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Science
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11
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Sep
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201
8
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N:
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t.
K
ey
w
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d
s
:
Ho
le
Dete
ctio
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S
m
ar
t B
lin
d
St
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Vis
u
a
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p
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©
2
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1
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In
stit
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te o
f
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.
C
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p
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A
uth
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r
:
Md
Ma
s
u
m
B
il
lah
,
Un
i
v
er
s
iti K
u
ala
L
u
m
p
u
r
(
Un
i
KL
)
,
Ku
ala
L
u
m
p
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r
,
Ma
la
y
s
ia
.
E
m
ail:
d
r
m
d
m
as
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@
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m
y
1
.
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NT
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DUC
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lac
k
o
f
v
is
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al
in
p
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t
to
th
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b
r
ain
[
1
]
.
T
h
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o
r
e,
it
r
es
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lt
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d
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f
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to
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t
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tatio
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[
2
]
.
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le
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b
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3
]
.
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m
ar
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d
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s
[
4
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9
]
.
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in
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[
1
0
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12
]
.
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[
1
3
]
.
A
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Sci
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N:
2502
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4752
Desig
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[
1
4
-
1
7
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A
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A
t
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at
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2
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1
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rt
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u
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L
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D,
b
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r
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u
r
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1
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p
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Fig
u
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2
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h
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3
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b
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d
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3
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g
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er
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t
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f
t
h
e
p
r
o
p
o
s
ed
s
y
s
te
m
d
e
m
o
n
s
tr
ates
th
e
s
tep
s
o
f
av
o
id
an
ce
h
i
g
h
er
o
b
s
tacle
an
d
f
r
o
n
t
h
o
le
as
s
h
o
w
n
in
f
i
g
u
r
e
3
.
T
h
e
u
p
p
er
u
ltra
s
o
n
ic
s
en
s
o
r
U1
r
ec
o
g
n
ize
th
e
o
b
s
tacle
f
r
o
m
1
0
0
c
m
f
ar
,
th
e
n
th
e
alar
m
w
i
ll
o
f
f
;
t
h
en
t
h
e
L
E
D1
an
d
v
ib
r
atio
n
m
o
to
r
w
il
l
tu
r
n
o
n
.
If
U1
d
etec
t
a
n
o
b
s
tacle
,
it
r
ef
er
s
t
h
e
d
eter
r
en
ts
ar
e
o
r
d
er
e
d
as
h
ig
h
o
b
s
tacle
in
f
r
o
n
t
.
Ot
h
er
th
a
n
t
h
at,
if
b
o
tto
m
U2
s
en
s
o
r
d
etec
ts
a
n
o
b
s
tacle
w
it
h
a
d
is
tan
ce
o
f
1
0
0
cm
,
th
e
s
i
g
n
al
w
ill
o
f
f
;
L
E
D2
an
d
v
i
b
r
a
tio
n
w
i
ll
tu
r
n
o
n
.
I
f
U2
id
en
tify
a
n
o
b
s
tacle
,
it
i
m
p
lies
t
h
e
lo
w
o
b
s
tacle
.
H
o
w
e
v
er
,
in
t
h
ese
s
tep
s
i
f
t
h
e
o
b
s
tacle
w
i
th
i
n
2
0
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m
f
r
o
m
th
e
u
s
er
,
an
d
th
e
n
th
e
L
E
D2
,
r
in
g
er
an
d
v
ib
r
atio
n
w
i
ll tu
r
n
o
n
.
Fig
u
r
e
3
.
W
o
r
k
in
g
f
lo
w
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t
h
e
p
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o
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ed
s
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ar
t
w
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n
g
s
y
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te
m
f
o
r
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i
s
u
al
i
m
p
air
m
e
n
t
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atic
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atic
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Fig
u
r
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5
s
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atic
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h
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ased
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t
h
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ltra
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o
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n
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ec
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to
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ec
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itter
p
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o
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m
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n
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.
Fo
r
th
e
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it
s
h
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if
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t
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e
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n
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ased
o
n
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h
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d
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ta
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ce
.
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h
e
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s
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s
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o
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ill co
n
n
ec
ted
in
ea
c
h
o
f
u
ltra
s
o
n
ic
s
e
n
s
o
r
ec
h
o
p
in
to
o
b
s
er
v
e
th
e
p
u
l
s
e.
