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nte
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io
na
l
J
o
urna
l
of
Ro
bo
t
ics
a
nd
Aut
o
m
a
t
io
n
(
I
J
R
A)
Vo
l.
9
,
No
.
4
,
Dec
em
b
er
2
0
2
0
,
pp.
2
9
2
~
2
9
9
I
SS
N:
2089
-
4
8
5
6
,
DOI
:
1
0
.
1
1
5
9
1
/
i
jr
a
.
v
9
i
4
.
pp
2
9
2
-
2
9
9
292
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ttp
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Desig
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teg
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sly
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t
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m
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c
o
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.
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ll
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ti
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t
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K
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w
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r
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s
:
ADC
Ar
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in
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B
ly
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Ser
v
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C
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d
u
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m
ater
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E
SP
8
2
6
6
T
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is
is
an
o
p
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n
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ss
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rticle
u
n
d
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CC
BY
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SA
li
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e
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se
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C
o
r
r
e
s
p
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ing
A
uth
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r
:
Fre
d
d
y
Ar
tad
im
a
Sil
ab
an
,
Dep
ar
tm
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t
of
E
lectr
ical
E
n
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g
,
Un
iv
er
s
itas
Me
r
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an
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Me
r
u
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,
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b
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J
ak
ar
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ar
at
1
1
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5
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,
I
n
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.
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f
r
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d
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ar
tad
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m
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u
b
u
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ac
.
id
1.
I
NT
RO
D
UCT
I
O
N
Su
p
er
v
is
io
n
in
v
ar
io
u
s
f
ield
s
r
eq
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ir
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a
s
u
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p
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ter
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ca
n
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o
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n
n
o
t
b
e
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b
y
h
u
m
an
s
,
f
o
r
ex
am
p
le,
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th
e
f
ield
s
o
f
h
ea
l
th
,
p
r
o
d
u
ct
q
u
ality
,
an
d
s
af
ety
.
Hea
lth
is
an
im
p
o
r
ta
n
t
th
in
g
th
at
co
n
ce
r
n
s
th
e
co
m
m
u
n
ity
.
Me
d
icatio
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b
ec
o
m
es
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n
e
o
f
th
e
im
p
o
r
tan
t
n
ee
d
s
to
m
ain
tain
h
ea
lth
a
n
d
tr
e
at
all
d
is
ea
s
es.
On
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icato
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in
m
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r
in
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q
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ality
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f
m
ed
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to
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r
ee
f
r
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m
co
n
d
u
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m
ater
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s
u
ch
as
m
etals.
I
f
th
e
d
r
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g
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n
tain
s
m
etal,
th
e
h
ea
lth
o
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th
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u
s
er
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d
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io
r
ates
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d
th
e
d
r
u
g
in
d
u
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tr
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ex
p
e
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ien
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s
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d
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er
s
an
d
d
ec
r
ea
s
es
in
co
m
p
an
y
p
r
o
f
its
[
1
-
5
]
.
T
h
e
q
u
ality
o
f
o
th
er
p
r
o
d
u
cts
th
at
m
u
s
t
b
e
co
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s
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ch
as
f
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o
d
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o
d
u
cts
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u
ch
as
r
ea
d
y
-
to
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t
p
r
o
d
u
cts,
b
a
b
y
f
o
o
d
,
an
d
o
t
h
er
f
o
o
d
s
.
C
o
n
d
u
ctiv
e
m
ater
ial
d
etec
tio
n
s
en
s
o
r
s
ar
e
u
s
ed
f
o
r
s
ec
u
r
ity
s
u
ch
as
in
air
cr
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t
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ir
p
o
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ts
wh
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e
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ef
o
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en
ter
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cr
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at
ar
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th
e
h
u
m
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o
d
y
m
u
s
t
b
e
r
em
o
v
ed
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t
r
em
o
v
e
d
th
en
d
etec
ted
b
y
th
e
s
en
s
o
r
[
6
-
1
0
]
.
I
n
th
e
wo
r
ld
o
f
th
e
p
h
ar
m
ac
eu
tical
in
d
u
s
tr
y
a
n
d
th
e
f
o
o
d
in
d
u
s
tr
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,
s
ev
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al
p
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u
cts
ar
e
co
n
tam
in
ated
b
y
co
n
d
u
ctiv
e
m
ater
ials
,
eith
er
m
ag
n
etic
o
r
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o
n
-
m
ag
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etic.
T
h
is
is
d
u
e
to
co
n
tam
in
atio
n
f
r
o
m
co
n
d
u
ctiv
e
m
ater
ials
(
m
ater
ial
co
n
tam
in
atio
n
,
m
ix
in
g
p
r
o
ce
s
s
er
r
o
r
s
,
an
d
m
ac
h
i
n
e
f
ailu
r
es)
[
1
1
,
1
2
]
an
d
th
e
u
s
e
o
f
v
ar
io
u
s
eq
u
ip
m
en
t
in
th
e
p
r
o
d
u
ctio
n
p
r
o
ce
s
s
wh
ich
is
m
o
s
tly
m
ad
e
o
f
co
n
d
u
ctiv
e
m
at
er
ial.
Dete
ctio
n
o
f
co
n
d
u
ctiv
e
m
ater
ial
co
n
tam
in
atio
n
in
d
r
u
g
s
an
d
f
o
o
d
is
v
er
y
im
p
o
r
tan
t
an
d
r
eq
u
ir
es
h
ig
h
ac
cu
r
ac
y
,
th
u
s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
nt
J
R
ob
&
A
u
to
m
I
SS
N:
2089
-
4
8
5
6
Desig
n
o
f a
co
n
d
u
ctive
ma
teri
a
l d
etec
tio
n
s
ystem
(
F
r
ed
d
y
A
r
ta
d
ima
S
ila
b
a
n
)
293
co
n
d
u
ctiv
e
m
ater
ial
d
etec
to
r
s
p
lay
an
im
p
o
r
tan
t r
o
le
in
en
s
u
r
in
g
p
r
o
d
u
ct
s
af
ety
i
n
th
e
p
h
ar
m
ac
eu
tical
in
d
u
s
tr
y
[
1
3
-
2
0
]
.
So
m
an
y
th
in
g
s
m
u
s
t
b
e
co
n
s
id
er
ed
in
th
e
p
r
o
c
ess
o
f
p
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cin
g
d
r
u
g
s
an
d
f
o
o
d
to
m
a
in
tain
th
e
q
u
ality
o
f
th
e
p
r
o
d
u
cts
p
r
o
d
u
ce
d
.
T
h
er
ef
o
r
e,
in
th
is
s
tu
d
y
,
t
h
e
au
t
h
o
r
tr
ies
to
m
ak
e
a
p
r
o
to
ty
p
e
o
f
a
co
n
d
u
ctiv
e
m
ate
r
ial
d
etec
tio
n
d
ev
ice
th
at
is
s
im
p
le
to
p
r
o
d
u
ce
b
etter
q
u
ality
s
u
r
v
eill
an
ce
[
2
1
-
2
5
]
.
T
h
is
p
r
o
to
ty
p
e
d
esig
n
in
teg
r
ates
a
co
n
d
u
ctiv
e
m
ate
r
ial
s
en
s
o
r
with
an
Ar
d
u
in
o
Pro
Min
i
m
ic
r
o
co
n
tr
o
ller
.
