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ry
o
f
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e
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rd
e
re
d
p
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d
u
c
t.
K
ey
w
o
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s
:
C
o
n
tr
o
ller
On
e
ti
m
e
p
ass
wo
r
d
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asp
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Pi
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So
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h
is i
s
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n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
B
ar
ath
Kr
is
h
n
a
G
u
n
asek
ar
an
Dep
ar
tm
en
t o
f
R
o
b
o
tics
an
d
A
u
to
m
atio
n
E
n
g
in
ee
r
i
n
g
,
PS
G
C
o
lleg
e
o
f
T
ec
h
n
o
lo
g
y
,
An
n
a
Un
iv
er
s
ity
Uth
am
p
alay
am
,
Mu
llip
u
r
am
,
T
ir
u
p
p
u
r
,
C
o
im
b
ato
r
e,
I
n
d
ia
E
m
ail:
b
ar
ath
g
v
b
d
@
g
m
ail.
co
m
1.
I
NT
RO
D
UCT
I
O
N
I
n
th
is
f
ast
-
m
o
v
in
g
wo
r
ld
,
p
r
o
d
u
ct
d
eliv
er
y
h
as b
ec
o
m
e
a
n
e
s
s
en
tial
p
ar
t
in
o
u
r
d
ay
-
to
-
d
a
y
life
.
W
ith
th
is
p
r
o
p
o
s
ed
m
o
d
el,
th
e
s
af
ety
o
f
th
e
o
r
d
e
r
ed
p
r
o
d
u
ct
is
en
s
u
r
ed
.
Pro
d
u
ct
d
eliv
er
y
co
m
p
an
ies
an
d
cu
s
to
m
er
s
m
ig
h
t
n
o
t
f
ac
e
lo
s
s
es
an
d
d
is
ap
p
o
in
tm
en
ts
.
Au
to
m
atio
n
is
th
e
p
r
o
ce
s
s
o
f
u
tili
zin
g
co
n
tr
o
l
s
y
s
tem
s
an
d
co
m
p
u
ter
s
t
o
r
e
d
u
ce
h
u
m
a
n
co
n
tr
ib
u
tio
n
an
d
p
r
o
v
i
d
e
tec
h
n
ical
ass
is
tan
ce
.
T
h
e
p
r
o
p
o
s
ed
m
o
d
el
p
r
ev
e
n
ts
p
r
o
d
u
ct
r
ep
lace
m
e
n
t
b
y
p
r
o
v
id
in
g
au
to
m
atic
s
af
e
lo
ck
m
ec
h
an
is
m
to
th
e
d
eliv
e
r
y
p
ac
k
ag
e
an
d
g
iv
i
n
g
ac
ce
s
s
o
n
ly
to
t
h
e
cu
s
to
m
er
s
.
2.
P
RO
B
L
E
M
D
E
F
NI
T
I
O
N
W
h
en
th
e
cu
s
to
m
er
o
r
d
er
s
a
p
r
o
d
u
ct,
th
e
d
eliv
er
i
n
g
co
m
p
an
y
s
en
d
s
th
e
p
ac
k
ed
p
r
o
d
u
ct
to
th
e
r
eg
io
n
al
d
eliv
er
er
,
wh
o
is
s
u
p
p
o
s
ed
to
d
eliv
er
th
e
p
r
o
d
u
ct
s
af
ely
to
th
e
cu
s
to
m
er
s
,
b
u
t
th
ese
r
eg
io
n
al
d
eliv
er
er
s
wh
o
m
ed
iate
th
e
d
eliv
er
y
,
o
p
e
n
th
e
p
a
ck
ag
es
an
d
ch
an
g
e
th
e
o
r
d
er
ed
p
r
o
d
u
cts
o
r
s
teal
th
em
an
d
s
ell
th
em
f
o
r
th
eir
o
wn
n
ec
ess
ities
.
T
h
en
at
s
o
m
etim
es,
th
e
d
eliv
er
in
g
ag
e
n
cies
in
ea
c
h
l
o
ca
lity
h
av
e
,
h
ir
e
d
p
er
s
o
n
s
f
o
r
d
eliv
e
r
in
g
p
r
o
d
u
c
ts
to
th
e
g
iv
en
ad
d
r
ess
.
I
n
s
o
m
e
ca
s
es,
th
ese
p
eo
p
le
also
s
te
al
o
r
r
ep
lace
th
e
o
r
d
er
e
d
p
r
o
d
u
cts
a
n
d
g
o
o
d
s
.
