
e
m
o
bil
e
un
d
e
r
wa
t
e
r
s
e
n
s
o
r
s
a
r
e
gr
a
ph
s
’
n
o
de
s
a
n
d
t
h
e
d
i
s
t
a
n
c
e
b
e
t
we
e
n
t
w
o
m
o
bil
e
s
e
n
s
o
r
s
i
s
a
n
e
dge
o
f
t
h
e
gr
a
ph
.
W
e
a
s
s
u
m
e
t
h
a
t
(
)
b
e
t
h
e
s
e
t
o
f
a
l
l
m
o
bil
e
un
de
r
wa
t
e
r
s
e
n
s
o
r
s
.
I
t
i
s
o
bvi
o
us
t
h
a
t
t
w
o
v
e
r
t
i
c
e
s
o
f
a
r
e
c
o
n
ne
c
t
e
d
i
f
t
wo
m
o
bi
l
e
u
n
de
r
wa
t
e
r
s
e
ns
o
r
s
l
o
c
a
t
e
d
o
n
t
h
o
s
e
v
e
r
t
i
c
e
s
a
r
e
i
n
t
h
e
i
r
c
o
m
m
u
ni
c
a
t
i
o
n
r
a
n
ge
.
-
A
s
s
umption
2.
2:
du
r
i
n
g
t
i
m
e
i
n
t
e
r
v
a
l
s
[
,
+
1
)
whi
c
h
a
r
e
s
e
que
n
c
e
o
f
c
o
n
t
i
n
ue
s
,
b
o
un
de
d
a
n
d
n
o
n
e
m
pt
y
,
wh
e
r
e
=
0
,
1
,
2
,
.
.
.
,
(
)
i
s
c
o
nn
e
c
t
e
d
a
c
r
o
s
s
e
a
c
h
[
,
+
1
)
[
22]
,
[
24
]
,
[
25
]
.
3.
DE
CE
NT
R
AL
I
S
E
D
COVE
RA
GE
AL
GO
RI
T
H
M
S
e
n
s
i
ng
o
r
s
a
m
p
li
ng
c
o
v
e
r
a
ge
o
f
p
h
e
n
o
m
e
n
a
i
n
a
g
i
v
e
n
l
a
y
e
r
o
f
t
h
e
o
c
e
a
n
i
s
im
po
r
t
a
n
t
f
o
r
ga
t
h
e
r
i
n
g
s
c
i
e
n
t
i
f
i
c
da
t
a
.
T
h
e
r
e
f
o
r
e
,
wi
t
h
o
ut
l
o
s
s
o
f
ge
n
e
r
a
l
i
t
y
,
l
e
t
=
0
b
e
t
h
e
h
o
r
i
z
o
n
t
a
l
p
l
a
n
e
(
s
pe
c
i
f
i
c
de
pt
h
)
s
uc
h
t
h
a
t
m
o
ni
t
o
r
i
n
g
r
e
g
i
o
n
ℛ
⊆
.
W
e
a
s
s
u
m
e
t
h
a
t
t
h
e
de
pt
h
a
n
d
t
h
e
b
o
un
da
r
y
o
f
t
h
e
s
e
n
s
i
ng
a
r
e
a
a
r
e
kn
o
wn
f
o
r
a
l
l
s
e
n
s
o
r
s
a
pr
i
o
r
i
.
I
n
t
h
e
f
o
ll
o
w
i
ng,
we
pr
o
p
o
s
e
a
t
h
r
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e
ph
a
s
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s
a
l
go
r
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k
of
m
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c
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nf
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l
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r
o
f
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e
a
n
.
3.
1.
M
ovin
g
s
e
n
s
o
r
s
t
o
t
h
e
given
ar
e
a
I
ni
t
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ly
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h
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m
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e
u
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r
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i
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g
i
ve
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a
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a
.
W
e
s
uppo
s
e
t
h
a
t
t
h
e
y
k
n
o
w
t
h
e
de
pt
h
o
f
t
h
e
m
o
ni
t
o
r
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r
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g
i
o
n
.
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h
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Evaluation Warning : The document was created with Spire.PDF for Python.
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F
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id
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a
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.
A
s
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3.