W
h
en
d
r
u
g
s
an
d
f
o
o
d
p
r
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d
u
cts
p
ass
th
r
o
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g
h
th
is
d
ev
ice
co
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tain
in
g
a
co
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ater
ial,
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e
ala
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m
s
o
u
n
d
s
an
d
th
e
lig
h
t in
d
icato
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lig
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ts
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p
.
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n
s
ec
u
r
ity
if
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e
s
en
s
o
r
d
etec
ts
th
e
p
r
esen
ce
o
f
co
n
d
u
ctiv
e
m
ater
ial,
alar
.
T
h
e
av
er
a
g
e
r
esp
o
n
s
e
tim
e
to
d
etec
t c
o
n
d
u
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m
ater
ial
is
3
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o
n
d
s
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e
av
er
ag
e
ADC v
alu
e
o
f
th
e
co
n
d
u
ctiv
e
m
ater
ial
is
0
.
5
5
.
T
h
e
test
r
esu
lts
also
s
u
cc
ess
f
u
lly
s
en
d
in
f
o
r
m
atio
n
a
n
d
d
ata
to
th
e
Bl
ynk
ap
p
licatio
n
s
o
th
at
it
ca
n
b
e
m
o
n
ito
r
ed
o
n
lin
e.
2.
RE
S
E
ARCH
M
E
T
H
O
D
2
.
1
.
G
ener
a
l r
ev
iew
T
h
is
r
esear
ch
is
th
e
d
esig
n
o
f
a
c
o
n
d
u
ctiv
e
m
ater
ial
d
et
ec
tio
n
s
y
s
tem
.
T
h
e
s
y
s
tem
th
at
will
b
e
cr
ea
ted
is
a
s
y
s
tem
u
s
ed
to
d
etec
t
co
n
d
u
ctiv
e
m
ater
ials
i
n
th
e
p
r
o
d
u
cts
o
f
th
e
d
r
u
g
-
d
r
u
g
an
d
f
o
o
d
-
f
o
o
d
in
d
u
s
tr
y
p
r
o
d
u
cts
th
at
ar
e
c
o
n
tam
in
ated
with
m
etals
an
d
b
ec
o
m
e
aid
s
i
n
s
ec
u
r
ity
s
y
s
tem
s
s
u
ch
as
air
p
o
r
ts
.
W
ith
th
is
s
y
s
tem
,
it
i
s
p
o
s
s
ib
l
e
to
m
o
n
ito
r
p
r
o
d
u
ctio
n
r
esu
lts
s
u
ch
as
m
ed
icin
al
p
r
o
d
u
cts,
co
n
tam
in
ated
f
o
o
d
s
th
at
ca
n
b
e
s
ep
a
r
ated
a
n
d
d
estro
y
ed
b
ec
a
u
s
e
if
it
p
ass
es
it
will
b
e
d
a
n
g
er
o
u
s
f
o
r
th
o
s
e
wh
o
b
u
y
a
n
d
u
s
e
th
es
e
m
ed
icin
al
p
r
o
d
u
cts an
d
f
o
o
d
s
.
T
h
e
ad
v
a
n
tag
es
o
f
th
e
s
y
s
tem
m
ad
e
in
t
h
is
s
tu
d
y
with
s
im
ilar
p
r
o
d
u
cts
o
n
th
e
m
ar
k
et
a
r
e
t
h
e
p
r
ice
o
f
to
o
ls
an
d
m
ater
ials
u
s
ed
ch
ea
p
er
,
a
p
p
licatio
n
s
a
n
d
s
u
p
p
o
r
tin
g
s
er
v
er
s
ar
e
f
r
ee
,
b
esi
d
es
Ar
d
u
in
o
-
b
ased
m
icr
o
co
n
tr
o
ller
s
th
at
ar
e
in
teg
r
ated
b
y
Wi
-
Fi
E
SP
8
2
6
6
h
as f
ea
tu
r
es a
n
d
s
p
ec
if
icatio
n
s
th
at
m
ak
e
it p
o
s
s
ib
le
to
cr
ea
te
o
r
d
e
v
elo
p
a
b
ig
g
e
r
an
d
b
etter
s
y
s
tem
.
I
n
th
is
d
esi
g
n
,
two
s
y
s
tem
s
ar
e
m
ad
e,
n
a
m
ely
t
h
e
d
etec
tio
n
s
y
s
tem
an
d
t
h
e
m
o
n
ito
r
i
n
g
s
y
s
tem
.
I
n
th
e
m
o
n
ito
r
in
g
s
y
s
tem
,
th
e
u
s
er
u
s
es
th
e
B
ly
n
k
ap
p
licatio
n
to
m
o
n
ito
r
th
e
n
u
m
b
er
o
f
m
ed
i
cin
al
p
r
o
d
u
cts
an
d
f
o
o
d
s
th
at
a
r
e
co
n
tam
in
ated
w
ith
m
etal
in
r
ea
l
-
tim
e.
W
h
er
ea
s
in
t
h
e
d
etec
tio
n
s
y
s
tem
,
th
er
e
is
a
s
en
s
o
r
in
th
e
f
o
r
m
o
f
an
elec
tr
o
m
ag
n
etic
co
il
th
at
ca
n
d
etec
t
g
r
am
s
o
f
m
e
tal
in
d
r
u
g
s
a
n
d
f
o
o
d
t
h
at
will
b
e
s
ep
a
r
ated
u
s
in
g
a
s
er
v
o
m
o
to
r
t
o
an
o
th
e
r
co
n
t
ain
er
.
I
n
th
e
s
ec
u
r
ity
s
y
s
tem
,
o
f
f
icer
s
ar
e
also
ass
is
ted
in
d
etec
tin
g
an
y
o
n
e
wh
o
ca
r
r
ies co
n
d
u
ctiv
e
m
ater
ial.
W
h
en
th
e
s
y
s
tem
is
tu
r
n
ed
o
n
,
th
e
Ar
d
u
in
o
m
icr
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co
n
tr
o
ller
p
er
f
o
r
m
s
a
ca
lib
r
atio
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o
n
th
e
d
etec
tio
n
s
en
s
o
r
,
th
en
th
e
d
ev
ice
will
co
n
n
ec
t
t
o
th
e
s
er
v
er
v
ia
a
W
I
FI
n
etwo
r
k
th
at
h
as
r
eg
is
ter
ed
its
SS
I
D,
if
th
e
co
n
n
ec
tio
n
is
s
u
cc
ess
f
u
l th
en
t
h
e
m
icr
o
co
n
tr
o
ller
will b
e
co
n
n
ec
ted
to
th
e
s
y
s
tem
s
er
v
er
r
e
ad
y
to
u
s
e
(
o
n
lin
e)
.
I
f
o
n
e
p
r
o
ce
s
s
in
t
h
e
f
l
o
wch
ar
t
f
ails
,
it
will
d
is
p
lay
an
e
r
r
o
r
o
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e
L
C
D
s
cr
ee
n
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d
d
is
p
lay
it
i
n
th
e
n
o
tific
atio
n
in
th
e
m
o
n
ito
r
in
g
ap
p
licati
on.
2
.
2
.