Fig
u
r
e
4
.
Sch
e
m
atic
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r
a
m
Fig
u
r
e
5
.
Si
m
u
latio
n
test
I
n
th
e
s
i
m
u
lat
io
n
p
r
o
ce
s
s
,
s
o
n
ar
1
is
d
ec
lar
ed
as
h
ig
h
o
b
s
ta
cles
s
e
n
s
o
r
w
h
i
le
s
o
n
ar
2
is
d
ec
lar
ed
as
lo
w
o
b
s
tacle
s
s
en
s
o
r
.
I
n
th
e
v
i
r
tu
al
ter
m
i
n
al,
it
s
h
o
w
s
t
h
e
d
i
s
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ce
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etec
ted
b
y
th
e
1
s
t
s
en
s
o
r
,
2
n
d
s
en
s
o
r
an
d
laser
s
en
s
o
r
.
T
h
e
1
s
t
an
d
2
n
d
s
en
s
o
r
w
il
l
b
e
r
esp
ec
tiv
el
y
to
s
o
n
ar
1
an
d
s
o
n
ar
2
.
T
h
en
,
th
e
D1
,
D2
an
d
D3
ar
e
d
ec
lar
ed
as st
atu
s
to
laser
s
e
n
s
o
r
,
s
o
n
ar
1
an
d
s
o
n
ar
2
r
esp
ec
t
iv
el
y
.
Oth
er
t
h
an
t
h
at,
t
h
e
m
o
t
o
r
1
an
d
m
o
to
r
2
is
d
ec
lar
ed
as a
ler
tin
g
t
h
e
b
li
n
d
u
s
er
w
h
en
d
etec
t
in
g
o
b
s
tacle
s
.
T
h
er
e
is
a
p
a
tter
n
f
o
r
th
e
m
o
t
o
r
s
f
o
r
d
etec
tin
g
th
e
o
b
s
tacle
s
s
u
ch
a
s
f
o
r
h
i
g
h
o
b
s
tacle
s
,
o
n
l
y
m
o
to
r
1
w
ill
v
ib
r
ate
w
h
ile
f
o
r
lo
w
o
b
s
tac
l
es;
th
er
e
w
il
l
b
e
a
s
eq
u
en
ce
w
h
er
e
m
o
to
r
1
w
ill
v
ib
r
ate
f
ir
s
t
th
e
n
th
e
m
o
to
r
2
w
il
l
f
o
llo
w
.
Fo
r
f
r
o
n
t
h
o
le
o
b
s
tacle
s
,
o
n
l
y
m
o
to
r
2
w
il
l v
ib
r
ate.
T
h
e
w
o
r
k
i
n
g
f
lo
w
f
o
r
th
is
s
i
m
u
latio
n
i
s
th
e
s
a
m
e
as i
n
th
e
Fig
u
r
e
5
.
Fig
u
r
e
6
s
h
o
w
s
t
h
e
r
esu
l
t
o
f
t
h
e
s
o
n
ar
1
w
h
e
n
th
e
o
b
s
tacle
s
d
etec
ted
ar
e
n
o
t
w
it
h
i
n
1
0
0
cm
.
T
h
e
D2
,
m
o
to
r
1
an
d
2
ar
e
o
f
f
s
h
o
w
i
n
g
th
at
t
h
e
o
b
s
tacle
s
ar
e
n
o
t
d
etec
ted
b
ec
au
s
e
in
th
e
v
ir
t
u
al
ter
m
i
n
al
s
h
o
w
s
t
h
e
o
b
s
tacle
s
ar
e
9
0
5
cm
a
w
a
y
.
Fi
g
u
r
e
7
s
h
o
w
s
t
h
e
r
es
u
lt
o
f
t
h
e
s
o
n
ar
1
w
h
e
n
th
e
o
b
s
tacle
s
d
etec
ted
ar
e
w
ith
in
1
0
0
cm
.
