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ce
d
to
s
to
p
.
T
h
e
cr
itical
zo
n
e
i
s
d
e
f
in
ed
w
it
h
i
n
r
ad
i
u
s
o
f
1
5
m
ete
r
s
f
r
o
m
t
h
e
s
y
s
te
m
w
h
er
e
p
an
ic
b
u
tto
n
h
a
s
b
ee
n
p
r
ess
ed
.
S
y
s
te
m
d
esig
n
h
as
b
ee
n
d
is
c
u
s
s
ed
in
Sectio
n
I
I
.
Sectio
n
I
I
I
s
h
ed
li
g
h
t
o
n
th
e
al
g
o
r
ith
m
u
t
ilized
f
o
r
s
y
s
te
m
ap
p
licatio
n
.
Sectio
n
I
V
s
h
o
w
s
te
s
t
r
es
u
lts
f
o
r
b
o
th
in
d
o
o
r
an
d
o
u
td
o
o
r
test
en
v
ir
o
n
m
e
n
t.
Sectio
n
V
s
t
ate
s
th
e
co
n
cl
u
s
io
n
.
Fig
u
r
e
1
.
P
o
s
s
ib
le
ap
p
licatio
n
s
ce
n
ar
io
Fig
u
r
e
2
.
S
y
s
te
m
B
lo
ck
Dia
g
r
a
m
2.
SYST
E
M
DE
SI
G
N
A.
E
nv
iro
n
m
ent
T
h
e
p
o
s
s
ib
le
en
v
ir
o
n
m
e
n
t
f
o
r
p
r
o
p
o
s
ed
s
y
s
te
m
is
d
ep
icted
in
Fig
u
r
e
1
.
Her
e
an
in
j
u
r
ed
w
o
r
k
er
is
s
h
o
w
n
i
n
t
h
e
ce
n
ter
o
f
r
ed
cir
cle.
R
ed
c
ir
cle
w
it
h
r
ad
iu
s
o
f
1
5
m
eter
s
ca
n
b
e
r
e
g
ar
d
ed
as
cr
itical
zo
n
e.
T
h
er
e
ar
e
th
r
ee
v
e
h
icles
d
ep
icted
wh
er
e
t
w
o
v
e
h
icle
s
ar
e
in
t
h
e
c
r
itical
zo
n
e
an
d
o
n
e
v
e
h
icle
i
s
o
u
ts
id
e
t
h
e
cr
itical
zo
n
e
b
u
t
w
it
h
i
n
3
0
0
m
eter
s
wh
er
e
t
h
e
UW
B
tr
an
s
ce
i
v
er
b
as
ed
s
y
s
te
m
ca
n
co
m
m
u
n
icate
.
T
h
e
v
eh
ic
les
w
ith
in
th
e
cr
itical
z
o
n
e
s
h
o
u
ld
b
e
s
to
p
p
ed
to
av
o
id
an
y
m
is
h
ap
.
W
h
er
ea
s
t
h
e
o
n
e
v
e
h
icle
t
h
at
i
s
o
u
ts
id
e
t
h
e
cr
itica
l
r
eg
io
n
m
a
y
r
ec
ei
v
e
an
aler
t
f
o
r
an
in
j
u
r
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w
o
r
k
er
b
u
t
m
a
y
n
o
t b
e
s
to
p
p
e
d
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4864
IJ
R
E
S
Vo
l.
5
,
No
.
2
,
J
u
l
y
201
6
:
1
08
–
11
4
110
Si
m
i
lar
l
y
co
llea
g
u
es
o
f
an
in
j
u
r
ed
w
o
r
k
er
ar
e
al
s
o
d
ep
icted
in
F
ig
u
r
e
1
.
T
h
er
e
is
o
n
e
w
o
r
k
er
in
t
h
e
cr
itical
zo
n
e.
T
w
o
w
o
r
k
er
s
ar
e
w
it
h
i
n
3
0
0
r
an
g
e.
A
ll
t
h
e
s
e
th
r
ee
w
o
r
k
er
s
w
i
ll
r
ec
eiv
e
aler
t
m
es
s
ag
e
f
o
r
in
j
u
r
ed
w
o
r
k
er
.