Resea
rc
h sta
g
es
T
h
e
b
lo
c
k
d
iag
r
am
f
o
r
th
is
r
e
s
ea
r
ch
ap
p
r
o
ac
h
es
th
e
p
r
o
to
t
y
p
e
to
o
l,
t
h
e
d
esig
n
o
f
t
h
e
d
ev
ice
th
at
is
b
u
ilt
co
n
s
is
ts
o
f
s
ev
er
al
m
ai
n
h
ar
d
war
e,
i
n
clu
d
in
g
Ar
d
u
i
n
o
Pro
Min
i
m
icr
o
co
n
t
r
o
ller
an
d
Wi
-
Fi
Mo
d
u
le
E
SP
8
2
6
6
,
a
s
well
as
ad
d
itio
n
al
h
ar
d
war
e
to
ca
r
r
y
o
u
t
th
e
f
u
n
ctio
n
s
o
f
th
e
s
en
s
o
r
i
n
p
u
t
a
n
d
o
u
tp
u
t
in
d
icato
r
s
n
am
ely
m
etal
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en
s
o
r
(
co
il
win
d
in
g
)
,
b
u
zz
er
(
alar
m
)
,
a
n
d
s
er
v
o
.
T
h
e
b
lo
ck
d
iag
r
am
in
F
ig
u
r
e
1
is
an
in
itial
illu
s
tr
atio
n
o
f
th
e
d
esig
n
o
f
a
co
n
d
u
ctiv
e
m
ater
ial
d
etec
ti
o
n
s
y
s
tem
u
s
ed
wh
ich
co
n
s
is
ts
o
f
an
Ar
d
u
in
o
m
icr
o
co
n
tr
o
ller
,
th
e
c
o
n
d
u
ctiv
e
m
ater
ial
s
en
s
o
r
u
s
es
s
ev
er
al
tu
r
n
s
,
B
ly
n
k
is
u
s
ed
t
o
m
o
n
ito
r
wh
eth
e
r
an
y
co
n
d
u
ctiv
e
m
ater
ial
is
d
etec
ted
.
c
o
n
d
u
c
t
i
v
e
s
e
n
s
o
r
Fig
u
r
e
1
.
B
lo
ck
d
iag
r
am
o
f
a
c
o
n
d
u
ctiv
e
m
ater
ial
d
etec
tio
n
s
y
s
tem
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
8
5
6
I
nt
J
R
ob
&
A
u
to
m
,
Vo
l.
9
,
N
o
.
4
,
Dec
em
b
er
2
0
2
0
:
2
9
2
–
299
294
2
.
3
.
T
o
o
l pro
t
o
t
y
pe
des
ig
n f
lo
w
c
ha
rt
T
h
is
f
lo
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t
ex
p
lain
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th
e
i
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itial
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es
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th
e
d
esig
n
a
n
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aly
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is
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f
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u
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ater
ial
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s
y
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s
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F
ig
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r
e
2
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s
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ates
th
e
p
r
o
ce
s
s
o
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p
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ep
a
r
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g
a
p
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ty
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e
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wh
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e
at
f
ir
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th
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tr
o
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u
s
t b
e
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ig
u
r
ed
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e
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te
r
n
et,
t
h
en
co
n
f
ig
u
r
in
g
t
h
e
c
o
n
d
u
ctiv
e
m
ater
ial
d
etec
tio
n
s
en
s
o
r
an
d
co
n
d
u
ctin
g
th
e
co
n
d
u
ctiv
e
s
e
n
s
o
r
ca
lib
r
atio
n
,
t
h
e
n
ex
t
is
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e
te
s
tin
g
o
f
th
e
co
n
d
u
ctiv
e
m
ater
ial
wh
ich
s
tar
ts
f
r
o
m
th
e
s
tain
less
s
teel
test
wh
en
a
co
n
d
u
ctiv
e
m
ater
ial
i
s
d
etec
ted
“
T
h
e
n
a
p
p
ea
r
o
n
t
h
e
L
C
D
an
d
B
ly
n
k
ap
p
licatio
n
C
o
n
d
u
ctiv
e
Ma
ter
i
al
”
.
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f
n
o
t,
a
s
ec
o
n
d
in
g
r
e
d
ien
t
will b
e
test
ed
.
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t
a
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c
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l
i
b
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a
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Fig
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Desig
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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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Desig
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295
T
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ater
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d
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ly
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Ma
ter
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d
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e
d
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will
b
e
test
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.
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s
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n
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ater
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d
B
ly
n
k
ap
p
licatio
n
“Co
n
d
u
ctiv
e
Ma
ter
ial”.
I
f
n
o
t,
a
f
if
th
in
g
r
e
d
ien
t
is
test
ed
.
T
h
e
f
if
th
tr
ial
is
co
p
p
er
if
a
co
n
d
u
ct
iv
e
m
ater
ial
is
d
etec
ted
“Ye
s
”
th
en
it
will
ap
p
ea
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C
D
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d
B
ly
n
k
a
p
p
lic
atio
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“Co
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d
u
ctiv
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ter
ial”.
I
f
n
o
t,
th
e
n
a
s
ix
th
m
ater
i
al
tr
ia
l
is
co
n
d
u
cted
.
T
h
e
s
ix
th
tr
ial
is
tin
,
if
a
“Ye
s
”
c
o
n
d
u
ctiv
e
m
ater
ial
is
d
etec
ted
,
it
will
ap
p
ea
r
o
n
th
e
L
C
D
an
d
th
e
“Co
n
d
u
ctiv
e
Ma
ter
ial”
B
ly
n
k
ap
p
licatio
n
.
I
f
n
o
t,
th
e
tr
ial
is
co
m
p
lete.
2
.
4
.
Co
nd
uct
iv
e
m
a
t
er
ia
l det
ec
t
i
o
n sens
o
r
circ
uit
T
h
is
m
etal
s
en
s
o
r
cir
cu
it
s
er
v
es
to
d
etec
t
m
etal
o
r
m
etal
o
b
jects
th
at
p
ass
th
r
o
u
g
h
th
e
m
e
tal
s
en
s
o
r
.
T
h
is
cir
cu
it
will
em
it
elec
tr
o
m
ag
n
etic
wav
es
co
n
s
tan
tly
to
war
d
s
th
e
ar
ea
t
h
at
will
b
e
th
e
ar
ea
o
f
d
etec
tio
n
if
o
b
jects
o
th
er
th
a
n
m
etals
th
at
p
ass
th
r
o
u
g
h
th
e
co
n
d
u
ctiv
e
s
en
s
o
r
th
en
t
h
e
co
n
d
u
ctiv
e
s
en
s
o
r
will
d
etec
t
an
y
s
ig
n
al
in
ter
f
er
en
ce
i
n
th
e
elec
t
r
o
m
ag
n
etic
wav
e
.
See
Fig
u
r
e
3
.
Fig
u
r
e
3
.
C
o
n
d
u
ctiv
e
m
ater
ial
d
etec
tio
n
cir
cu
it
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
NS
3
.
1
.
B
ly
nk
a
pp
lica
t
io
n
B
ly
n
k
is
an
I
o
T
C
lo
u
d
p
latf
o
r
m
f
o
r
iOS
an
d
An
d
r
o
id
a
p
p
licatio
n
s
th
at
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u
s
ef
u
l
f
o
r
c
o
n
tr
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llin
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Ar
d
u
in
o
,
R
asp
b
er
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y
Pi,
an
d
s
im
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b
o
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d
s
v
ia
th
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i
n
ter
n
et
.