E
v
en
t
h
o
u
g
h
,
th
e
d
eliv
e
r
in
g
co
m
p
an
ies
p
r
o
v
id
e
r
ef
u
n
d
o
r
r
e
-
d
eliv
er
th
e
p
r
o
d
u
cts,
b
o
th
th
e
co
m
p
an
ies an
d
th
e
c
u
s
to
m
er
s
f
ac
e
lo
s
s
es a
n
d
is
s
u
es.
3.
P
RO
P
O
SE
D
SYS
T
E
M
I
n
th
is
p
ap
er
,
we
p
r
o
p
o
s
e
an
ef
f
ec
tiv
e
m
o
d
el
to
p
r
ev
e
n
t
d
e
liv
er
y
-
s
ca
m
wh
ich
u
s
es
a
q
u
ick
r
elea
s
e
(
QR
)
-
co
d
e
s
ca
n
n
e
r
,
s
o
len
o
id
lo
ck
er
an
d
a
liq
u
id
cr
y
s
tal
d
is
p
lay
(
L
C
D
)
i
n
teg
r
ated
b
y
a
R
asp
b
er
r
y
-
Pi
3
m
icr
o
co
n
tr
o
ller
[
1
]
.
T
h
e
o
r
d
er
ed
p
r
o
d
u
ct
is
p
lace
d
in
th
e
m
o
d
el
Fig
u
r
e
1
an
d
lo
ck
e
d
.
B
ef
o
r
e
lo
ck
in
g
,
th
e
QR
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
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2
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I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
25
,
No
.
1
,
J
an
u
ar
y
20
22
:
1
1
3
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1
1
9
114
co
d
e
p
r
in
ted
o
n
t
h
e
p
r
o
d
u
ct
p
a
ck
ag
e
is
s
ca
n
n
ed
in
t
h
e
QR
-
co
d
e
s
ca
n
n
er
p
lace
d
o
n
th
e
f
r
o
n
t
s
id
e
o
f
t
h
e
m
o
d
el.
T
h
is
s
ca
n
n
in
g
allo
ws
th
e
c
o
n
t
r
o
ller
to
ac
ce
s
s
th
e
n
ec
ess
ar
y
cu
s
to
m
er
d
etails.
As
s
o
o
n
as
t
h
e
b
o
x
clo
s
es,
th
e
co
n
tr
o
ller
g
en
er
ates
a
QR
-
co
d
e
one
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tim
e
p
ass
wo
r
d
(
OT
P
)
a
n
d
s
en
d
s
it
to
th
e
cu
s
to
m
e
r
m
ail
id
.
T
h
e
b
o
x
ca
n
th
en
b
e
o
p
en
e
d
o
n
ly
with
th
e
h
elp
o
f
th
e
OT
P
r
ec
eiv
e
d
b
y
t
h
e
r
esp
ec
tiv
e
cu
s
to
m
e
r
.
T
h
e
n
,
wh
en
th
e
p
r
o
d
u
ct
is
d
eliv
er
ed
to
th
e
d
esire
d
cu
s
to
m
er
,
th
e
c
u
s
to
m
er
h
as
to
s
ca
n
th
e
OT
P
r
ec
eiv
e
d
d
u
r
i
n
g
o
r
d
er
p
lace
m
e
n
t
[
2
]
.
On
ly
lim
ited
attem
p
ts
ar
e
p
r
o
v
id
ed
to
s
ca
n
an
d
o
p
en
th
e
b
o
x
,
if
ex
ce
ed
e
d
,
th
en
th
e
b
o
x
ca
n
n
o
t
b
e
o
p
e
n
e
d
with
o
u
t
th
e
co
n
f
ir
m
atio
n
f
r
o
m
th
e
d
eliv
er
in
g
co
m
p
an
y
.
T
h
en
af
ter
th
e
p
r
o
d
u
ct
is
tak
en
o
u
t,
ag
ain
t
h
e
b
o
x
is
clo
s
ed
an
d
th
e
co
n
tr
o
ller
a
u
to
m
atica
lly
er
ases
all
th
e
i
n
f
o
r
m
atio
n
o
f
th
e
p
r
e
v
io
u
s
d
eliv
er
y
an
d
p
r
ep
ar
es
its
elf
f
o
r
th
e
n
ex
t d
eliv
e
r
y
.
T
h
e
b
lo
c
k
d
iag
r
am
is
in
d
icate
d
in
Fig
u
r
e
2
.
Fig
u
r
e
1
.
Har
d
war
e
tr
ial
m
o
d
e
l
Fig
u
r
e
2
.
B
lo
ck
d
iag
r
am
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
tem
3
.
1
.