W
h
er
ea
s
o
n
e
w
o
r
k
er
d
ep
icted
o
u
ts
id
e
t
h
e
3
0
0
m
eter
r
an
g
e
o
f
UW
B
tr
an
s
ce
iv
er
m
a
y
n
o
t
g
et
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y
aler
t
m
ess
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g
e.
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t
is
p
r
esu
m
ed
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at
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o
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th
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io
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f
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eter
s
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e.
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.
Ra
ng
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ec
ha
nis
m
Ult
r
a
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id
e
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an
d
(
UW
B
)
is
b
ec
o
m
in
g
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o
p
u
lar
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im
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le
m
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tatio
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o
f
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g
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g
m
ec
h
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s
m
[
1
2
]
.
T
h
e
m
ai
n
r
ea
s
o
n
b
eh
i
n
d
u
tili
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ti
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e
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m
o
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e
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b
u
s
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as
co
m
p
ar
ed
to
n
a
r
r
o
w
b
an
d
s
ig
n
al
s
[
1
3
]
.
T
h
e
s
y
s
te
m
h
as
t
w
o
m
ai
n
s
ec
tio
n
s
;
t
h
e
tr
a
n
s
m
itter
(
T
x
)
an
d
r
ec
eiv
er
s
ec
t
io
n
(
R
x
)
a
s
s
h
o
w
n
i
n
Fi
g
u
r
e
2
.
T
h
e
tr
an
s
m
i
tter
s
ec
tio
n
i
n
cl
u
d
es
o
n
e
R
F
tr
an
s
m
itter
a
n
d
o
n
e
ac
o
u
s
tic
s
ig
n
a
l
g
e
n
er
ato
r
,
co
n
n
ec
ted
to
an
a
ctu
ato
r
.
T
h
e
p
an
ic
ca
ll
w
il
l
b
e
in
itiated
b
y
t
h
e
th
r
ea
ten
ed
w
o
r
k
er
th
r
o
u
g
h
a
p
u
s
h
b
u
tto
n
o
r
a
co
r
d
.
W
h
ile
at
th
e
r
ec
eiv
in
g
en
d
,
th
e
s
ig
n
al
s
w
ill
b
e
r
ec
eiv
ed
b
y
t
h
e
R
F
an
te
n
n
a
a
n
d
ac
o
u
s
tic
s
e
n
s
o
r
s
m
o
u
n
ted
o
n
th
e
b
elts
o
r
v
eh
icle
s
.
T
h
r
o
u
g
h
th
e
s
tr
e
n
g
t
h
o
f
t
h
e
r
ec
eiv
ed
R
F
s
ig
n
al
o
r
ac
o
u
s
tic
s
ig
n
al,
t
h
e
r
ec
eiv
er
co
n
tr
o
ller
s
ec
tio
n
w
il
l
d
ec
id
e
w
h
eth
er
th
e
d
r
iv
er
s
h
o
u
ld
o
n
l
y
b
e
aler
ted
o
f
an
in
j
u
r
ed
w
o
r
k
er
o
r
th
e
v
eh
icle
s
h
o
u
ld
also
b
e
s
to
p
p
ed
.
T
h
e
m
ec
h
a
n
is
m
to
ev
al
u
ate
t
h
e
d
is
tan
ce
o
n
t
h
e
s
y
s
te
m
is
b
ased
o
n
R
F
T
OF
m
ec
h
a
n
i
s
m
w
h
ich
is
d
is
cu
s
s
ed
in
th
e
n
e
x
t
s
u
b
s
ec
tio
n
.
C.
T
i
m
e
o
f
F
lig
ht
T
o
p
r
o
v
i
d
e
th
e
r
eq
u
ir
ed
f
u
n
ct
io
n
alit
y
,
T
im
e
o
f
F
lig
h
t
(
T
OF
)
m
et
h
o
d
is
u
s
ed
.
I
t
is
a
h
i
g
h
l
y
a
cc
u
r
ate
m
et
h
o
d
as
co
m
p
ar
e
to
th
e
u
s
in
g
r
ec
ei
v
ed
s
i
g
n
a
l
s
tr
en
g
t
h
i
n
d
icato
r
(
R
SS
I
)
as
a
m
ea
s
u
r
e
o
f
d
is
tan
ce
.