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ly
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k
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ig
ital
d
ash
b
o
ar
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th
at
ca
n
b
u
ild
a
g
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ap
h
ical
in
te
r
f
ac
e
f
o
r
to
o
ls
th
at
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av
e
b
ee
n
cr
ea
te
d
ju
s
t
b
y
d
r
ag
g
in
g
a
n
d
d
r
o
p
p
in
g
a
wid
g
et.
Fo
llo
win
g
ar
e
t
h
e
s
tep
s
f
o
r
o
p
er
atin
g
th
e
B
ly
n
k
ap
p
licatio
n
:
‑
Op
en
th
e
B
ly
n
k
a
p
p
licatio
n
th
en
cr
ea
te
a
n
ew
ac
c
o
u
n
t.
‑
Fil
l in
th
e
em
ail
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d
p
ass
wo
r
d
th
en
click
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e
p
ictu
r
e
to
s
et
th
e
s
er
v
er
I
P
‑
Mo
v
e
th
e
p
o
s
itio
n
o
f
th
e
s
lid
e
r
c
o
n
tr
o
l
to
c
u
s
to
m
an
d
f
ill
in
th
e
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P
alo
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g
with
th
e
p
r
e
-
s
et
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o
r
t,
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en
click
OK
→
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ig
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p
‑
T
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click
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ew
p
r
o
ject,
th
en
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ill
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th
e
n
am
e
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th
e
p
r
o
j
ec
t,
s
elec
t
th
e
d
e
v
ice
th
at
co
r
r
esp
o
n
d
s
to
th
e
d
ev
ice
th
at
was m
ad
e,
th
e
n
s
elec
t th
e
co
n
n
ec
tio
n
ty
p
e
to
b
e
Wi
-
Fi_
_
_
3
3
,
click
cr
ea
te.
‑
T
h
en
a
m
ess
ag
e
will a
p
p
ea
r
in
f
o
r
m
in
g
y
o
u
th
at
th
e
au
th
en
tic
atio
n
co
d
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h
as b
ee
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r
ess
,
click
OK
to
f
in
is
h
cr
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tin
g
t
h
e
p
r
o
ject.
3
.
2
.
H
ea
der
P
ro
g
ra
m
Co
de
T
h
e
#
in
cl
u
d
e
p
r
o
g
r
am
c
o
d
e
is
a
ty
p
e
o
f
p
r
e
p
r
o
ce
s
s
o
r
d
r
iv
er
th
at
is
u
s
ed
to
r
ea
d
f
iles
ca
lled
h
ea
d
e
r
f
iles
.
io
s
tr
ea
m
,
co
n
i
o
.
h
,
s
td
io
.
h
,
win
d
o
ws.h
,
m
ath
.
h
,
a
n
d
s
tr
in
g
.
h
ar
e
h
ea
d
er
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iles
th
at
ar
e
t
h
e
s
tan
d
ar
d
lib
r
ar
y
o
f
C
++
.
E
ac
h
h
ea
d
e
r
f
ile
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ass
o
ciate
d
with
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n
p
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t
co
m
m
a
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m
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a
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g
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am
co
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e
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s
h
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in
Fig
u
r
e
4
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
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8
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299
296
3
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3
.
B
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Serv
er
co
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un
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t
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n t
est
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r
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ied
o
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t
t
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8
2
6
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m
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icate
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T
h
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tim
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lated
f
r
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m
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e
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tar
t
o
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th
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ce
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til
s
u
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f
u
lly
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th
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er
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d
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u
r
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at
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u
r
e
4
.
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d
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p
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co
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e
Fig
u
r
e
5
.
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m
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r
d
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p
lay
3
.
4
.
B
ly
nk
a
pp
lica
t
io
n t
esting
T
h
is
test
is
ca
r
r
ied
o
u
t
to
d
ete
r
m
in
e
th
e
to
o
ls
in
t
h
is
s
tu
d
y
wo
r
k
f
o
llo
win
g
th
e
f
u
n
ctio
n
s
an
d
d
esire
s
.
T
h
e
test
in
g
p
r
o
ce
s
s
is
d
o
n
e
in
s
tag
es
th
r
o
u
g
h
th
e
B
ly
n
k
ap
p
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n
th
er
e
ar
e
two
co
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t
r
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l
f
ea
tu
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es
in
th
e
ap
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n
,
n
am
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e
f
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s
t
f
ea
tu
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e
f
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t
h
e
s
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s
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i
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m
ain
m
en
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Fig
u
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le
1
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s
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r
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u
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6
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1
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r
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Alar
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ON
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eq
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th
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1
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ile
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Alar
m
OFF is
2
.
3
0
s
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o
n
d
s
.
Fig
u
r
e
6
.
I
n
itial d
is
p
lay
o
f
B
ly
n
k
T
ab
le
1
.
Sen
s
o
r
r
esp
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s
e
tim
e
test
in
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Te
st
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n
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C
o
n
d
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t
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Ti
me
(
s)
R
e
s
u
l
t
1
A
l
a
r
m O
n
1
.
7
5
C
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r
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p
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g
A
l
a
r
m O
f
f
1
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4
8
2
A
l
a
r
m O
n
2
.
7
1
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r
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s
p
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A
l
a
r
m O
f
f
2
.
7
2
3
A
l
a
r
m O
n
1
.
1
2
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r
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e
s
p
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n
d
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n
g
A
l
a
r
m O
f
f
2
.
5
8
4
A
l
a
r
m O
n
1
.
2
3
C
o
r
r
e
s
p
o
n
d
i
n
g
A
l
a
r
m O
f
f
1
.
7
8
5
A
l
a
r
m O
n
1
,
2
5
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r
r
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s
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d
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l
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r
m O
f
f
1
,
3
5
3
.
5
.
Co
nd
uct
iv
e
s
en
s
o
r
t
esting
C
o
n
d
u
ctiv
e
s
en
s
o
r
test
in
g
th
a
t
u
s
es
co
p
p
e
r
win
d
in
g
s
to
d
et
ec
t
o
b
jects
m
ad
e
f
r
o
m
p
ass
in
g
with
th
e
E
SP
8
2
6
6
m
icr
o
c
o
n
tr
o
ller
aim
s
to
f
in
d
o
u
t h
o
w
m
u
ch
th
e
s
ig
n
al
is
r
ea
d
th
r
o
u
g
h
th
e
ADC v
alu
e,
ca
n
b
e
s
ee
n
in
T
ab
le
2
.
Fig
u
r
e
7
is
a
co
n
d
u
cti
v
e
g
r
ap
h
th
at
h
as
b
ee
n
d
etec
te
d
b
y
th
e
s
en
s
o
r
b
ased
o
n
tim
e
in
th
e
last
6
h
o
u
r
s
.
3
.
6
.
T
esting
f
o
r
s
endi
ng
SM
S
C
o
o
rdina
t
e
T
h
e
p
u
r
p
o
s
e
o
f
test
in
g
th
e
s
en
d
in
g
o
f
SMS
co
o
r
d
in
at
o
r
with
Ar
d
u
in
o
is
to
f
in
d
o
u
t
if
th
e
p
r
o
g
r
am
is
m
ad
e
u
n
d
er
wh
at
is
d
esire
d
an
d
th
e
p
r
o
g
r
am
is
u
n
d
er
wh
at
was
d
esig
n
ed
p
r
ev
io
u
s
ly
.
Fo
r
th
e
r
esu
lts
o
f
test
in
g
th
e
s
en
s
o
r
r
esp
o
n
s
e
tim
e
t
o
th
e
s
en
d
in
g
o
f
SMS
co
o
r
d
in
ates
ca
n
b
e
s
ee
n
in
T
a
b
le
3
.