1
:
s
uppo
s
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t
h
a
t
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t
i
a
l
v
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un
de
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s
u
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f
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t
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l
a
r
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d
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[
,
]
to
m
o
bil
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u
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r
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s
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o
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n
de
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wa
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r
s
e
n
s
o
r
s
us
e
r
u
l
e
s
(
5)
a
n
d
(
6)
,
to
upda
t
e
t
h
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i
r
c
oo
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di
n
a
t
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s
a
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l
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(
+
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)
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(
5)
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+
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)
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(
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|
(
+
1
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=
[
(
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,
]
(
(
)
)
(
6)
a
s
s
h
o
wn
,
t
h
e
m
o
bil
e
u
n
de
r
wa
t
e
r
s
e
ns
o
r
n
e
t
w
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k
us
e
s
t
h
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a
f
o
r
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m
e
n
t
i
o
ne
d
r
u
l
e
s
(
5
)
,
(
6)
to
upda
t
e
t
h
e
m
o
bil
e
s
e
n
s
o
r
s
c
o
n
s
e
n
s
u
s
v
a
r
i
a
bl
e
s
.
T
o
upda
t
e
t
h
e
c
o
n
s
e
nt
s
v
a
r
i
a
bl
e
,
t
h
e
m
o
bi
l
e
u
n
d
e
r
wa
t
e
r
s
e
n
s
o
r
s
,
us
e
t
h
e
a
v
e
r
a
ge
o
f
ot
h
e
r
m
o
bil
e
s
e
ns
o
r
s
l
o
c
a
t
e
d
i
n
i
t
s
c
o
m
m
u
ni
c
a
ti
o
n
r
a
n
ge
(
n
e
i
g
hb
o
r
h
o
o
d)
a
n
d
i
t
o
wn
.
Al
s
o
,
by
us
in
g
t
h
e
s
e
r
u
l
e
s
t
h
e
m
o
bil
e
u
n
de
r
wa
t
e
r
s
e
ns
o
r
s
a
c
hi
e
ve
c
o
ns
e
ns
us
o
n
a
po
i
n
t
o
n
t
r
i
a
n
gu
l
a
r
gr
i
d
a
n
d
t
h
e
h
e
a
d
in
g
o
f
t
h
e
gr
i
d.
Af
t
e
r
a
f
e
w
i
t
e
r
a
t
i
o
ns
t
h
e
m
o
bi
l
e
s
e
ns
o
r
n
e
t
wo
r
k
b
u
i
l
d
a
c
o
m
m
o
n
gr
i
d
a
n
d
t
h
e
n
t
h
e
m
o
bil
e
u
n
d
e
r
wa
t
e
r
s
e
n
s
o
r
s
m
o
v
e
to
wa
r
d
v
e
r
t
i
c
e
s
o
f
t
h
e
gr
i
d.
T
he
or
e
m
3.
1:
a
s
s
u
m
e
a
m
o
bil
e
s
e
ns
o
r
n
e
t
w
o
r
k
us
e
c
o
n
t
r
o
l
l
a
ws
(
5)
,
(
6)
to
s
e
t
t
h
e
i
r
m
o
v
e
m
e
n
t
,
s
uppo
s
e
a
s
s
u
m
pt
i
o
n
s
3.
1,
2.
2
a
n
d
2.
1
h
o
l
d.
T
h
e
n
,
f
o
r
a
l
l
m
o
bil
e
u
n
de
r
wa
t
e
r
r
o
b
ot
s
t
h
e
r
e
e
xi
s
t
s
a
s
e
t
o
f
v
e
r
t
i
c
e
s
n
a
m
e
d
̂
s
uc
h
t
h
a
t
,
→
∞
(
)
=
(
7)
w
h
e
r
e
,
t
h
e
l
o
c
a
t
i
o
n
o
f
ℎ
m
o
bi
l
e
u
n
de
r
wa
t
e
r
s
e
n
s
o
r
s
i
s
r
e
pr
e
s
e
n
t
e
d
by
(
)
.
Al
s
o
,
i
s
a
v
e
r
t
i
c
e
o
f
t
h
e
gr
i
d
b
e
l
o
n
g
s
to
̂
.
B
y
us
i
ng
t
h
e
pr
o
p
o
s
e
d
c
o
n
t
r
o
l
l
a
ws
,
i
ni
t
i
a
ll
y
,
t
h
e
m
o
bil
e
un
d
e
r
wa
t
e
r
s
e
n
s
o
r
s
us
e
r
ul
e
(
5)
to
f
o
r
m
a
c
o
m
m
o
n
gr
i
d
a
s
a
f
t
e
r
a
pp
lyi
ng
t
hi
s
l
a
w
t
h
e
c
o
n
s
e
n
s
u
s
v
a
l
ue
s
c
o
nve
r
ge
to
c
o
n
s
t
a
n
t
v
a
l
ue
s
.