T
OF
m
et
h
o
d
o
f
r
an
g
e
ca
lc
u
latio
n
is
s
h
o
w
n
i
n
t
h
e
f
o
llo
w
i
n
g
f
i
g
u
r
e
:
Fig
u
r
e
3
.
T
im
e
o
f
Fli
g
h
t ti
m
e
d
o
m
ai
n
r
ep
r
esen
tat
io
n
A
b
o
v
e
f
ig
u
r
e
d
ep
ic
ts
th
e
ti
m
e
-
d
o
m
ai
n
m
es
s
ag
e
tr
an
s
m
is
s
i
o
n
b
et
w
ee
n
t
h
e
m
aster
an
d
s
l
av
e
n
o
d
es.
T
o
tal
T
r
an
s
itio
n
(
T
T
)
r
e
p
r
es
en
ts
th
e
tu
r
n
ar
o
u
n
d
ti
m
e
f
o
r
a
p
ac
k
et
t
h
at
is
tr
an
s
m
i
tted
f
r
o
m
t
h
e
m
a
s
ter
n
o
d
e
an
d
r
ec
eiv
ed
b
ac
k
o
n
th
e
s
a
m
e
n
o
d
e.
R
etu
r
n
Dela
y
(
R
D)
is
t
h
e
p
r
o
ce
s
s
in
g
d
ela
y
o
f
a
p
ac
k
et
at
th
e
s
lav
e
s
id
e.
T
h
e
T
OF c
an
b
e
r
ep
r
esen
ted
as
(
1
)
(
2
)
Her
e
r
ep
r
esen
ts
t
h
e
ti
m
e
o
f
x
.
A
s
s
o
o
n
a
s
T
OF
is
ca
lcu
la
t
ed
,
th
is
d
ela
y
i
n
f
o
r
m
atio
n
alo
n
g
w
it
h
th
e
s
p
ee
d
o
f
R
F
s
ig
n
al
(
s
p
ee
d
o
f
li
g
h
t)
is
u
s
ed
to
co
m
p
u
te
th
e
d
i
s
ta
n
ce
b
et
w
ee
n
t
h
e
t
r
an
s
m
itter
a
n
d
t
h
e
r
ec
eiv
er
.
3.
AL
G
O
RI
T
H
M
T
h
e
tag
d
ev
ice
is
co
n
n
ec
ted
t
o
th
e
s
a
f
et
y
b
elt
o
f
t
h
e
w
ar
eh
o
u
s
e
w
o
r
k
er
a
n
d
an
c
h
o
r
d
ev
ic
e
is
p
lace
d
o
n
all
t
h
e
v
e
h
icle
s
i
n
th
e
w
ar
eh
o
u
s
e.
I
n
itial
l
y
t
h
e
u
n
p
air
ed
an
ch
o
r
an
d
ta
g
ar
e
n
o
t
co
m
m
u
n
ica
tin
g
w
i
th
ea
c
h
o
th
er
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
R
E
S
I
SS
N:
2
0
8
8
-
8708
S
ma
r
t S
a
fety
B
elt
Desig
n
to
A
vo
id
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cc
id
en
ts
in
Ha
z
a
r
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u
s
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n
d
u
s
tr
ia
l E
n
viro
n
men
t
(
Mu
h
a
mma
d
Ya
s
ee
n
)
111
W
h
en
t
h
e
w
ar
e
h
o
u
s
e
w
o
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p
u
s
h
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th
e
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er
g
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n
c
y
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u
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to
n
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d
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ar
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in
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it
iatio
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p
o
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an
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ase
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ase.
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u
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I
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9
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IJ
R
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5
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112
7
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Sto
p
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m
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3
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4
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5
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p
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.
4
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y
co
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ter
.
5
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d
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m
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ag
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6
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p
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p
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eq
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8
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tag
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1
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eter
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RE
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ased
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g
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td
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h
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Fig
u
r
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6.
A
ll
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m
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m
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f
±
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.
3
m
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
R
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I
SS
N:
2
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8
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S
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t
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ith
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et
w
ee
n
t
h
e
p
ee
r
s
.
RE
F
E
R
E
NC
E
S
[1
]
G
.
M
a
o
a
n
d
B.