Fro
m
th
e
r
esu
lts
o
f
th
e
s
ix
ex
p
er
im
e
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ts
in
T
a
b
le
3
,
th
e
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er
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e
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ate
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s
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r
SMS
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r
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in
ates sen
t c
an
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e
s
ee
n
i
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p
ictu
r
e
.
#include
<
Wire
.
h
>
#include
<
LiquidCrystal_I2C
.
h
>
#include
“
PCA9685.h
”
#include
<
SoftwareSerial
.
h
>
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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J
R
ob
&
A
u
to
m
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N:
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4
8
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r
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.
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ted
3
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.
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ro
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pe
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ig
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ices
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cti
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Fig
u
r
e
8
illu
s
tr
ates
th
e
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ce
s
s
o
f
p
r
ep
ar
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p
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i
ch
at
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ir
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eq
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ig
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with
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e
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et,
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n
co
n
f
ig
u
r
in
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th
e
co
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d
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m
ater
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d
etec
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ctiv
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en
s
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r
ca
lib
r
atio
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n
test
in
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th
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o
n
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ctiv
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m
ater
ial
wh
ich
s
tar
ts
f
r
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m
th
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tain
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teel
test
wh
en
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c
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n
d
u
ctiv
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ater
ial
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d
etec
ted
“
Yes
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T
h
en
ap
p
ea
r
o
n
th
e
L
C
D
an
d
B
ly
n
k
ap
p
licatio
n
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C
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d
u
ctiv
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Ma
ter
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“
.
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t,
a
s
ec
o
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d
in
g
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ed
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n
t
will
b
e
test
ed
.
T
h
e
s
ec
o
n
d
tr
ial
is
alu
m
in
u
m
wh
en
a
co
n
d
u
ctiv
e
m
ater
i
al
is
d
etec
ted
“
Ye
s
”
th
en
it
ap
p
ea
r
s
o
n
th
e
L
C
D
a
n
d
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ly
n
k
ap
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licatio
n
“
C
o
n
d
u
ctiv
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Ma
ter
ial
”
.
I
f
n
o
t,
a
th
ir
d
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g
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ed
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n
t
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e
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ed
.
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h
e
th
ir
d
tr
ial
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s
teel
wh
en
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n
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u
ctiv
e
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ater
ial
is
d
etec
ted
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Yes
”
th
en
it
a
p
p
ea
r
s
o
n
th
e
L
C
D
a
n
d
B
ly
n
k
ap
p
licatio
n
“
C
o
n
d
u
ctiv
e
Ma
ter
ial
”
.
I
f
n
o
t,
th
e
f
o
u
r
th
in
g
r
ed
ien
t
will
b
e
test
ed
.
T
h
e
f
o
u
r
th
tr
ial
is
zin
c
wh
en
a
co
n
d
u
ctiv
e
m
ater
ial
is
d
etec
ted
“
Yes
”
th
en
it
ap
p
ea
r
s
o
n
th
e
L
C
D
an
d
B
ly
n
k
ap
p
licatio
n
“
C
o
n
d
u
ctiv
e
Ma
ter
ial
”
.
I
f
n
o
t,
a
f
if
th
in
g
r
ed
ien
t is tested
.
T
h
e
f
if
th
tr
ial
is
co
p
p
er
if
a
co
n
d
u
ctiv
e
m
ater
ia
l is d
etec
ted
“
Yes
”
th
en
it will a
p
p
ea
r
o
n
th
e
L
C
D
an
d
B
ly
n
k
ap
p
licatio
n
“
C
o
n
d
u
ctiv
e
Ma
ter
ial
”
.
I
f
n
o
t,
th
en
a
s
ix
th
m
ater
ial
tr
ial
is
co
n
d
u
cted
.
T
h
e
s
ix
th
tr
ial
is
ti
n
,
if
a
“
Yes
”
co
n
d
u
ctiv
e
m
ater
ial
is
d
etec
ted
,
it
will
ap
p
ea
r
o
n
th
e
L
C
D
an
d
th
e
“
C
o
n
d
u
ctiv
e
Ma
ter
ial
”
B
ly
n
k
ap
p
licatio
n
.
I
f
n
o
t,
th
e
tr
ia
l is co
m
p
lete.
4.
CO
NCLU
SI
O
N
Ap
p
licatio
n
test
in
g
is
ca
r
r
ied
o
u
t
to
f
in
d
o
u
t
wh
eth
e
r
th
e
B
ly
n
k
ap
p
licatio
n
o
n
a
n
an
d
r
o
i
d
s
m
ar
tp
h
o
n
e
with
B
ly
n
k
o
n
a
Deb
ian
s
er
v
er
th
at
h
as
b
ee
n
m
ad
e
p
r
e
v
io
u
s
ly
r
u
n
s
well
o
r
n
o
t
an
d
t
h
e
alar
m
s
y
s
tem
test
in
g
u
s
es
a
b
u
zz
er
an
d
L
E
D
to
d
etec
t
co
n
d
u
ctiv
e
m
ater
ial
p
ass
in
g
th
r
o
u
g
h
.
C
o
n
d
u
ctiv
e
s
en
s
o
r
test
r
esu
lts
s
h
o
wed
th
at
th
e
in
s
tr
u
m
en
t c
an
d
etec
t
6
co
n
d
u
ctiv
ity
m
ater
ials
s
u
ch
as s
tain
less
s
t
ee
l,
alu
m
in
u
m
,
s
teel,
zin
c,
co
p
p
er
,
an
d
tin
.
T
h
e
av
er
ag
e
r
esp
o
n
s
e
tim
e
to
d
etec
t
co
n
d
u
ctiv
e
m
ater
ial
is
3
s
ec
o
n
d
s
,
th
e
av
er
ag
e
ADC
v
alu
e
o
f
t
h
e
co
n
d
u
ctiv
e
m
ater
ial
is
0
.
5
5
.
T
h
e
test
r
esu
lts
also
s
u
cc
ess
f
u
lly
s
e
n
d
in
f
o
r
m
atio
n
an
d
d
ata
to
th
e
B
ly
n
k
ap
p
licatio
n
s
o
t
h
at
it c
an
b
e
m
o
n
ito
r
ed
o
n
lin
e.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
8
5
6
I
nt
J
R
ob
&
A
u
to
m
,
Vo
l.
9
,
N
o
.
4
,
Dec
em
b
er
2
0
2
0
:
2
9
2
–
299
298
Fig
u
r
e
8
.
C
o
n
d
u
ctiv
e
m
ater
ial
d
etec
tio
n
d
ev
ice
p
r
o
t
o
ty
p
e
RE
F
E
R
E
NC
E
S
[1
]
N.
Lo
k
m
a
n
u
lh
a
k
im,
e
t
a
l
.
,
“
Ex
p
e
rime
n
t
stu
d
y
o
f
u
si
n
g
p
a
ra
ll
e
l
p
late
se
n
so
r
f
o
r
th
e
d
e
tec
ti
o
n
o
f
c
o
n
d
u
c
ti
v
e
m
a
teria
l,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
of
El
e
c
trica
l
a
n
d
Co
m
p
u
ter
En
g
i
n
e
e
rin
g
(IJ
ECE
)
,
v
o
l.
9,
n
o.
6,
p
p
.