T
h
e
D2
,
m
o
to
r
1
ar
e
o
n
w
h
ile
m
o
to
r
2
ar
e
o
f
f
,
s
h
o
w
i
n
g
t
h
at
t
h
e
o
b
s
tacle
s
ar
e
d
et
ec
ted
b
ec
au
s
e
i
n
t
h
e
v
ir
tu
a
l
ter
m
i
n
al
s
h
o
w
s
t
h
e
o
b
s
tacle
s
ar
e
8
9
cm
a
w
a
y
.
Fig
u
r
e
6
.
So
n
ar
1
,
n
o
o
b
s
tacle
d
etec
ted
Fig
u
r
e
7
.
So
n
ar
1
,
o
b
s
tacle
d
et
ec
ted
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4752
I
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d
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11
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3
,
Sep
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201
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u
r
e
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o
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e
s
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n
o
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in
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b
ec
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s
e
in
th
e
v
ir
t
u
al
ter
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i
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al
s
h
o
w
s
t
h
e
o
b
s
tacle
s
ar
e
9
0
0
cm
a
w
a
y
.
Fig
u
r
e
9
s
h
o
w
s
t
h
e
r
es
u
lt
o
f
th
e
s
o
n
ar
2
w
h
e
n
t
h
e
o
b
s
tacl
es
d
etec
ted
ar
e
w
it
h
i
n
1
0
0
c
m
.
T
h
e
D3
,
m
o
to
r
1
an
d
m
o
to
r
2
ar
e
o
n
s
h
o
w
in
g
th
at
t
h
e
o
b
s
tacle
s
ar
e
d
etec
ted
b
ec
au
s
e
i
n
th
e
v
ir
tu
al
ter
m
i
n
al
s
h
o
w
s
th
e
o
b
s
tacle
s
ar
e
8
8
cm
a
w
a
y
.
Fig
u
r
e
8
.
So
n
ar
2
,
n
o
o
b
s
tacle
d
etec
ted
Fig
u
r
e
9
.
So
n
ar
2
,
o
b
s
tacle
d
et
ec
ted
Fig
u
r
e
1
0
s
h
o
w
s
th
e
r
es
u
lt
o
f
s
o
n
ar
2
w
h
e
n
t
h
e
o
b
s
tacle
s
d
etec
ted
w
it
h
i
n
2
0
c
m
d
is
ta
n
c
e.
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h
e
D3
,
m
o
to
r
1
,
m
o
to
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2
an
d
b
u
zz
er
ar
e
o
n
,
s
h
o
w
i
n
g
t
h
at
t
h
e
o
b
s
tacle
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ar
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aser
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Evaluation Warning : The document was created with Spire.PDF for Python.
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N:
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g
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
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at
1
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cm
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
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n
esia
n
J
E
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E
n
g
&
C
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m
p
Sci
I
SS
N:
2502
-
4752
Desig
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o
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m
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t
h
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4
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it i
s
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s
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as h
ig
h
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Fo
r
th
is
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g
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h
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s
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it
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Det
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o
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w
h
e
n
d
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ted
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e
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r
o
n
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h
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Fig
u
r
e
1
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.
Gr
ap
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k
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d
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th
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s
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.
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h
e
n
e
w
l
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tic
k
co
m
p
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w
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th
th
e
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u
m
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n
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m
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s
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s
e
it
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elo
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ad
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lt
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e
r
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h
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lin
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k
p
r
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e
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test
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f
o
r
d
if
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n
t
h
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t
s
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o
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d
f
o
r
th
e
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f
r
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n
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I
n
t
h
is
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k
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h
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s
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ar
t
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d
s
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i
s
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t
o
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th
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h
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0
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,
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n
s
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w
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t
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e
o
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n
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4
0
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,
it
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n
s
id
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h
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g
h
o
b
s
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s
.
Ad
d
itio
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all
y
,
t
h
e
laser
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a
n
g
in
g
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en
s
o
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h
as
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cc
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s
s
f
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ll
y
test
ed
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o
r
h
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le
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n
.
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h
e
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lin
d
s
tick
is
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to
d
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ct
th
e
f
r
o
n
t
h
o
le
w
h
i
le
th
e
s
tic
k
is
ar
o
u
n
d
2
1
.
5
cm
f
ar
f
r
o
m
t
h
e
h
o
le.