E
x
t
er
na
l
des
ig
n
T
h
e
d
esig
n
e
d
m
o
d
el
co
n
s
is
ts
o
f
two
r
ac
k
s
,
th
e
to
p
r
ac
k
is
f
o
r
p
laci
n
g
t
h
e
o
r
d
er
e
d
p
r
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d
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c
t
p
ac
k
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th
e
b
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o
n
e
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m
p
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th
e
elec
tr
o
n
ic
co
m
p
o
n
en
ts
a
n
d
wir
in
g
.
T
h
e
L
C
D
d
is
p
lay
is
f
ea
tu
r
ed
o
n
th
e
s
id
e
f
o
r
r
eq
u
esti
n
g
to
s
ca
n
an
d
o
t
h
er
m
is
ce
llan
eo
u
s
p
u
r
p
o
s
es.
T
h
e
p
o
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b
u
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2
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T
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th
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eliv
er
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m
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ti
o
n
m
o
d
el
is
its
co
n
tr
o
ller
R
asp
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er
r
y
-
Pi
3
[
3
]
.
I
t
f
u
n
ctio
n
s
as
th
e
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r
ain
o
f
th
e
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y
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tem
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m
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d
in
t
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r
ates
all
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e
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tep
s
in
th
e
o
p
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.
T
h
e
latest
v
er
s
io
n
o
f
th
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R
asp
b
er
r
y
-
Pi:
R
asp
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r
y
-
Pi
5
MP
ca
m
er
a
m
o
d
u
le
h
as
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ee
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u
s
ed
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er
e
[
4
]
.
I
t
weig
h
s
ju
s
t
th
r
ee
g
r
am
s
m
ak
in
g
it
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o
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t
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eg
li
g
ib
le
wh
ile
ca
r
r
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g
th
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p
r
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d
u
ct.
A
ca
m
er
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p
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r
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2592
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4
h
as
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d
in
atio
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with
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QR
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d
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s
ca
n
n
er
[
5
]
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5
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ce
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p
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V
an
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p
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th
e
co
n
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o
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m
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r
a
m
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u
le.
T
h
e
m
icr
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co
n
tr
o
ller
th
e
n
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4
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4
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5
V
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elay
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o
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o
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th
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g
p
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r
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r
r
ies
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t
th
e
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p
er
ati
o
n
as
in
s
tr
u
cted
b
y
th
e
p
r
o
g
r
am
[
6
]
,
[
7
]
.
T
h
e
co
n
tr
o
ller
life
is
v
er
y
lo
n
g
an
d
th
e
tech
n
o
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g
ically
a
d
v
an
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m
p
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ts
u
s
ed
h
er
e
m
ak
es
th
is
m
o
d
el
f
u
tu
r
is
tic
[
8
]
,
[
9
]
.
T
h
e
cir
cu
it
co
n
n
ec
tio
n
h
as b
ee
n
clea
r
ly
p
o
r
tr
a
y
ed
in
Fig
u
r
e
3
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
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E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
A
u
to
ma
tic
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elive
r
y
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m
p
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B
h
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u
r
e
3
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al
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c
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it c
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n
ec
tio
n
3.
3
.
F
l
o
w
cha
rt
o
f
t
he
pro
po
s
ed
s
y
s
t
em
T
h
e
f
lo
wc
h
ar
t
Fig
u
r
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4
illu
s
tr
ates
th
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p
r
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in
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t
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d
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l
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m
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th
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ch
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t
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icate
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r
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m
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v
en
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o
cc
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r
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g
at
th
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d
eliv
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in
g
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I
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s
h
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ws
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co
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t
p
ath
o
f
th
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p
r
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s
s
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d
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tates
th
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s
itu
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n
o
f
alter
n
ate
ev
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ts
if
th
e
s
tep
s
ar
e
n
o
t e
x
ec
u
ted
in
c
o
r
r
ec
t m
a
n
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Fig
u
r
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4
.
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ce
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VE
RVI
E
W
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F
T
H
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D
E
SNI
P
P
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S
T
h
e
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ip
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ets
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Fig
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r
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6
,
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m
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ail
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ates
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R
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OT
P
to
th
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s
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1
0
]
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Fig
u
r
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5
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6
t
h
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p
r
o
ce
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s
o
f
s
ca
n
n
in
g
th
e
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ar
co
d
e.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
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o
m
p
Sci
,
Vo
l.
25
,
No
.
1
,
J
an
u
ar
y
20
22
:
1
1
3
-
1
1
9
116
Fig
u
r
e
5
.
C
o
d
e
s
n
i
p
p
et
1
Fig
u
r
e
6
.