F
id
a
n
,
"
L
o
c
a
li
z
a
ti
o
n
A
lg
o
rit
h
m
s
a
n
d
S
trate
g
ies
f
o
r
W
irele
ss
S
e
n
so
r
Ne
t
w
o
rk
s"
,
In
f
o
rm
a
ti
o
n
S
c
ien
c
e
Re
fe
re
n
c
e
,
p
p
.
5
2
6
,
2
0
0
9
.
[2
]
E.
D.
Ka
p
lan
,
Un
d
e
rsta
n
d
i
n
g
G
P
S
:
p
ri
n
c
ip
les
a
n
d
a
p
p
li
c
a
ti
o
n
s.
B
o
sto
n
:
A
rtec
h
Ho
u
se
,
1
9
9
6
.
[3
]
Am
a
n
n
,
M
a
rk
u
s
-
Ch
rist
ian
,
e
t
a
l.
"
La
se
r
r
a
n
g
in
g
:
a
c
rit
ic
a
l
re
v
ie
w
o
f
u
su
a
l
tec
h
n
iq
u
e
s
f
o
r
d
istan
c
e
m
e
a
su
re
m
e
n
t"
,
Op
ti
c
a
l
e
n
g
in
e
e
rin
g
,
4
0
.
1
:
10
-
1
9
,
2
0
0
1
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
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4864
IJ
R
E
S
Vo
l.
5
,
No
.
2
,
J
u
l
y
201
6
:
1
08
–
11
4
114
[4
]
T
.
C.
Ka
ra
lar
a
n
d
J.
Ra
b
a
e
y
,
“
A
n
RF
T
o
F
Ba
se
d
Ra
n
g
in
g
Im
p
le
m
e
n
tatio
n
f
o
r
S
e
n
so
r
Ne
t
w
o
rk
s
”
,
IEE
E
In
ter
n
a
t
io
n
a
l
C
o
mm
u
n
ica
t
i
o
n
s
C
o
n
fer
e
n
c
e
,
Un
iv
e
rsity
o
f
Ca
li
f
o
rn
ia,
Be
rk
e
le
y
,
v
o
l
7
,
p
p
.
3
3
4
7
-
3
3
5
2
,
Ju
n
2
0
0
6
.
[5
]
S
.
L
a
n
z
ise
ra
,
D.T
.
L
in
,
K.S
.
J.
P
ister,
“
RF
T
ime
o
f
F
li
g
h
t
Ra
n
g
i
n
g
f
o
r
W
irele
ss
S
e
n
so
r
Ne
tw
o
rk
L
o
c
a
li
z
a
ti
o
n
”
,
In
telli
g
e
n
t
S
o
lu
ti
o
n
s in
Em
b
e
d
d
e
d
S
y
ste
m
s
,
2
0
0
6
I
n
tern
a
ti
o
n
a
l
W
o
rk
sh
o
p
,
p
1
-
1
2
,
3
0
-
3
0
Ju
n
e
,
2
0
0
6
.
[6
]
R.
J.
F
o
n
tan
a
,
S
.
J.
G
u
n
d
e
rso
n
,
“
Ultra
-
w
id
e
b
a
n
d
p
re
c
isio
n
a
ss
e
t
lo
c
a
ti
o
n
sy
ste
m
”
,
IEE
E
Co
n
fe
re
n
c
e
on
Ultra
W
id
e
b
a
n
d
S
y
ste
ms
a
n
d
T
e
c
h
n
o
lo
g
ies
,
p
p
.
1
4
7
-
1
5
0
,
M
a
y
2
0
0
2
.
[7
]
R.
J.
F
o
n
tan
a
,
E.
Rich
ley
,
J.
Ba
rn
e
y
,
“
Co
m
m
e
r
c
ializa
ti
o
n
o
f
a
n
u
lt
ra
w
id
e
b
a
n
d
p
re
c
isio
n
a
ss
e
t
l
o
c
a
ti
o
n
sy
ste
m
”
,
Ultra W
id
e
b
a
n
d
S
y
ste
m
s an
d
T
e
c
h
n
o
lo
g
ies
,
2
0
0
3
IEE
E
Co
n
fer
e
n
c
e
,
p
3
6
9
-
3
7
3
,
1
6
-
1
9
N
o
v
,
2
0
0
3
.
