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IS
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2.
3
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4.
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d
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p
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,
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a
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5.
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Lo
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T
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6.
R
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LTS
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o
b
s
.
R
EF
ER
EN
C
ES
[
1]
M
.
M
i
t
c
he
l
l
,
“
L
i
br
a
r
y
W
o
r
kf
l
o
w
R
e
de
s
i
g
n:
C
o
nc
e
pt
s
a
nd
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t
s
,
”
L
i
br
a
r
y
W
or
k
f
l
ow
R
e
de
s
i
gn:
Si
x
C
a
s
e
St
ud
i
e
s
,
v
o
l
.
139
,
p
p.
1
,
200
7.
[
2]
C
.
C
o
o
k
a
nd
F
.
M
.
H
e
a
t
h,
“
U
s
e
r
s
’
pe
r
c
e
pt
i
o
ns
o
f
l
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br
a
r
y
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e
r
v
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c
e
q
ua
l
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t
y
:
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L
i
bQ
U
A
L
+
qua
l
i
t
a
t
i
v
e
s
t
udy
,
”
L
i
br
ar
y
T
r
e
nds
,
v
o
l
.
49
,
p
p.
54
8,
20
01
.
[
3]
F
.
N
.
O
ni
f
a
d
e
,
e
t
a
l
.
,
“
S
t
a
f
f
A
t
t
i
t
u
de
t
o
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he
l
v
i
ng
a
nd
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he
l
f
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e
a
di
ng
i
n
A
c
a
de
m
i
c
L
i
br
a
r
i
e
s
,
”
N
or
t
h
C
ar
ol
i
na
L
i
br
ar
i
e
s
,
v
o
l
.
6
8,
p
p
.
12
,
2010
.
[
4]
H
.
M
o
r
a
d
i
,
e
t
a
l
.
,
“
S
e
r
v
i
c
e
r
o
bo
t
i
c
s
(
t
he
r
i
s
e
a
nd
bl
o
o
m
o
f
s
e
r
v
i
c
e
r
o
bo
t
s
)
,
”
R
ob
ot
i
c
s
&
A
u
t
om
at
i
on
M
aga
z
i
ne
,
v
o
l
.
20,
pp
.
22
-
24
,
2013
.
[
5]
R
.
H
a
n
s
s
o
n,
“
R
o
bo
t
l
e
nds
a
ha
nd
i
n
a
S
w
e
d
i
s
h
l
i
b
r
a
r
y
,
”
I
ndu
s
t
r
i
al
R
obot
:
A
n
I
n
t
e
r
na
t
i
ona
l
J
our
n
al
,
v
o
l
.
2
2,
pp.
34
-
35,
19
95.
[
6]
R
.
L
i
,
e
t
a
l
.
,
“
A
uR
o
S
S
:
A
n
A
ut
o
no
m
o
us
R
o
b
o
t
i
c
S
he
l
f
S
c
a
nn
i
n
g
S
y
s
t
e
m
,
”
i
n
I
n
t
e
l
l
i
ge
nt
R
obo
t
s
a
nd
Sy
s
t
e
m
s
(
I
R
O
S)
,
2
015
I
E
E
E
/
R
S
J
I
n
t
e
r
na
t
i
o
na
l
C
o
nf
e
r
e
nc
e
on
,
pp
.
610
0
-
610
5
,
201
5.
[
7]
M
.
K
.
S
i
n
ha
a
n
d
A
.
C
ha
nda
,
“
E
xp
l
o
r
i
ng
R
F
I
D
T
e
c
hno
l
o
gy
A
ppl
i
c
a
t
i
o
n
f
o
r
M
a
na
g
i
ng
L
i
br
a
r
y
a
nd
I
nf
o
r
m
a
t
i
o
n
S
e
r
v
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c
e
s
i
n
U
ni
v
e
r
s
i
t
y
a
nd
I
ns
t
i
t
ut
i
o
na
l
L
i
br
a
r
i
e
s
o
f
N
o
r
t
h
E
a
s
t
I
ndi
a
:
A
n
O
v
e
r
v
i
e
w
,
”
S
i
nha
,
M
anoj
K
um
ar
a
nd
C
handa
,
A
nu
pam
(
2014)
.
E
x
pl
or
i
ng
R
F
I
D
T
e
c
hno
l
og
y
A
pp
l
i
c
at
i
o
n
f
or
M
an
agi
ng
L
i
br
a
r
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a
nd
I
nf
o
r
m
a
t
i
o
n
Se
r
v
i
c
e
s
i
n
U
n
i
v
e
r
s
i
t
y
a
nd
I
ns
t
i
t
u
t
i
ona
l
L
i
br
a
r
i
e
s
of
N
or
t
h
E
a
s
t
I
n
di
a:
A
n
ov
e
r
v
i
e
w
.
I
n
t
e
r
na
t
i
ona
l
J
o
ur
n
al
of
I
n
f
or
m
at
i
on
Sour
c
e
s
an
d
Se
r
v
i
c
e
s
,
v
o
l
.
1
,
201
4.
[
8]
M
.
R
a
s
h
i
d
,
e
t
a
l
.