C
o
d
e
sn
i
p
p
et
2
Py
th
o
n
p
r
o
g
r
a
m
m
in
g
is
an
u
n
av
o
id
ab
le
-
c
r
iter
ia
in
th
is
tech
n
ical
p
h
ase
o
f
th
e
m
o
d
er
n
er
a
[
1
1
]
-
[
1
3
]
.
As
it
s
u
p
p
o
r
ts
a
lo
t
o
f
lib
r
ar
ies,
it
m
ak
es
ev
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y
co
m
p
licated
p
r
o
ce
s
s
m
u
ch
s
im
p
ler
to
in
teg
r
ate
an
d
p
er
f
o
r
m
[
1
4
]
,
[
1
5
]
.
C
o
n
tr
o
ller
co
d
e
h
as
th
e
f
u
ll
co
n
t
r
o
l
o
v
e
r
th
e
en
tire
p
r
o
ce
s
s
.
I
t
p
er
f
o
r
m
s
all
th
e
p
r
o
ce
s
s
es
m
en
tio
n
ed
in
a
p
er
f
ec
t p
r
o
ce
d
u
r
al
way
[
1
6
]
.
An
y
ad
j
u
s
tm
en
ts
n
ee
d
ed
in
th
e
s
y
s
tem
o
p
er
ati
o
n
co
u
ld
b
e
alter
e
d
b
y
ch
a
n
g
in
g
th
e
r
esp
ec
tiv
e
p
ar
t in
th
e
co
n
tr
o
ller
co
d
e
[
1
7
]
-
[
2
0
]
.
5.
B
E
N
E
F
I
T
S O
F
T
H
E
M
O
D
E
L
T
h
is
tech
n
ically
a
d
v
an
ce
d
,
c
o
s
t
-
ef
f
ec
tiv
e
m
o
d
el
f
ac
ilit
ate
s
r
eu
s
ab
ilit
y
f
o
r
an
in
f
in
ite
n
u
m
b
er
o
f
tim
es.
Ver
y
m
in
im
al
am
o
u
n
t
o
f
m
ain
ten
an
ce
is
s
u
f
f
icien
t.
T
h
is
m
o
d
el
will
d
ef
in
itely
ass
u
r
e
s
af
e
d
eliv
er
y
esp
ec
ially
f
o
r
h
ig
h
b
u
d
g
et
p
r
o
d
u
cts
lik
e
elec
tr
o
n
ic
eq
u
ip
m
e
n
t
an
d
it
ca
n
b
e
d
esig
n
ed
in
v
ar
io
u
s
s
izes
s
u
itin
g
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
A
u
to
ma
tic
d
elive
r
y
-
s
ca
m
p
r
ev
en
tio
n
u
s
in
g
R
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s
p
b
err
y
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Pi
(
B
i
n
d
u
B
h
a
s
ka
r
a
n
)
117
th
e
m
ajo
r
ly
o
r
d
er
ed
ex
p
en
s
iv
e
p
r
o
d
u
cts
[
2
1
]
-
[
2
3
]
.
A
s
u
r
v
ey
h
as
b
ee
n
co
n
d
u
cted
a
m
o
n
g
h
u
n
d
r
e
d
s
o
f
p
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p
le
in
clu
d
in
g
cu
s
to
m
er
s
wh
o
f
ac
ed
s
ca
m
is
s
u
es,
d
eli
v
er
in
g
ag
e
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cies
an
d
wo
r
k
er
s
o
f
th
e
d
eliv
er
in
g
co
m
p
an
ie
s
[
2
4
]
-
[
2
6
]
.
T
h
e
r
es
u
lt
Fig
u
r
e
7
s
h
o
wed
th
at
m
o
s
t
p
eo
p
le
th
in
k
th
at
th
is
s
y
s
tem
co
u
ld
p
r
e
v
en
t
s
ca
m
in
p
r
o
d
u
ct
d
eliv
e
r
y
an
d
p
r
o
v
e
b
en
ef
icial
to
cu
s
to
m
e
r
s
as we
ll a
s
to
th
e
co
m
p
a
n
ies.
Fig
u
r
e
7
.
Pie c
h
a
r
t sh
o
win
g
th
e
r
esu
lt o
f
cu
s
to
m
er
r
ev
iew
o
n
th
e
p
r
o
p
o
s
ed
m
o
d
els
6.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
e
r
esu
lts
o
f
th
is
p
r
o
ce
s
s
ca
m
e
o
u
t
as
p
er
th
e
p
r
o
ce
d
u
r
e.