Ne
x
t
s
t
a
ge
,
by
us
i
ng
t
h
e
c
o
n
t
r
o
l
l
a
w
(
6)
m
o
bil
e
u
n
de
r
wa
t
e
r
r
ob
o
t
s
m
o
v
e
t
o
t
h
e
v
e
r
t
i
c
e
s
o
f
t
h
e
c
o
m
m
o
n
gr
i
d
(
s
e
e
pr
oo
f
i
n
[
15]
,
[
24]
).
4.
F
UL
L
COVE
R
AGE
I
n
t
h
e
pr
e
vi
o
us
pa
r
t
,
us
i
n
g
t
h
e
l
a
ws
(
5)
,
(
6)
,
t
h
e
wh
o
l
e
m
o
bi
l
e
u
n
de
r
wa
t
e
r
r
o
b
ot
s
a
r
e
de
r
i
v
e
d
t
o
t
h
e
v
e
r
t
i
c
e
s
o
f
t
h
e
c
o
m
m
o
n
t
r
i
a
n
gu
l
a
r
l
a
t
t
i
c
e
.
Ho
we
v
e
r
,
by
a
pp
lyi
ng
t
hi
s
s
t
a
ge
t
h
e
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h
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de
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
2502
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4752
I
n
do
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T
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3.
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.
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21]
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25]
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v
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l
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ly
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d
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m
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pr
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p
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t
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r
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v
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g
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b
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.
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.
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o
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s
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5)
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6)
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t
a
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k
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t
h
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gur
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2(
c
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s
h
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Af
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m
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M
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,
a
f
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r
=
5
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
do
n
e
s
i
a
n
J
E
l
e
c
E
n
g
&
C
o
m
p
S
c
i
I
S
S
N:
2502
-
4752
De
c
e
ntr
ali
s
e
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opti
mal
de
ploym
e
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ing
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i
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gur
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4.
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u
m
be
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o
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l
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L
USI
ON
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hi
s
pa
p
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s
ugge
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s
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o
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t
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l
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r
o
nm
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s
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t
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t
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pt
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us
t
m
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n
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m
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n
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u
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t
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put
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t
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d.
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m
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m
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s
to
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a
.
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go
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l
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s
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ni
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r
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ot
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h
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o
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a
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t
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d
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t
we
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n
m
o
bil
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un
de
r
wa
t
e
r
s
e
ns
o
r
s
.
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n
c
e
,
t
hi
s
a
l
go
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a
s
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un
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t
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r
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nvi
r
o
nm
e
n
t
s
.
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pr
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s
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t
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l
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d
m
a
t
h
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t
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ll
y
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n
d
b
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put
e
r
s
i
m
u
l
a
t
i
o
ns
.
RE
F
E
R
E
NC
E
S
[
1]
K
.
S
.
A
du
-
M
a
nu,
F
.
A
.
K
a
ts
r
ik
u,
J
.
-
D
.
A
bdul
a
i,
a
nd
F
.
E
ngma
nn,
“
S
ma
r
t
r
iv
e
r
m
o
ni
t
o
r
in
g
us
in
g
w
ir
e
l
e
s
s
s
e
ns
o
r
ne
tw
o
r
ks
,”
W
ir
e
le
s
s
C
om
m
uni
c
at
io
ns
and M
obi
le
C
om
put
in
g
, v
o
l.
2020, 2
020, do
i
:
10.1155/2020/
8897126.
[
2]
C
.
D
e
twe
il
e
r
e
t
al
.,
“
A
da
pt
iv
e
de
c
e
nt
r
a
li
z
e
d
c
o
nt
r
o
l
of
m
o
bi
l
e
unde
r
w
a
te
r
s
e
ns
o
r
ne
twor
ks
a
nd
r
o
b
o
ts
f
o
r
m
o
d
e
li
ng
unde
r
w
a
te
r
phe
n
o
m
e
n,”
J
our
nal
of
Se
n
s
or
and A
c
tu
at
or
N
e
tw
or
k
s
, v
o
l.
3, n
o
. 2, pp. 113
-
149, 2014, d
o
i
:
10.3390/j
s
a
n30201
13.
[
3]
V
.
N
a
z
a
r
z
e
h
i
a
nd
A
.
V
.