5
6
2
8
–
5
6
3
5
,
2
0
1
9
.
[2
]
M.
S
h
a
b
a
n
,
A.
G.
A.
Ha
d
y
a
n
d
M.
S
e
rry
,
“
A
Ne
w
S
e
n
so
r
fo
r
He
a
v
y
M
e
tals
De
tec
ti
o
n
in
Aq
u
e
o
u
s
M
e
d
ia,
”
IEE
E
S
e
n
so
rs
J
o
u
rn
a
l
,
v
o
l.
1
4
,
no.
2,
p
p
.
4
3
6
-
4
4
1
,
2
0
1
4
.
[3
]
M.
S
h
a
b
a
n
a
n
d
M.
S
e
rry
,
“
A
n
e
w
se
n
so
r
f
o
r
h
e
a
v
y
m
e
tals
d
e
tec
ti
o
n
in
a
q
u
e
o
u
s
m
e
d
ia,
”
in
S
EN
S
ORS
,
2
0
1
2
IEE
E
,
Taip
e
i,
2
0
1
2
,
p
p
.
1
-
4,
d
o
i:
1
0
.
1
1
0
9
/ICS
ENS
.
2
0
1
2
.
6
4
1
1
1
8
4
.
[4
]
J.
Lai,
e
t
a
l
.,
“
P
o
ro
u
s
sili
c
o
n
b
a
s
e
d
in
fra
re
d
p
h
o
t
o
n
ic
-
se
n
so
r
f
o
r
h
i
g
h
se
n
siti
v
e
h
e
a
v
y
m
e
tal
io
n
d
e
te
c
ti
o
n
,
”
i
n
2
0
1
5
T
ra
n
sd
u
c
e
rs
-
2
0
1
5
1
8
t
h
I
n
te
rn
a
ti
o
n
a
l
C
o
n
fer
e
n
c
e
o
n
S
o
li
d
-
S
ta
te
S
e
n
s
o
rs
,
Act
u
a
t
o
rs
a
n
d
M
icr
o
sy
ste
ms
(T
RA
NS
DU
CER
S
)
,
An
c
h
o
ra
g
e
,
AK
,
2
0
1
5
,
p
p
.
1
4
7
6
-
1
4
7
8
.
[5
]
J.
W.
Li
m
,
et
al
.,
“
C
h
e
m
o
sta
t
-
li
k
e
m
icro
flu
i
d
ic
p
latfo
rm
fo
r
h
ig
h
l
y
se
n
sit
iv
e
d
e
tec
ti
o
n
of
h
e
a
v
y
m
e
tal
io
n
s
u
sin
g
m
icro
b
ial
b
i
o
se
n
so
rs,
”
in
2
0
1
5
IE
EE
S
EN
S
ORS
,
Bu
sa
n
,
2
0
1
5
,
pp.
1
-
3
.
[6
]
S.
M
a
h
e
r,
et
al
.,
“
P
o
r
tab
le
fl
u
o
re
sc
e
n
t
se
n
sin
g
a
rra
y
f
o
r
m
o
n
it
o
rin
g
h
e
a
v
y
m
e
tals
in
wa
ter,
”
in
2
0
1
6
IEE
E
S
ENS
OR
S
,
Orla
n
d
o
,
F
L
,
2
0
1
6
,
p
p
.
1
-
3
.
[7
]
K.
Bh
a
v
sa
r,
e
t
a
l
.
,
“
F
i
b
re
o
p
ti
c
se
n
so
r
t
o
d
e
tec
t
h
e
a
v
y
m
e
tal
p
o
ll
u
tan
ts
in
wa
ter
e
n
v
iro
n
m
e
n
ts,
”
OCEANS
2
0
1
7
-
Ab
e
rd
e
e
n
,
Ab
e
r
d
e
e
n
,
2
0
1
7
,
p
p
.
1
-
4
,
d
o
i:
1
0
.
1
1
0
9
/OCEANSE
.
2
0
1
7
.
8
0
8
4
9
8
2
.
[8
]
S
.
Wa
n
g
,
e
t
a
l
.
,
“
F
ET
Ba
se
d
He
a
v
y
M
e
tal
I
o
n
S
e
n
s
o
r
t
o
De
tec
t
M
e
rc
u
ry
I
o
n
fr
o
m
Was
te
Wate
r,
”
in
2
0
1
9
2
0
t
h
In
ter
n
a
t
io
n
a
l
Co
n
fer
e
n
c
e
o
n
S
o
li
d
-
S
t
a
te
S
e
n
so
rs
,
Actu
a
t
o
rs
a
n
d
M
icr
o
sy
ste
ms
&
E
u
ro
s
e
n
so
rs
XX
XII
I
(T
RA
NS
DU
CER
S
&
EUROS
ENS
ORS
XX
XII
I)
,
Be
rli
n
,
G
e
rm
a
n
y
,
2
0
1
9
,
p
p
.
1
2
7
0
-
1
2
7
3
.
[9
]
M
.
G
a
rtn
e
r
,
e
t
a
l
.
,
“
El
e
c
tro
c
h
e
m
i
c
a
l
S
e
n
so
rs
fo
r
De
tec
ti
o
n
o
f
Diff
e
re
n
t
Io
n
ic
S
p
e
c
ies
(Nitri
tes
/Nit
r
a
tes
a
n
d
He
a
v
y
M
e
tals)
in
Na
tu
ra
l
Wate
r
S
o
u
rc
e
s,
”
in
2
0
1
8
In
ter
n
a
ti
o
n
a
l
S
e
mic
o
n
d
u
c
to
r
C
o
n
fer
e
n
c
e
(CAS
)
,
S
in
a
ia,
2
0
1
8
,
p
p
.
3
2
9
-
3
3
2
,
d
o
i:
1
0
.
1
1
0
9
/S
M
ICND
.
2
0
1
8
.
8
5
3
9
7
3
9
.
[1
0
]
S
.
Do
n
g
,
e
t
a
l
.
,
“
E
v
e
n
n
e
ss
De
tec
ti
o
n
M
e
th
o
d
fo
r
S
a
m
p
le
Dis
tri
b
u
t
io
n
o
f
A
g
ricu
lt
u
ra
l
He
a
v
y
M
e
tal
i
n
t
h
e
F
ra
g
m
e
n
ted
.
Re
g
i
o
n
s,
”
in
2
0
1
8
7
th
I
n
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
A
g
ro
-
g
e
o
in
fo
rm
a
t
ics
(Ag
ro
-
g
e
o
in
fo
rm
a
ti
c
s)
,
Ha
n
g
z
h
o
u
,
2
0
1
8
,
p
p
.
1
-
4
,
d
o
i:
1
0
.
1
1
0
9
/Ag
ro
-
G
e
o
in
fo
rm
a
ti
c
s.2
0
1
8
.
8
4
7
6
0
1
5
.
[1
1
]
P.
D
h
a
ra
,
et
al
.,
“
Op
ti
c
a
l
F
i
b
e
r
-
Ba
se
d
He
a
v
y
M
e
tal
De
tec
ti
o
n
U
sin
g
th
e
Lo
c
a
li
z
e
d
S
u
rfa
c
e
P
las
m
o
n
Re
so
n
a
n
c
e
Tec
h
n
iq
u
e
,
”
IEE
E
S
e
n
so
rs
J
o
u
rn
a
l
,
v
o
l
.
1
9
,
n
o
.