Af
ter
th
e
p
er
f
ec
t
p
lacin
g
o
f
th
e
p
r
o
d
u
ct
in
th
e
p
ac
k
ag
e
an
d
v
e
r
if
y
in
g
t
h
e
cu
s
to
m
er
d
eta
ils
th
e
m
ai
l
alo
n
g
with
th
e
QR
c
o
d
e
OT
P
was
r
ec
eiv
ed
im
m
ed
iately
Fig
u
r
e
8
.
T
h
is
OT
P
ca
n
th
en
b
e
u
s
ed
to
s
ca
n
an
d
o
p
en
t
h
e
p
ac
k
a
g
e
o
n
l
y
b
y
th
e
r
esp
ec
tiv
e
cu
s
to
m
er
s
[
2
7
]
-
[
3
0
]
.
T
h
en
th
e
lo
ck
er
was
o
p
en
ed
with
o
u
t
a
n
y
m
alf
u
n
ctio
n
s
with
th
e
co
r
r
esp
o
n
d
in
g
OT
P
an
d
th
e
p
r
o
d
u
ct
was
d
eliv
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ed
s
af
ely
[
3
1
]
-
[
3
3
]
.
I
t
r
ea
ll
y
p
r
o
v
e
d
to
b
e
an
ef
f
ec
tiv
e
m
eth
o
d
o
n
im
p
ly
in
g
b
ar
co
d
e
s
ca
n
n
in
g
-
OT
P g
en
e
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atio
n
tech
n
iq
u
e
[
3
4
]
-
[
3
8
]
.
Fig
u
r
e
8
.
T
h
e
OT
P r
ec
eiv
ed
th
r
o
u
g
h
m
ails
7.
CO
NCLU
SI
O
N
T
h
is
p
ap
er
p
r
o
v
id
es
an
o
v
er
v
iew
o
f
th
e
s
y
s
tem
p
r
o
p
o
s
ed
to
th
e
au
to
m
atic
s
af
e
d
eliv
er
y
p
r
o
ce
s
s
.
I
f
co
m
p
an
ies
em
p
lo
y
th
is
s
y
s
te
m
,
it
n
o
t
o
n
ly
b
e
n
ef
its
th
e
s
af
ety
o
f
th
e
p
r
o
d
u
ct
b
u
t
also
p
r
ev
en
ts
th
e
co
m
p
an
ies
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
25
,
No
.
1
,
J
an
u
ar
y
20
22
:
1
1
3
-
1
1
9
118
f
r
o
m
is
s
u
es
s
u
ch
as
m
is
lay
i
n
g
,
r
ef
u
n
d
in
g
.
A
h
u
n
d
r
e
d
p
er
ce
n
t
p
r
o
tectio
n
o
f
th
e
o
r
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er
ed
p
r
o
d
u
ct
to
th
e
cu
s
to
m
er
s
ca
n
b
e
ass
u
r
ed
.
Fu
r
th
er
ad
v
an
ce
m
e
n
ts
s
u
ch
as
u
tili
za
tio
n
o
f
R
asp
b
er
r
y
-
Pi
3
v
er
s
io
n
co
u
l
d
allo
w
ea
s
y
in
teg
r
atio
n
with
s
er
v
er
f
o
r
f
etch
in
g
OT
Ps
an
d
n
eg
lec
ts
th
e
u
s
e
o
f
ca
m
er
as
an
d
s
c
an
n
er
s
,
wh
ich
also
m
ak
es
th
e
s
y
s
tem
m
o
r
e
co
s
t
-
ef
f
ec
tiv
e.
T
h
e
b
e
n
ef
iciar
y
o
f
th
is
s
y
s
tem
is
n
o
t
lim
it
ed
with
th
e
d
eliv
er
in
g
co
m
p
an
ies
alo
n
e.
I
t
ca
n
also
b
e
ex
ten
d
ed
to
m
o
r
e
p
u
b
lic
co
m
m
er
cial
s
er
v
ices
s
u
ch
as
m
o
n
ey
o
r
d
er
s
,
co
u
r
ier
s
er
v
ices a
n
d
also
f
o
r
co
n
f
i
d
en
t
ial
p
o
s
ts
.
RE
F
E
R
E
NC
E
S
[
1
]
K
.
U
ma
p
a
t
h
y
,
K
.
S
.
S
h
a
r
ma,
K
.
H
a
r
sh
i
n
i
,
a
n
d
M
.
N
.
B
.
R
a
mu
d
u
,
“
S
a
f
e
Lo
c
k
e
r
w
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t
h
F
i
n
g
e
r
p
r
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n
t
I
D
&
R
F
I
D
,
”
I
n
t
e
rn
a
t
i
o
n
a
l
J
o
u
rn
a
l
o
f
Re
s
e
a
r
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h
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u
b
l
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c
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t
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o
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v
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l
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o
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p
p
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3
2
5
-
3
3
0
,
M
a
r
c
h
2
0
2
1
.