T
h
er
ef
o
r
e
th
is
n
o
v
el
b
li
n
d
s
tic
k
is
ca
p
ab
l
e
to
ass
is
t a
b
lin
d
p
er
s
o
n
to
m
o
v
e
in
d
ep
en
d
en
t
l
y
.
RE
F
E
R
E
NC
E
S
[1
]
G
ro
e
n
II,
S
il
so
n
EH,
Ba
k
e
r
CI.
Co
n
tri
b
u
t
io
n
s
o
f
lo
w
-
a
n
d
h
ig
h
-
lev
e
l
p
ro
p
e
rti
e
s
to
n
e
u
ra
l
p
r
o
c
e
ss
in
g
o
f
v
isu
a
l
sc
e
n
e
s
in
t
h
e
h
u
m
a
n
b
ra
in
.
P
h
il
.
T
ra
n
s.
R
.
S
o
c
.
B.
2
0
1
7
F
e
b
1
9
;3
7
2
(
1
7
1
4
):
2
0
1
6
0
1
0
2
.
[2
]
Ka
n
,
Kili
c
D,
Do
g
a
n
F
.
W
a
y
f
in
d
in
g
stra
teg
ies
o
f
b
li
n
d
p
e
rso
n
s
i
n
u
rb
a
n
sc
a
le.
Psy
Ch
j
o
u
r
n
a
l.
2
0
1
7
De
c
1
;6
(4
)
:3
0
3
-
15.
[3
]
V
a
n
Er
p
JB,
Kro
o
n
L
,
M
io
c
h
T
,
P
a
u
l
KI.
Ob
sta
c
le
De
tec
ti
o
n
Disp
lay
f
o
r
V
isu
a
ll
y
I
m
p
a
ired
:
Co
d
in
g
o
f
Dire
c
ti
o
n
,
Dista
n
c
e
,
a
n
d
He
ig
h
t
o
n
a
V
i
b
ro
t
a
c
ti
le W
a
ist
Ba
n
d
.
Fro
n
t
ier
s in
I
CT
.
2
0
1
7
Oc
t
1
3
;
4
:2
3
.
[4
]
Bisc
h
o
f
A
,
Le
f
e
u
v
re
K,
Ku
rz
e
A
,
S
to
rz
M
,
T
o
tza
u
e
r
S
,
Be
rg
e
r
A
.
Exp
lo
rin
g
th
e
Pl
a
y
fu
l
n
e
ss
o
f
T
o
o
ls
fo
r
Co
-
De
sig
n
in
g
S
m
a
rt
Co
n
n
e
c
ted
De
v
i
c
e
s:
A
Ca
se
S
tu
d
y
wit
h
Bl
in
d
a
n
d
Vi
su
a
l
ly
Imp
a
ire
d
S
t
u
d
e
n
ts
.
In
P
r
o
c
e
e
d
in
g
s
o
f
th
e
2
0
1
6
A
n
n
u
a
l
S
y
m
p
o
siu
m
o
n
Co
m
p
u
ter
-
Hu
m
a
n
In
tera
c
ti
o
n
in
P
lay
Co
m
p
a
n
io
n
Ex
ten
d
e
d
A
b
stra
c
ts
2
0
1
6
Oc
t
1
6
(p
p
.
93
-
9
9
).
A
CM
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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J
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&
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p
Sci,
Vo
l
.
11
,
No
.
3
,
Sep
tem
b
er
201
8
:
8
4
8
–
8
5
6
856
[5
]
Ch
e
b
a
t
DR,
Ha
rra
r
V,
Ku
p
e
rs
R,
M
a
id
e
n
b
a
u
m
S
,
Am
e
d
i
A
,
P
ti
t
o
M
.
S
e
n
s
o
ry
su
b
sti
tu
ti
o
n
a
n
d
t
h
e
n
e
u
ra
l
c
o
rr
e
la
tes
o
f
n
a
v
ig
a
ti
o
n
i
n
b
li
n
d
n
e
ss
.
In
M
o
b
il
it
y
o
f
V
isu
a
ll
y
I
m
p
a
ired
P
e
o
p
l
e
2
0
1
8
(
p
p
.
1
6
7
-
2
0
0
).
S
p
ri
n
g
e
r,
Ch
a
m
.