,
“
S
o
r
t
i
ng
a
nd
R
e
t
r
i
e
v
a
l
R
o
bo
t
i
c
S
y
s
t
e
m
C
o
nt
r
o
l
l
e
d
v
i
a
P
r
o
g
r
a
m
m
a
bl
e
L
o
g
i
c
C
o
nt
r
o
l
l
e
r
f
o
r
L
i
br
a
r
y
U
s
a
g
e
,
”
I
nt
e
r
n
at
i
on
al
J
o
ur
n
al
o
f
u
-
a
nd
e
-
Se
r
v
i
c
e
,
Sc
i
e
nc
e
a
nd
T
e
c
h
nol
ogy
,
v
o
l
.
7
,
pp.
1
9
-
30,
20
14.
[
9]
J
.
T
hi
r
um
u
r
ug
a
n
,
e
t
al
.
,
“
L
i
ne
f
o
l
l
o
w
i
ng
r
o
b
o
t
f
o
r
l
i
br
a
r
y
i
nv
e
nt
o
r
y
m
a
na
g
e
m
e
nt
s
y
s
t
e
m
,
”
i
n
E
m
e
r
gi
n
g
T
r
e
nds
i
n
R
obot
i
c
s
and
C
om
m
un
i
c
at
i
on
T
e
c
hn
ol
o
gi
e
s
(
I
N
T
E
R
A
C
T
)
,
20
10
I
n
t
e
r
nat
i
ona
l
C
onf
e
r
e
nc
e
o
n
,
pp
.
1
-
3
,
2
010
.
[
10]
M
.
P
r
a
t
s
,
e
t
a
l
.
,
“
T
h
e
U
J
I
l
i
b
r
a
r
i
a
n
r
o
bo
t
,
”
I
n
t
e
l
l
i
ge
n
t
Se
r
v
i
c
e
R
obo
t
i
c
s
,
v
o
l
.
1,
pp
.
321
-
33
5,
20
08
.
[
11]
B
.
K
.
K
i
m
,
e
t
al
.
,
“
D
e
s
i
g
n
a
nd
c
o
nt
r
o
l
o
f
t
he
l
i
b
r
a
r
i
a
n
r
o
bo
t
s
y
s
t
e
m
i
n
t
he
u
bi
qui
t
o
us
r
o
bo
t
t
e
c
hno
l
o
gy
s
pa
c
e
,
”
i
n
RO
-
M
A
N
20
08
-
T
he
17t
h
I
E
E
E
I
nt
e
r
n
at
i
on
al
Sy
m
pos
i
um
on
R
ob
ot
and
H
um
an
I
nt
e
r
a
c
t
i
v
e
C
om
m
uni
c
at
i
on
,
pp
.
616
-
621
,
2008
.
[
12]
T
.
T
o
m
i
z
a
w
a
,
e
t
al
.
,
“
B
o
o
k
br
o
w
s
i
ng
s
y
s
t
e
m
us
i
ng
a
n
a
u
t
o
no
m
o
u
s
m
o
bi
l
e
r
o
bo
t
t
e
l
e
o
pe
r
a
t
e
d
v
i
a
t
h
e
i
n
t
e
r
ne
t
,
”
i
n
I
nt
e
l
l
i
ge
nt
R
obo
t
s
a
nd
Sy
s
t
e
m
s
,
20
02
.
I
E
E
E
/
R
SJ
I
nt
e
r
n
at
i
ona
l
C
on
f
e
r
e
nc
e
on
,
v
o
l
.
2
,
pp
.
1
284
-
128
9
,
20
02
.
[
13]
“
R
o
bo
t
l
i
br
a
r
i
a
n
d
e
s
i
g
ne
d
by
A
be
r
y
s
t
w
y
t
h
U
ni
v
e
r
s
i
t
y
s
t
ude
n
t
s
,
”
20
16
.
A
v
a
i
l
a
bl
e
:
ht
t
ps
:
/
/
w
w
w
.
t
i
m
e
s
h
i
g
he
r
e
duc
a
t
i
o
n.
c
o
m
/
ne
w
s
/
r
o
bo
t
-
l
i
b
r
a
r
i
a
n
-
de
s
i
g
n
e
d
-
a
be
r
y
s
t
w
y
t
h
-
uni
v
e
r
s
i
t
y
-
s
t
ude
n
t
s
.
[
14]
W
.
L
i
n,
e
t
al
.
,
“
D
e
v
e
l
o
pi
ng
a
s
e
r
v
i
c
e
r
o
bo
t
f
o
r
a
c
hi
l
dr
e
n
’
s
l
i
br
a
r
y
:
A
de
s
i
g
n
-
ba
s
e
d
r
e
s
e
a
r
c
h
a
p
pr
o
a
c
h,
”
J
our
nal
of
t
he
A
s
s
oc
i
a
t
i
on
f
o
r
I
n
f
or
m
at
i
on
Sc
i
e
nc
e
an
d
T
e
c
hno
l
ogy
,
v
o
l
.
6
5,
p
p.
290
-
30
1,
20
14.
[
15]
J
.
B
e
h
a
n
a
nd
D
.
T
.
O
’
K
e
e
f
f
e
,
“
T
he
de
v
e
l
o
pm
e
n
t
o
f
a
n
a
ut
o
no
m
ous
s
e
r
v
i
c
e
r
o
bo
t
.
I
m
pl
e
m
e
nt
a
t
i
o
n:
‘
L
uc
a
s
’
-
T
he
l
i
b
r
a
r
y
a
s
s
i
s
t
a
n
t
r
o
bo
t
,
”
I
n
t
e
l
l
i
ge
n
t
Se
r
v
i
c
e
R
obo
t
i
c
s
,
v
o
l
.
1
,
pp
.
7
3
-
89,
200
8.
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