[
2
]
H
.
C
h
a
u
d
h
a
r
i
,
“
R
a
s
p
b
e
r
r
y
P
i
T
e
c
h
n
o
l
o
g
y
:
A
R
e
v
i
e
w
,
”
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n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
rn
a
l
o
f
I
n
n
o
v
a
t
i
v
e
a
n
d
Em
e
r
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i
n
g
R
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se
a
rc
h
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n
En
g
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e
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g
,
v
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l
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2
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2
0
1
5
,
d
o
i
:
1
0
.
3
5
6
2
9
/
5
2
5
2
-
0
2
1
2
2
2
5
2
2
7
.
[
3
]
M
d
.
M
.
R
a
h
ma
n
,
M
.
S
.
A
l
i
,
a
n
d
M
d
.
S
.
A
k
t
h
e
r
,
“
P
a
ssw
o
r
d
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o
t
e
c
t
e
d
E
l
e
c
t
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n
i
c
L
o
c
k
S
y
st
e
m
f
o
r
S
m
a
r
t
H
o
m
e
S
e
c
u
r
i
t
y
,
”
I
n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
r
n
a
l
o
f
E
n
g
i
n
e
e
ri
n
g
Re
se
a
r
c
h
&
T
e
c
h
n
o
l
o
g
y
(
I
J
ERT)
,
v
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l
.
7
,
n
o
.
4
,
A
p
r
i
l
2
0
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d
o
i
:
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0
.
1
7
5
7
7
/
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JER
TV
7
I
S
0
4
0
3
9
6
.
[
4
]
S
.
O
.
A
n
a
z
a
,
J.
D
.
Ji
y
a
,
a
n
d
Y
.
S
.
H
a
r
u
n
a
,
“
A
R
e
v
i
e
w
o
f
I
n
t
e
l
l
i
g
e
n
t
L
o
c
k
S
y
st
e
m
,
”
Am
e
ri
c
a
n
J
o
u
r
n
a
l
o
f
En
g
i
n
e
e
ri
n
g
Re
s
e
a
rc
h
(
AJ
ER)
,
v
o
l
.
6
,
n
o
.
6
,
p
p
.
0
9
-
15
,
2
0
1
7
.
[
5
]
A
.
D
.
O
d
u
,
“
Lo
w
C
o
st
R
e
m
o
v
a
b
l
e
(
P
l
u
g
-
I
n
)
El
e
c
t
r
o
n
i
c
P
a
ssw
o
r
d
-
B
a
se
d
D
o
o
r
L
o
c
k
,
”
Am
e
ri
c
a
n
J
o
u
rn
a
l
o
f
E
n
g
i
n
e
e
r
i
n
g
Re
se
a
rc
h
(
A
J
ER)
,
v
o
l
.
6
,
n
o
.
7
,
p
p
.
1
4
6
-
1
5
1
,
2
0
1
7
.
[
6
]
D
.
P
r
a
j
w
a
l
,
N
.
N
.
S
o
u
j
a
n
y
a
,
a
n
d
N
.
S
h
r
u
t
h
i
,
“
S
e
c
u
r
e
B
a
n
k
Lo
c
k
e
r
s
U
s
i
n
g
R
F
I
D
a
n
d
P
a
ssw
o
r
d
B
a
se
d
Te
c
h
n
o
l
o
g
y
(
Em
b
e
d
d
e
d
S
y
st
e
m)
,
”
I
n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
rn
a
l
o
f
S
c
i
e
n
t
i
f
i
c
D
e
v
e
l
o
p
m
e
n
t
a
n
d
R
e
se
a
rc
h
(
I
J
S
D
R)
,
v
o
l
.
3
,
n
o
.
5
,
M
a
y
2
0
1
8
.
[
7
]
K
.
M
.
H
t
w
e
,
Z
.
M
.
M
.
H
t
u
n
,
a
n
d
H
.
M
.
T
u
n
“
D
e
s
i
g
n
a
n
d
I
mp
l
e
me
n
t
a
t
i
o
n
o
f
B
a
n
k
L
o
c
k
e
r
S
e
c
u
r
i
t
y
S
y
s
t
e
m
B
a
s
e
d
o
n
F
i
n
g
e
r
p
r
i
n
t
S
e
n
s
i
n
g
C
i
r
c
u
i
t
a
n
d
R
F
I
D
R
e
a
d
e
r
,
”
I
n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
rn
a
l
o
f
S
c
i
e
n
t
i
f
i
c
& Te
c
h
n
o
l
o
g
y
R
e
se
a
rc
h
,
v
o
l
.