[6
]
L
in
n
T
,
Jw
a
id
A
,
Clark
S
.
S
ma
rt
g
lo
v
e
f
o
r
v
isu
a
l
ly
imp
a
ire
d
.
In
Co
m
p
u
ti
n
g
Co
n
f
e
re
n
c
e
,
2
0
1
7
J
u
l
1
8
(
p
p
.
1
3
2
3
-
1
3
2
9
).
IEE
E.
[7
]
G
o
ri
M
,
Ca
p
p
a
g
li
G
,
T
o
n
e
ll
i
A
,
Ba
u
d
-
Bo
v
y
G
,
F
in
o
c
c
h
ietti
S
.
De
v
ice
s
f
o
r
v
isu
a
ll
y
i
m
p
a
ire
d
p
e
o
p
le:
Hig
h
tec
h
n
o
l
o
g
ica
l
d
e
v
ice
s
w
it
h
lo
w
u
se
r
a
c
c
e
p
tan
c
e
a
n
d
n
o
a
d
a
p
tab
i
li
ty
f
o
r
c
h
il
d
re
n
.
Ne
u
r
o
sc
ien
c
e
&
Bi
o
b
e
h
a
v
io
r
a
l
Rev
iews
.
2
0
1
6
Oc
t
1
;6
9
:7
9
-
8
8
.
[8
]
Ra
m
irez
A
R,
G
o
n
z
a
le
z
-
Ca
rra
s
c
o
I,
Ja
sp
e
r
G
H,
L
o
p
e
z
A
L
,
d
a
S
il
v
a
RF
,
Cre
sp
o
AG
.
T
o
wa
rd
s
Vi
su
a
ll
y
Imp
a
ire
d
Au
to
n
o
my
i
n
S
ma
rt
Ci
ti
e
s:
T
h
e
El
e
c
tro
n
ic
L
o
n
g
Ca
n
e
Pro
jec
t
.
I
n
De
sig
n
S
o
lu
ti
o
n
s
f
o
r
Us
e
r
-
Ce
n
tri
c
In
f
o
rm
a
ti
o
n
S
y
st
e
m
s 2
0
1
7
(
p
p
.
3
4
1
-
3
6
5
).
IG
I
G
lo
b
a
l.
[9
]
A
n
d
ò
B,
Ba
g
li
o
S
,
M
a
rletta
V
,
V
a
las
tro
A
.
A
h
a
p
ti
c
s
o
lu
t
io
n
t
o
a
ss
ist
v
isu
a
ll
y
i
m
p
a
ired
in
m
o
b
i
li
ty
tas
k
s.
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
Hu
ma
n
-
M
a
c
h
i
n
e
S
y
ste
ms
.
2
0
1
5
Oc
t;
4
5
(
5
):
6
4
1
-
6.
[1
0
]
M
o
tt
a
G
,
M
a
T
,
L
iu
K
,
P
issa
lo
u
x
E,
Y
u
sro
M
,
Ra
m
li
K,
C
o
n
n
ier
J,
V
a
sli
n
P
,
L
i
JJ
,
De
V
a
u
lx
C
,
S
h
i
H.
Ov
e
rv
iew
o
f
S
ma
rt
W
h
it
e
C
a
n
e
s:
Co
n
n
e
c
ted
S
ma
rt
Ca
n
e
fr
o
m
Fro
n
t
E
n
d
t
o
B
a
c
k
En
d
.
In
M
o
b
il
i
t
y
o
f
V
isu
a
ll
y
I
m
p
a
ired
P
e
o
p
le
2
0
1
8
(
p
p
.
4
6
9
-
5
3
5
).
S
p
ri
n
g
e
r,
Ch
a
m
.
[1
1
]
A
n
g
L
M
,
S
e
n
g
KP
,
He
n
g
T
Z.
In
fo
rm
a
ti
o
n
c
o
m
m
u
n
ica
ti
o
n
a
ss
isti
v
e
tec
h
n
o
lo
g
ies
f
o
r
v
isu
a
ll
y
i
m
p
a
ir
e
d
p
e
o
p
le.