S
a
v
ki
n,
“
D
e
c
e
nt
r
a
li
z
e
d
th
r
e
e
di
m
e
ns
io
na
l
f
o
r
ma
ti
o
n
bui
ld
in
g
a
lg
o
r
it
hms
f
o
r
a
te
a
m
of
n
o
nh
o
l
o
n
omi
c
mo
bi
l
e
a
g
e
nt
s
,”
I
nt
.
J
.
of
C
ont
r
ol
, A
ut
om
at
io
n and Sy
s
t
.
, v
o
l.
17
, no
. 5, pp. 1283
-
1292, 2019,
d
o
i
:
10.1007/s
12555
-
018
-
0283
-
7.
[
4]
K
.
W
.
A
l
-
A
ni
,
A
.
S
.
A
bda
lk
a
f
or
,
a
nd
A
.
M
.
N
a
s
s
a
r
,
“
A
n
o
ve
r
v
i
e
w
of
w
i
r
e
l
e
s
s
s
e
ns
or
ne
twor
k
a
nd
it
s
a
ppl
ic
a
ti
o
ns
,”
I
ndone
s
ia
n
J
our
nal
of
E
le
c
tr
i
c
al
E
ngi
ne
e
r
in
g
and
C
om
put
e
r
Sc
ie
n
c
e
(
I
J
E
E
C
S)
,
vo
l.
17,
n
o
.
3,
pp.
1480
-
1486,
2019,
do
i
:
10.11591/i
je
e
c
s
.v
17.i
3.pp148
0
-
1486.
[
5]
M
.
J
.
A
l
-
A
me
r
y
a
nd
M
.
H
.
G
ha
dba
n,
“
A
n
e
n
e
r
g
y
c
o
ns
umpt
i
on
mi
ni
mi
z
a
ti
o
n
a
ppr
o
a
c
h
in
w
ir
e
l
e
s
s
s
e
ns
or
n
e
tw
o
r
ks
,”
I
ndone
s
ia
n
J
our
nal
of
E
le
c
tr
i
c
al
E
ngi
ne
e
r
in
g
and
C
om
put
e
r
Sc
ie
n
c
e
(
I
J
E
E
C
S)
,
vo
l.
22,
n
o
.
3,
pp.
1485
-
1494,
2021
,
do
i
:
10.11591/i
je
e
c
s
.v
22.
i3
.pp1485
-
1494.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
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:
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n
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,
Vo
l
.
25
,
N
o
.
2
,
F
e
b
r
ua
r
y
20
22
:
840
-
846
846
[
6]
R
.
P
r
i
y
a
da
r
s
hi
,
B
.
G
upt
a
,
a
nd
A
.
A
nur
a
g,
“
D
e
pl
oy
m
e
nt
te
c
hni
qu
e
s
in
w
ir
e
l
e
s
s
s
e
ns
o
r
ne
twor
ks
:
a
s
ur
v
e
y
,
c
la
s
s
if
i
c
a
ti
o
n,
c
ha
ll
e
ng
e
s
, a
nd
f
ut
ur
e
r
e
s
e
a
r
c
h i
s
s
ue
s
,”
T
he
J
our
nal
of
Supe
r
c
o
m
put
in
g
, pp. 1
-
41, 2020,
doi
:
10.1007/s
11227
-
020
-
03166
-
5.
[
7]
V
.
N
a
z
a
r
z
e
hi
a
nd
A
.
V
.
S
a
v
ki
n,
“
D
e
c
e
n
tr
a
li
z
e
d
c
o
nt
r
o
l
of
m
o
b
il
e
th
r
e
e
-
di
m
e
ns
i
o
na
l
s
e
ns
or
ne
tw
o
r
ks
f
or
c
o
mpl
e
t
e
c
ov
e
r
a
ge
s
e
l
f
-
de
pl
oy
m
e
nt
a
nd
f
o
r
mi
ng s
p
e
c
i
f
i
c
s
ha
pe
s
,”
2015 I
E
E
E
C
onf
.
on C
ont
.
A
pp
.
, 2015, pp. 127
-
132,
d
o
i:
10.1109/C
C
A
.2015.7320621.
[
8]
V
.
N
a
z
a
r
z
e
hi
,
A
.
V
.
S
a
v
ki
n,
a
nd
A
.