1
9
,
p
p
.
8
7
2
0
-
8
7
2
6
,
2
0
1
9
,
d
o
i:
1
0
.
1
1
0
9
/JS
EN.
2
0
1
9
.
2
9
2
1
7
0
1
.
[1
2
]
J.
Hw
a
n
g
,
e
t
a
l
.
,
“
En
h
a
n
c
e
d
El
e
c
tro
c
h
e
m
ica
l
De
tec
ti
o
n
o
f
M
u
lt
ih
e
a
v
y
M
e
tal
I
o
n
s
Us
i
n
g
a
Bi
o
p
o
l
y
m
e
r
-
Co
a
ted
P
lan
a
r
Ca
rb
o
n
E
lec
tro
d
e
,
”
IE
EE
T
ra
n
sa
c
ti
o
n
s
o
n
In
str
u
me
n
ta
ti
o
n
a
n
d
M
e
a
su
re
me
n
t
,
v
o
l
.
6
8
,
n
o
.
7
,
p
p
.
2
3
8
7
-
2
3
9
3
,
2
0
1
9
,
d
o
i:
1
0
.
1
1
0
9
/
TIM
.
2
0
1
9
.
2
9
0
8
0
4
5
.
[1
3
]
F
.
S
il
a
b
a
n
,
S
.
B
u
d
i
y
a
n
t
o
,
a
n
d
W.
Ra
h
a
rja,
“
S
te
p
p
e
r
m
o
t
o
r
m
o
v
e
m
e
n
t
d
e
sig
n
b
a
se
d
o
n
F
P
G
A
,
”
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
El
e
c
trica
l
a
n
d
C
o
mp
u
ter
E
n
g
i
n
e
e
rin
g
(IJ
ECE
),
v
o
l.
1
0
,
n
o
.
1
,
p
p
.
1
5
1
-
1
5
9
,
2
0
2
0
,
d
o
i
:
1
0
.
1
1
5
9
1
/i
jec
e
.
v
1
0
i
1
.
[1
4
]
A.
H.
Zi
a
d
a
t,
A.
Jiries
,
a
n
d
I.
Al
o
jail,
“
Ac
c
u
m
u
latio
n
o
f
He
a
v
y
M
e
tals
o
n
S
o
i
l
Irri
g
a
ted
wit
h
Trea
ted
Was
tew
a
ter
a
t
Al
a
l
-
Ba
y
t
Un
iv
e
rsit
y
-
Jo
rd
a
n
,
”
in
2
0
1
9
Ad
v
a
n
c
e
s
in
S
c
ie
n
c
e
a
n
d
E
n
g
in
e
e
rin
g
T
e
c
h
n
o
lo
g
y
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
s (A
S
E
T
)
,
Du
b
a
i,
U
n
it
e
d
Ara
b
Emira
tes
,
2
0
1
9
,
p
p
.
1
-
6
,
d
o
i:
1
0
.
1
1
0
9
/ICAS
ET
.
2
0
1
9
.
8
7
1
4
3
4
8
.
[1
5
]
A.
Ba
m
sh
a
d
a
n
d
H.
J.
Ch
o
,
“
Dig
it
a
l
M
icro
fa
b
rica
ti
o
n
o
n
P
a
p
e
r
a
n
d
Clo
t
h
f
o
r
He
a
v
y
M
e
tal
De
tec
ti
o
n
a
n
d
Re
m
e
d
iatio
n
,
”
i
n
2
0
1
9
2
0
t
h
In
t
e
rn
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
S
o
l
id
-
S
ta
te
S
e
n
so
rs
,
Act
u
a
to
rs
a
n
d
M
icr
o
sy
ste
ms
&
Eu
ro
se
n
so
rs
XX
XII
I
(T
R
ANS
DU
CER
S
&
EUROS
ENS
ORS
XX
XI
II)
,
Be
rli
n
,
G
e
rm
a
n
y
,
2
0
1
9
,
p
p
.
6
8
5
-
6
8
8
,
d
o
i:
1
0
.
1
1
0
9
/
TRANSDUCERS
.
2
0
1
9
.
8
8
0
8
4
8
7
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
nt
J
R
ob
&
A
u
to
m
I
SS
N:
2089
-
4
8
5
6
Desig
n
o
f a
co
n
d
u
ctive
ma
teri
a
l d
etec
tio
n
s
ystem
(
F
r
ed
d
y
A
r
ta
d
ima
S
ila
b
a
n
)
299
[1
6
]
M.
Z
h
o
u
a
n
d
A.
Xia
n
g
,
“
S
imu
la
ti
o
n
of
a
ll
-
d
ig
it
a
l
m
e
tal
d
e
tec
to
r
,
”
Co
mp
u
ter
S
imu
l
a
ti
o
n
,
v
o
l.
30,
no.
9,
p
p
.
2
0
8
-
2
1
2
,
2
0
1
3
.
[1
7
]
J.
S
v
a
to
š,
J.
Ve
d
ra
l
,
a
n
d
T
.
P
o
sp
isil
,
“
Ad
v
a
n
c
e
d
In
str
u
m
e
n
tat
io
n
f
o
r
P
o
ly
h
a
rm
o
n
ic
M
e
tal
D
e
tec
to
rs,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
M
a
g
n
e
ti
c
s
,
v
o
l.
5
2
,
n
o
.
5
,
p
p
.
1
-
4
,
M
a
y
2
0
1
6
.
[1
8
]
C.
A.
An
to
u
n
,
e
t
a
l
.,
“
Ba
lan
c
e
d
M
e
tal
De
tec
to
r
Ba
se
d
o
n
Op
ti
m
ize
d
F
re
q
u
e
n
c
ies
a
n
d
S
p
a
ti
a
l
P
h
a
se
P
ro
fil
e
Re
sp
o
n
se
s to
Dif
fe
re
n
ti
a
te M
e
tal
Ro
d
s,
”
IEE
E
M
a
g
n
e
ti
c
s L
e
tt
e
rs
,
v
o
l.
8
,
p
p
.
1
-
5
,
2
0
1
7
.
[1
9
]
Y
.
Zh
a
o
,
e
t
a
l
.
,
“
On
t
h
e
Lo
w
-
F
re
q
u
e
n
c
y
El
e
c
tro
m
a
g
n
e
ti
c
Re
sp
o
n
se
s
o
f
I
n
-
Li
n
e
M
e
tal
De
tec
to
rs
to
M
e
tal
Co
n
tam
in
a
n
ts,
”
IEE
E
T
ra
n
s
a
c
ti
o
n
s o
n
In
str
u
me
n
ta
t
io
n
a
n
d
M
e
a
s
u
re
me
n
t
,
v
o
l
.
6
3
,
n
o
.
1
2
,
p
p
.
3
1
8
1
-
3
1
8
9
,
2
0
1
4
.
[2
0
]
S
.
Ba
i
a
n
d
Y.
Ba
i,
“
Hig
h
P
re
c
isio
n
Al
g
o
r
it
h
m
o
f
M
e
tal
De
t
e
c
to
r
Ba
se
d
o
n
Ba
lan
c
e
C
o
il
,
”
in
2
0
1
8
2
1
st
In
ter
n
a
t
io
n
a
l
C
o
n
fer
e
n
c
e
o
n
E
l
e
c
trica
l
M
a
c
h
i
n
e
s a
n
d
S
y
ste
ms
(ICEM
S
)
,
Je
ju
,
2
0
1
8
,
p
p
.