S
ma
rt
T
e
c
h
n
o
l
o
g
ies
:
Bre
a
k
th
ro
u
g
h
s in
Res
e
a
rc
h
a
n
d
Pra
c
ti
c
e
:
Bre
a
k
t
h
r
o
u
g
h
s i
n
Res
e
a
rc
h
a
n
d
Pra
c
ti
c
e
.
2
0
1
7
J
u
n
1
9
:
1
7
.
[1
2
]
G
u
e
v
a
rra
EC,
Ca
m
a
m
a
M
I,
Cru
z
a
d
o
G
V
.
De
v
e
lo
p
me
n
t
o
f
Gu
id
in
g
Ca
n
e
wit
h
Vo
ice
No
ti
fi
c
a
ti
o
n
fo
r
Vi
su
a
ll
y
Imp
a
ire
d
i
n
d
ivi
d
u
a
ls
.
I
n
tern
a
ti
o
n
a
l
Jo
u
rn
a
l
o
f
El
e
c
tri
c
a
l
a
n
d
Co
m
p
u
ter
E
n
g
in
e
e
rin
g
(IJECE).
2
0
1
8
F
e
b
1
;
8
(1
):
1
0
4
-
12.
[1
3
]
M
ik
u
lo
w
s
k
i
D
.
An
Ap
p
r
o
a
c
h
fo
r
On
to
l
o
g
ic
a
ll
y
S
u
p
p
o
rti
n
g
o
f
S
p
a
c
e
Or
ien
ta
ti
o
n
T
e
a
c
h
in
g
o
f
Bl
i
n
d
P
u
p
i
ls
Us
in
g
Vi
rtu
a
l
S
o
u
n
d
Re
a
li
ty
.
I
n
In
ter
n
a
ti
o
n
a
l
Co
n
f
e
re
n
c
e
o
n
In
tera
c
ti
v
e
Co
ll
a
b
o
ra
ti
v
e
L
e
a
rn
in
g
2
0
1
7
S
e
p
2
7
(p
p
.
7
5
3
-
7
5
9
).
S
p
rin
g
e
r,
C
h
a
m
.
[1
4
]
A
b
d
o
lrah
m
a
n
i
A
,
Eas
le
y
W
,
W
il
li
a
m
s
M
A
,
Ro
n
q
u
il
lo
E,
Bra
n
h
a
m
S
,
Ch
e
n
T
,
Hu
rst
A
.
No
t
a
ll
e
rr
o
rs
a
re
c
re
a
ted
e
q
u
a
l:
Fa
c
t
o
rs
th
a
t
imp
a
c
t
a
c
c
e
p
ta
n
c
e
o
f
a
n
in
d
o
o
r
n
a
v
ig
a
ti
o
n
a
i
d
f
o
r
th
e
b
li
n
d
.
I
n
P
r
o
c
e
e
d
in
g
s
o
f
th
e
1
8
t
h
In
tern
a
ti
o
n
a
l
A
CM
S
IGA
CCES
S
Co
n
f
e
re
n
c
e
o
n
Co
m
p
u
ters
a
n
d
A
c
c
e
ss
ib
il
it
y
2
0
1
6
Oc
t
2
3
(p
p
.
3
0
1
-
3
0
2
).
A
CM
.
[1
5
]
Ro
d
rig
u
e
z
-
S
a
n
c
h
e
z
M
C,
M
a
rti
n
e
z
-
Ro
m
o
J.
GAW
A
–
M
a
n
a
g
e
r
fo
r
a
c
c
e
ss
ib
il
it
y
W
a
y
fi
n
d
in
g
a
p
p
s
.
In
tern
a
ti
o
n
a
l
Jo
u
rn
a
l
o
f
In
f
o
rm
a
ti
o
n
M
a
n
a
g
e
m
e
n
t
.
2
0
1
7
De
c
1
;
3
7
(
6
):5
0
5
-
1
9
.
[1
6
]
M
e
li
o
n
e
s
A
,
S
a
m
p
so
n
D.
Bli
n
d
M
u
se
u
m
T
o
u
re
r:
A
S
y
ste
m
f
o
r
S
e
lf
-
G
u
id
e
d
T
o
u
rs
i
n
M
u
se
u
m
s
a
n
d
B
li
n
d
I
n
d
o
o
r
Na
v
ig
a
ti
o
n
.