B
a
r
a
nz
a
de
h,
“
D
is
tr
ib
ut
e
d
3d
d
y
na
mi
c
s
e
a
r
c
h
c
ov
e
r
a
ge
f
o
r
m
o
bi
l
e
w
ir
e
l
e
s
s
s
e
ns
o
r
ne
tw
o
r
ks
,”
I
E
E
E
C
om
m
uni
c
at
io
ns
L
e
tt
e
r
s
, v
o
l.
19, n
o
. 4, pp. 633
-
636, 201
5, do
i:
10.1109/
L
C
O
M
M
.2015.2398867.
[
9]
W
.
W
u,
Z
.
Z
ha
ng,
W
.
L
e
e
,
a
nd
D
.
-
Z
.
D
u,
“
O
pt
im
a
l
C
o
ve
r
a
g
e
i
n
W
ir
e
l
e
s
s
S
e
ns
o
r
N
e
tw
o
r
ks
,"
Spr
in
ge
r
,
2020,
do
i:
10.1007/978
-
3
-
030
-
52824
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9.
[
10]
S
.
B
a
r
r
,
B
.
L
iu
,
a
nd
J
.
W
a
ng,
“
U
nde
r
w
a
te
r
s
e
ns
o
r
ba
r
r
ie
r
s
w
it
h
a
uc
ti
o
n
a
lg
o
r
it
hms
,”
in
P
r
oc
e
e
di
ngs
of
18t
h
I
nt
e
r
nat
i
onal
C
onf
e
r
e
nc
e
on C
om
put
e
r
C
om
m
uni
c
at
io
n
s
and N
e
tw
or
k
s
. I
E
E
E
, 2009, pp. 1
-
6, do
i
:
10.1109/I
C
C
C
N
.2009.5235296.
[
11]
Y
.
Y
a
ng,
Y
.
X
ia
o
,
a
nd
T
.
L
i,
“
A
s
ur
ve
y
of
a
ut
o
n
o
m
o
us
unde
r
w
a
t
e
r
ve
hi
c
l
e
f
o
r
ma
ti
o
n:
P
e
r
f
or
ma
nc
e
,
f
or
ma
ti
o
n
c
o
nt
r
o
l,
a
nd
c
o
mm
uni
c
a
ti
o
n
c
a
pa
bi
li
t
y
,”
I
E
E
E
C
om
m
uni
c
at
io
ns
Sur
v
e
y
s
&
T
ut
or
ia
ls
,
vol
.
23,
n
o
.
2,
pp.
815
-
841,
2021,
do
i:
10.1109/C
O
M
S
T
.2021.3059998.
[
12]
S
.
J
.
B
a
r
r
,
J
.
W
a
ng
,
a
nd
B
.
L
iu
,
“
A
n
e
f
f
i
c
i
e
nt
me
th
o
d
f
or
c
o
ns
tr
uc
ti
ng
und
e
r
w
a
t
e
r
s
e
ns
or
ba
r
r
i
e
r
s
,
”
J
our
nal
o
f
C
o
m
m
uni
c
at
io
ns
,
vo
l.
6, n
o
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“
S
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dy
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pa
c
t
of
a
r
t
pe
r
f
or
ma
nc
e
l
e
v
e
l
of
bl
u
e
la
s
e
r
te
c
hn
o
l
o
g
y
a
ppl
i
c
a
ti
o
ns
a
nd
it
s
c
o
nt
r
o
l,
”
I
ndone
s
ia
n
J
our
nal
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E
le
c
tr
ic
al
E
ngi
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e
r
in
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a
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uni
lk
uma
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S
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a
nvi
,
“
S
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ve
y
o
n
s
im
ul
a
to
r
s
f
o
r
und
e
r
w
a
t
e
r
s
e
ns
or
n
e
tw
o
r
ks
,”
T
ur
k
is
h
J
our
nal
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C
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put
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“
O
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im
a
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s
tr
ib
ut
e
d
bl
a
nk
e
t
c
ove
r
a
g
e
s
e
l
f
-
d
e
pl
oy
m
e
nt
of
m
o
bi
l
e
w
ir
e
l
e
s
s
s
e
ns
o
r
ne
tw
o
r
ks
,”
I
E
E
E
C
om
m
uni
c
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io
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e
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“
A
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w
d
e
ve
l
o
pm
e
nt
di
r
e
c
ti
o
n
of
d
e
e
p
s
e
a
e
x
pl
o
r
a
ti
o
n
ve
s
s
e
ls
,”
in
T
he
31s
t
I
nt
e
r
nat
io
nal
O
c
e
an and P
ol
ar
E
ngi
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“
O
pt
im
iz
e
d
f
o
r
ma
ti
o
n
c
o
nt
r
o
l
of
mul
ti
-
a
ge
nt
s
y
s
t
e
m
us
in
g
ps
o
a
lg
o
r
it
hm,”
I
ndone
s
ia
n
J
our
n
al
of
E
le
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E
ng
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p
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H
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ns
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r
,
M
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H
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N
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r
h
is
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Z
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Z
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A
bi
di
n,
a
nd
T
.