6
8
4
-
6
8
7
.
[2
1
]
L.
S
.
Kh
a
ra
n
g
a
te,
N.
G
u
in
d
e
,
a
n
d
A.
Tam
b
a
,
“
A
n
o
v
e
l
a
p
p
r
o
a
c
h
fo
r
m
e
tal
d
e
tec
ti
o
n
in
fo
o
d
u
si
n
g
c
u
rv
e
fit
ti
n
g
tec
h
n
iq
u
e
,
”
in
2
0
1
7
2
n
d
IEE
E
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
Rec
e
n
t
T
re
n
d
s
i
n
El
e
c
tro
n
ics
,
In
fo
rm
a
t
io
n
&
Co
mm
u
n
ica
ti
o
n
T
e
c
h
n
o
l
o
g
y
(
RT
EICT
)
,
Ba
n
g
a
lo
re
,
2
0
1
7
,
p
p
.
1
8
6
7
-
1
8
7
1
.
[2
2
]
B.
Kim
,
e
t
a
l
.
,
“
P
u
lse
-
in
d
u
c
ti
o
n
m
e
tal
d
e
tec
to
r
with
t
ime
-
d
o
m
a
in
b
u
c
k
i
n
g
c
irc
u
it
fo
r
lan
d
m
in
e
d
e
tec
ti
o
n
,
”
E
lec
tro
n
ics
L
e
tt
e
rs
,
v
o
l.
5
1
,
n
o
.
2
,
p
p
.
1
5
9
–
1
6
1
,
2
0
1
5
.
[2
3
]
D.
Am
b
ru
š,
D.
Va
sić
,
a
n
d
V.
Bil
a
s,
“
M
o
d
e
l
-
b
a
se
d
targ
e
t
c
las
sifica
ti
o
n
u
si
n
g
sp
a
ti
a
l
a
n
d
tem
p
o
ra
l
fe
a
tu
re
s
o
f
m
e
ta
l
d
e
tec
to
r
re
sp
o
n
se
,
”
in
2
0
1
5
IEE
E
S
e
n
so
rs
A
p
p
li
c
a
ti
o
n
s S
y
mp
o
siu
m
(S
AS
)
,
Zad
a
r,
2
0
1
5
,
p
p
.
1
-
6
.
[2
4
]
S
.
Ku
ra
c
h
i
,
e
t
a
l
.,
“
Hig
h
-
fre
q
u
e
n
c
y
in
d
u
c
ti
o
n
h
e
a
ti
n
g
fo
r
ti
n
y
f
o
re
ig
n
m
e
tals,
”
in
2
0
1
5
9
th
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
P
o
we
r E
lec
tro
n
ics
a
n
d
ECCE
Asia
(ICPE
-
ECC
E
Asi
a
)
,
S
e
o
u
l,
2
0
1
5
,
p
p
.
2
2
0
3
-
2
2
0
.
[2
5
]
J.
Kim
,
D.
Kim
a
n
d
Y.
P
a
r
k
,
“
F
re
e
-
P
o
siti
o
n
in
g
Wi
re
les
s
P
o
we
r
Tran
sfe
r
t
o
M
u
lt
i
p
l
e
De
v
ice
s
Us
in
g
a
P
lan
a
r
Tran
sm
it
ti
n
g
Co
il
a
n
d
S
witch
a
b
l
e
Im
p
e
d
a
n
c
e
M
a
tch
in
g
Ne
two
rk
s
,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
M
icr
o
w
a
v
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T
h
e
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ry
a
n
d
T
e
c
h
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iq
u
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s
,
v
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6
4
,
n
o
.
1
1
,
p
p
.
3
7
1
4
-
3
7
2
2
,
2
0
1
6
.
B
I
O
G
RAP
H
I
E
S
OF
AUTH
O
RS
Fre
d
d
y
Ar
ta
d
im
a
S
i
la
b
a
n
re
c
e
iv
e
d
h
is
M
a
ste
r
o
f
E
n
g
i
n
e
e
rin
g
(M
T)
d
e
g
re
e
in
El
e
c
tri
c
a
l
En
g
i
n
e
e
rin
g
,
In
f
o
rm
a
ti
o
n
Tec
h
n
o
lo
g
y
S
p
e
c
ializa
ti
o
n
,
G
u
n
a
d
a
rm
a
Un
iv
e
rsity
,
De
p
o
k
,
2
0
1
6
.
He
c
u
rre
n
tl
y
tea
c
h
e
s
a
t
Un
iv
e
rsitas
M
e
rc
u
Bu
a
n
a
,
Ja
k
a
rta
(I
n
d
o
n
e
sia
).
Th
e
f
o
c
u
s
o
f
th
e
re
se
a
rc
h
is
an
e
m
b
e
d
d
e
d
sy
ste
m
u
sin
g
c
o
n
tro
l
d
e
v
ice
s
su
c
h
a
s
th
e
F
P
G
A,
Ard
u
in
o
,
a
n
d
No
d
e
M
CU
M
o
d
u
les
.
As
we
ll
a
s IC
d
e
si
g
n
re
se
a
rc
h
u
sin
g
Xi
li
n
x
IS
E
.
S
e
tiy
o
B
u
d
i
y
a
n
t
o
is
a
n
As
so
c
iate
P
ro
fe
ss
o
r
i
n
El
e
c
tri
c
a
l
E
n
g
i
n
e
e
rin
g
,
U
n
iv
e
rsitas
M
e
rc
u
Bu
a
n
a
.
He
re
c
e
iv
e
d
h
is
P
h
.
D
.
i
n
E
lec
tri
c
a
l
En
g
i
n
e
e
rin
g
,
U
n
iv
e
rsitas
I
n
d
o
n
e
sia
(2
0
1
6
).
Cu
rre
n
tl
y
h
e
is
a
c
ti
v
e
a
s
a
Lec
tu
re
r
a
t
Un
i
v
e
rsitas
M
e
rc
u
Bu
a
n
a
,
Ja
k
a
rta
(In
d
o
n
e
sia
).
He
c
o
n
d
u
c
ts
s
o
m
e
re
se
a
rc
h
in
t
h
e
field
s
o
f
Dig
it
a
l
-
Ad
v
a
n
c
e
d
Wi
re
les
s Co
m
m
u
n
ica
ti
o
n
(D
-
AWC)
.
Lu
k
m
a
n
Medria
v
in
S
il
a
la
h
i
re
c
e
iv
e
d
h
is
M
a
ste
r
of
E
n
g
i
n
e
e
rin
g
(M
T
)
d
e
g
re
e
in
El
e
c
tri
c
a
l
En
g
i
n
e
e
rin
g
,
M
icro
wa
v
e
Tec
h
n
o
lo
g
y
,
U
n
iv
e
rsitas
M
e
rc
u
Bu
a
n
a
,
Ja
k
a
rta,
2
0
1
7
.
He
c
u
r
re
n
tl
y
tea
c
h
e
s
at
Un
iv
e
rsitas
M
e
rc
u
B
u
a
n
a
,
Ja
k
a
rta
(In
d
o
n
e
sia
).
T
h
e
fo
c
u
s
of
re
se
a
rc
h
is
m
o
b
il
e
tele
c
o
m
m
u
n
ica
ti
o
n
s
a
n
d
e
m
b
e
d
d
e
d
sy
ste
m
s.
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