T
e
c
h
n
o
lo
g
ies
.
2
0
1
8
J
a
n
4
;
6
(1
):
4
.
[1
7
]
M
a
taró
T
V
,
M
a
su
ll
i
F
,
Ro
v
e
tt
a
S
,
Ca
b
ri
A
,
T
ra
v
e
rso
C,
Ca
p
ris
E,
T
o
rre
tt
a
S
.
An
a
ss
isti
v
e
mo
b
il
e
sy
ste
m
su
p
p
o
r
ti
n
g
b
li
n
d
a
n
d
v
isu
a
l
imp
a
ire
d
p
e
o
p
le
wh
e
n
a
re
o
u
td
o
o
r
.
In
Re
se
a
rc
h
a
n
d
T
e
c
h
n
o
lo
g
ies
f
o
r
S
o
c
iety
a
n
d
In
d
u
stry
(RT
S
I),
2
0
1
7
IE
EE
3
rd
I
n
tern
a
ti
o
n
a
l
F
o
r
u
m
o
n
2
0
1
7
S
e
p
1
1
(
p
p
.
1
-
6
).
I
EE
E.
[1
8
]
L
iu
KC,
W
u
CH,
T
se
n
g
S
Y,
T
sa
i
YT
.
Vo
ice
He
lp
e
r:
A
M
o
b
il
e
A
ss
isti
v
e
S
y
ste
m
fo
r
Vi
su
a
ll
y
Imp
a
ire
d
Per
so
n
s
.
I
n
Co
m
p
u
ter
a
n
d
In
f
o
rm
a
ti
o
n
T
e
c
h
n
o
lo
g
y
;
Ub
iq
u
it
o
u
s
Co
m
p
u
ti
n
g
a
n
d
Co
m
m
u
n
ica
ti
o
n
s;
De
p
e
n
d
a
b
le,
A
u
to
n
o
m
ic
a
n
d
S
e
c
u
re
Co
m
p
u
ti
n
g
;
P
e
rv
a
siv
e
In
telli
g
e
n
c
e
a
n
d
Co
m
p
u
ti
n
g
(CIT
/IUCC/DA
S
C/P
ICOM),
2
0
1
5
IE
EE
In
ter
n
a
ti
o
n
a
l
Co
n
f
e
re
n
c
e
o
n
2
0
1
5
Oc
t
2
6
(
p
p
.
1
4
0
0
-
1
4
0
5
).
IEE
E.
[1
9
]
M
u
ll
e
n
S
P
,
P
a
lac
DE,
Bry
a
n
t
LL
.
M
a
p
s
to
a
p
p
s:
Eva
l
u
a
t
in
g
wa
y
fi
n
d
i
n
g
tec
h
n
o
l
o
g
y
.
In
C
o
m
m
u
n
it
y
Wa
y
f
in
d
in
g
:
P
a
t
h
w
a
y
s to
Un
d
e
rsta
n
d
i
n
g
2
0
1
6
(p
p
.
1
3
7
-
1
5
1
).
S
p
ri
n
g
e
r,
Ch
a
m
.
[2
0
]
S
u
h
e
rm
a
n
S
.
W
iF
i
-
F
rien
d
ly
Bu
il
d
in
g
t
o
En
a
b
le
W
iF
i
S
ig
n
a
l
I
n
d
o
o
r.
B
u
ll
e
ti
n
o
f
El
e
c
trica
l
E
n
g
i
n
e
e
rin
g
a
n
d
In
fo
rm
a
t
ics
.
2
0
1
8
Ju
n
1
;7
(
2
).
[2
1
]
P
riy
a
A
,
S
a
silath
a
T
.
W
irele
s
s
Ne
t
w
o
rk
F
o
r
S
trate
g
ic
Bo
u
n
d
a
r
y
S
u
p
e
rv
isio
n
S
y
ste
m
.
Bu
ll
e
ti
n
o
f
El
e
c
trica
l
En
g
i
n
e
e
rin
g
a
n
d
I
n
fo
rm
a
ti
c
s
.
2
0
1
7
De
c
1
;6
(
4
):
3
6
7
-
7
0
.
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