4
,
n
o
.
7
,
Ju
l
y
-
2
0
1
5
.
[
8
]
A.
Y
.
P
r
a
b
h
a
k
a
r
,
S
.
K
.
O
z
a
,
N
.
S
h
r
i
v
a
st
a
v
a
,
P
.
S
r
i
v
a
st
a
v
a
,
a
n
d
G
.
W
a
d
h
w
a
,
“
P
a
ssw
o
r
d
B
a
s
e
d
D
o
o
r
L
o
c
k
S
y
st
e
m
,
”
I
n
t
e
rn
a
t
i
o
n
a
l
Re
se
a
rc
h
J
o
u
r
n
a
l
o
f
E
n
g
i
n
e
e
r
i
n
g
a
n
d
T
e
c
h
n
o
l
o
g
y
(
I
R
J
ET)
,
v
o
l
.
6
,
n
o
.
2
,
F
e
b
2
0
1
9
.
[
9
]
S
.
F
i
r
d
o
s
h
,
S
h
i
k
h
a
,
P
.
K
a
sh
y
a
p
,
B
.
D
u
r
g
a
m,
N
.
B
e
g
u
m,
a
n
d
S
.
K
.
S
i
n
g
h
,
“
P
a
ssw
o
r
d
B
a
s
e
d
D
o
o
r
Lo
c
k
i
n
g
S
y
st
e
m
U
s
i
n
g
M
i
c
r
o
c
o
n
t
r
o
l
l
e
r
,
”
I
n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
r
n
a
l
o
f
S
c
i
e
n
t
i
f
i
c
R
e
se
a
rc
h
i
n
C
o
m
p
u
t
e
r
S
c
i
e
n
c
e
,
E
n
g
i
n
e
e
r
i
n
g
a
n
d
I
n
f
o
rm
a
t
i
o
n
T
e
c
h
n
o
l
o
g
y
(
I
J
S
RC
S
EI
T
)
,
v
o
l
.
2
,
n
o
.
3
,
2
0
1
7
.
I
S
S
N
:
2
4
5
6
-
3
3
0
7
.
[
1
0
]
R
.
R.
G
a
n
g
i
a
n
d
S
.
S
.
G
o
l
l
a
p
u
d
i
,
“
Lo
c
k
e
r
O
p
e
n
i
n
g
a
n
d
C
l
o
si
n
g
S
y
s
t
e
m
U
si
n
g
R
F
I
D
,
F
i
n
g
e
r
p
r
i
n
t
,
P
a
ss
w
o
r
d
a
n
d
G
S
M
,
”
I
n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
r
n
a
l
o
f
Em
e
r
g
i
n
g
T
r
e
n
d
s &
T
e
c
h
n
o
l
o
g
y
i
n
C
o
m
p
u
t
e
r
S
c
i
e
n
c
e
(
I
J
ETT
C
S
)
,
v
o
l
.
2
,
n
o
.
2
,
M
a
r
c
h
-
A
p
r
i
l
2
0
1
3
.
[
1
1
]
B
.
S
u
r
e
s
h
,
A
.
S
.
K
a
l
y
a
n
,
B
.
B
.
T
.
R
a
j
u
,
a
n
d
M
.
V
e
n
k
a
t
e
sh
,
“
D
o
o
r
Lo
c
k
S
e
c
u
r
i
t
y
S
y
st
e
m
U
si
n
g
R
a
sp
b
e
r
r
y
P
i
&
Q
R
C
o
d
e
,
”
I
n
t
e
r
n
a
t
i
o
n
a
l
Re
s
e
a
r
c
h
J
o
u
rn
a
l
o
f
E
n
g
i
n
e
e
ri
n
g
a
n
d
T
e
c
h
n
o
l
o
g
y
(
I
R
J
ET)
,
v
o
l
.
8
,
n
o
.
3
,
M
a
r
2
0
2
1
.
[
1
2
]
V
.
S
a
n
d
e
e
p
,
G
.
H
e
g
d
e
,
N
.
C
h
e
t
a
n
,
G
.
P
.
P
a
t
i
l
,
a
n
d
L.
B
h
a
v
e
s
h
,
“
F
a
c
e
D
e
t
e
c
t
i
o
n
b
a
se
d
L
o
c
k
e
r
S
e
c
u
r
i
t
y
S
y
s
t
e
m
u
si
n
g
R
a
s
p
b
e
r
r
y
Pi
,
”
I
n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
rn
a
l
o
f
S
c
i
e
n
t
i
f
i
c
& E
n
g
i
n
e
e
ri
n
g
R
e
se
a
rc
h
,
v
o
l
.