S
.
G
una
w
a
n,
“
A
ut
o
nom
o
us
s
ur
f
a
c
e
ve
s
s
e
l
f
or
s
e
a
r
c
h
a
nd
r
e
s
c
ue
o
p
e
r
a
ti
o
n,”
B
ul
le
ti
n of
E
le
c
tr
ic
al
E
ngi
ne
e
r
in
g and I
nf
o
r
m
at
ic
s
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B
E
E
I
)
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S
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J
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S
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A
br
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S
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a
,
J
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A
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M
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N
e
ls
o
n,
a
nd
T
.
B
a
ut
i
s
ta
,
“
D
e
s
ig
n
o
f
a
pr
a
c
ti
c
a
l
unde
r
w
a
t
e
r
s
e
ns
o
r
ne
tw
or
k
f
or
of
f
s
ho
r
e
f
is
h
f
a
r
m c
a
g
e
s
,”
Se
ns
or
s
, v
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l.
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S
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a
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a
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A
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G
a
ni
,
I
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A
hm
e
d
y
,
M
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Y
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I
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I
d
r
is
,
a
nd
I
.
A
.
T
.
H
a
s
he
m
,
“
A
s
ur
v
e
y
on
unde
r
w
a
te
r
w
i
r
e
le
s
s
s
e
ns
or
n
e
tw
o
r
ks
:
R
e
qui
r
e
me
n
ts
,
ta
xo
n
o
m
y
,
r
e
c
e
nt
a
dv
a
n
c
e
s
,
a
nd
o
p
e
n
r
e
s
e
a
r
c
h
c
ha
ll
e
ng
e
s
,”
Se
ns
or
s
,
v
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A
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a
v
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n
a
nd F
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a
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“
A
m
e
th
o
d
f
or
d
e
c
e
nt
r
a
li
z
e
d s
e
l
f
-
d
e
pl
oy
m
e
nt
of
a
m
o
bi
l
e
s
e
ns
or
n
e
tw
o
r
k w
it
h
gi
ve
n r
e
gul
a
r
g
e
o
m
e
tr
i
c
pa
tt
e
r
ns
,”
in
2011
Se
v
e
nt
h
I
nt
e
r
nat
io
nal
C
onf
e
r
e
nc
e
on
I
nt
e
ll
ig
e
nt
Se
ns
or
s
,
S
e
ns
or
N
e
tw
or
k
s
and
I
nf
o
r
m
at
io
n
P
r
oc
e
s
s
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A
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ie
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M
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r
s
e
,
“
C
oor
di
na
ti
o
n
of
g
r
o
ups
of
m
o
bi
l
e
a
ut
o
n
o
m
o
us
a
ge
nt
s
us
in
g
ne
a
r
e
s
t
ne
ig
hb
or
r
ul
e
s
,”
I
E
E
E
T
r
ans
ac
ti
ons
on automati
c
c
ont
r
ol
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R
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e
r
s
hne
r
, “
T
h
e
numb
e
r
of
c
ir
c
l
e
s
c
ove
r
in
g a
s
e
t,
”
A
m
e
r
ic
an J
our
nal
of
M
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m
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ic
s
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M
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r
s
e
,
“
A
l
o
w
e
r
b
o
und
o
n
c
o
n
ve
r
g
e
nc
e
of
a
di
s
tr
ib
ut
e
d
n
e
tw
or
k
c
o
ns
e
ns
us
a
lg
o
r
it
hm,
”
in
P
r
oc
e
e
di
ngs
of
th
e
44t
h
I
E
E
E
C
onf
e
r
e
nc
e
on
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e
c
is
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C
ont
r
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g
e
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im
m
e
r
,
“
U
nde
r
w
a
t
e
r
a
c
o
us
ti
c
l
o
c
a
li
z
a
ti
o
n
f
or
s
ma
ll
s
ubme
r
s
ib
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,”
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B
I
OG
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HI
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OF
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