[8
]
X.
L
i,
“
P
e
rf
o
rm
a
n
c
e
stu
d
y
o
f
R
S
S
-
b
a
se
d
lo
c
a
ti
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n
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stim
a
ti
o
n
tec
h
n
i
q
u
e
s
f
o
r
w
irele
ss
se
n
so
r
Ne
t
w
o
rk
s
"
,
M
il
it
a
r
y
Co
m
m
u
n
ica
ti
o
n
s Co
n
f
e
re
n
c
e
,
2
0
0
5
.
M
IL
COM
2
0
0
5
.
IEE
E
,
p
1
0
6
4
-
1
0
6
8
,
Vo
l.
2
,
1
7
-
2
0
Oc
t,
2
0
0
5
.
[9
]
H.G
.
S
c
h
a
n
tz,
“
A
re
a
l
-
ti
me
lo
c
a
ti
o
n
sy
ste
m
u
sin
g
n
e
a
r
-
e
ld
e
lec
tro
ma
g
n
e
ti
c
ra
n
g
in
g
"
,
A
n
ten
n
a
s
a
n
d
P
ro
p
a
g
a
ti
o
n
S
o
c
iety
In
tern
a
ti
o
n
a
l
S
y
m
p
o
siu
m
,
2
0
0
7
IEE
E,
p
3
7
9
2
-
3
7
9
5
,
9
-
15
J
u
n
e
,
2
0
0
7
.
[1
0
]
R.
P
e
n
g
,
M
.
L
.
S
ich
it
iu
,
“
A
n
g
le
o
f
A
rriv
a
l
L
o
c
a
li
z
a
ti
o
n
f
o
r
W
irele
s
s
S
e
n
so
r
Ne
tw
o
rk
s
"
,
S
e
n
so
r
a
n
d
A
d
Ho
c
Co
m
m
u
n
ica
ti
o
n
s
a
n
d
Ne
tw
o
rk
s,
2
0
0
6
.
S
ECON
'
0
6
.
2
0
0
6
3
rd
A
n
n
u
a
l
IE
EE
Co
mm
u
n
ica
t
io
n
s
S
o
c
iet
y
,
p
3
7
4
-
3
8
2
,
2
8
S
e
p
t,
2
0
0
6
.
[1
1
]
P
.
Ro
n
g
,
M
.
L
.
S
ich
it
i
u
,
“
A
n
g
le
o
f
A
rri
v
a
l
L
o
c
a
li
z
a
ti
o
n
f
o
r
W
i
re
les
s
S
e
n
so
r
Ne
t
w
o
rk
s
"
,
S
e
n
so
r
a
n
d
A
d
Ho
c
Co
m
m
u
n
ica
ti
o
n
s
a
n
d
Ne
tw
o
rk
s,
2
0
0
6
.
S
ECON
'
0
6
.
2
0
0
6
3
rd
An
n
u
a
l
IEE
E
Co
mm
u
n
ica
t
io
n
s
S
o
c
iet
y
,
p
p
.
3
7
4
-
3
8
2
,
S
e
p
t
2
0
0
6
.
[1
2
]
L
o
w
,
Z.
N.,
e
t
a
l.
"
P
u
lse
d
e
tec
ti
o
n
a
lg
o
rit
h
m
f
o
r
li
n
e
o
f
-
si
g
h
t
(LOS
)
UW
B
ra
n
g
in
g
a
p
p
li
c
a
ti
o
n
s
"
,
A
n
ten
n
a
s
a
n
d
W
irele
ss
P
ro
p
a
g
a
ti
o
n
L
e
tt
e
rs
,
IEE
E
,
4
p
p
:
6
3
-
6
7
,
2
0
0
5
.
[1
3
]
J.
F
o
e
rste
r,
“
Ch
a
n
n
e
l
M
o
d
e
li
n
g
S
u
b
-
Co
m
m
it
tee
”
,
IEE
E
,
P
isc
a
taw
a
y
,
N
J,
P
8
0
2
.
1
5
-
0
2
/4
9
0
r
1
-
S
G
3
a
,
F
in
a
l
Re
p
.
,
M
a
r.
2
0
0
3
.
Evaluation Warning : The document was created with Spire.PDF for Python.