7
,
n
o
.
5
,
M
a
y
-
2
0
1
6
.
[
1
3
]
G
.
C
h
a
r
i
t
h
a
R
e
d
d
y
,
“
B
a
n
k
S
a
f
e
t
y
Lo
c
k
e
r
S
y
s
t
e
m
w
i
t
h
I
mag
e
I
d
e
n
t
i
f
i
c
a
t
i
o
n
b
y
u
s
i
n
g
E
-
M
a
i
l
,
”
J
o
u
r
n
a
l
o
f
En
g
i
n
e
e
ri
n
g
S
c
i
e
n
c
e
s
,
v
o
l
.
1
1
,
n
o
.
4
,
A
p
r
i
l
2
0
2
0
.
[
1
4
]
J.
H.
R
.
V
.
D
u
i
n
,
B
.
W
i
e
g
ma
n
s,
a
n
d
B
.
V
.
A
r
e
m,
“
F
r
o
m
h
o
me
d
e
l
i
v
e
r
y
t
o
p
a
r
c
e
l
l
o
c
k
e
r
s:
a
c
a
se
st
u
d
y
i
n
A
ms
t
e
r
d
a
m
,
”
T
ra
n
s
p
o
rt
a
t
i
o
n
Re
s
e
a
r
c
h
Pr
o
c
e
d
i
a
4
6
(
2
0
2
0
)
,
v
o
l
.
4
6
,
p
p
.
3
7
-
4
4
,
2
0
2
0
,
d
o
i
:
1
0
.
1
0
1
6
/
j
.
t
r
p
r
o
.
2
0
2
0
.
0
3
.
1
6
1
.
[
1
5
]
A
.
F
.
M
.
F
a
u
z
i
,
N
.
N
.
M
o
h
a
me
d
,
H
.
H
a
si
m,
a
n
d
M
.
A
.
S
a
l
e
h
,
“
D
e
v
e
l
o
p
m
e
n
t
o
f
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r
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tri
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m
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h
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tern
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rid
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h
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fe
m
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m
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TE
,
I
EI,
IAENG
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o
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tri
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c
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in
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rtme
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late
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to
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m
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t
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it
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ra
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v
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u
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n
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n
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ra
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n
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v
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to
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t
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st
it
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v
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ted
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ise
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ro
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in
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rs
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s,
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ro
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t,
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tro
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th
r
o
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g
h
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a
n
d
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HRD
c
o
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il
s.
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a
d
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v
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ra
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su
c
h
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s
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to
m
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rter,
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ire
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ig
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t
o
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g
a
ti
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n
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y
st
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m
a
n
d
m
a
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m
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re
.
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ield
o
f
In
tere
sts
a
re
P
o
we
r
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e
c
tro
n
ics
,
ROS,
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n
S
y
ste
m
s.
H
e
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
b
a
ra
th
g
v
b
d
@g
m
a
il
.
c
o
m
S
r
in
iv
a
sa
n
Ve
lu
m
a
n
i
BE.
,
F
in
a
l
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r
S
tu
d
e
n
t
in
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p
a
rtme
n
t
o
f
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b
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ics
a
n
d
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to
m
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ti
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n
g
in
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ll
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g
e
o
f
Tec
h
n
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im
b
a
t
o
re
,
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n
d
ia.
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e
re
c
e
n
t
p
ro
jec
t
wo
rk
is
Vis
u
a
li
z
a
ti
o
n
o
f
M
o
b
il
e
Ro
b
o
t
u
si
n
g
ROS.
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a
d
e
se
v
e
ra
l
p
ro
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t
-
wo
r
k
s
li
k
e
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i
v
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DO
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p
ick
a
n
d
p
lac
e
ro
b
o
t,
Dig
i
tal
IC
tes
ter,
S
m
a
rt
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lo
v
e
f
o
r
p
h
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sic
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ll
y
c
h
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g
e
d
a
n
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m
a
n
y
m
o
re
.
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d
tak
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u
p
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n
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tern
sh
i
p
a
t
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sh
Ro
b
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c
s
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v
t,
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d
.
,
Co
imb
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to
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,
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d
ia.
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ield
o
f
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n
tere
sts
in
c
lu
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d
d
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y
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m
s,
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o
b
il
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b
o
ts
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d
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e
c
tro
n
ics
.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
srin
isri
1
6
3
6
@g
m
a
il
.
c
o
m
.
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