I
AE
S
I
nte
rna
t
io
na
l J
o
urna
l o
f
Ro
bo
t
ics a
nd
Aut
o
m
a
t
io
n (
I
J
RA)
Vo
l.
1
0
,
No
.
1
,
Ma
r
ch
2021
,
p
p
.
1
~
9
I
SS
N:
2722
-
2586
,
DOI
: 1
0
.
1
1
5
9
1
/
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j
r
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.
v
10
i
1
.
pp
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-
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1
J
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ttp
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Portab
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ag
ricultural
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ste
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In
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net
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a
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th
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d
m
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it
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th
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so
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se
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tem
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n
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th
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a
re
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a
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it
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th
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c
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t
c
lo
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f
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m
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it
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g
.
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t
h
h
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rd
w
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re
n
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s are
b
u
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t
in
sm
a
ll
a
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d
p
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rtab
le siz
e
.
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h
e
e
x
p
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ri
m
e
n
tal
re
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lt
sh
o
w
s th
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t
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r
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sm
it
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e
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tr
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r
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o
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.
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terin
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d
o
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e
a
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to
m
a
ti
c
a
ll
y
b
a
se
d
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th
e
c
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d
it
i
o
n
o
f
se
n
so
r
v
a
lu
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s.
In
a
d
d
it
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o
n
,
t
h
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sy
ste
m
c
a
n
a
lso
b
e
m
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it
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re
d
th
r
o
u
g
h
a
w
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b
site
in
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e
,
so
th
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u
se
rs
c
a
n
e
a
sil
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f
in
d
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th
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d
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a
s
lo
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g
a
s
th
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is
in
tern
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t
a
c
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ss
.
K
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w
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d
s
:
Ag
r
icu
ltu
r
al
C
o
n
tr
o
ller
I
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ter
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et
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of
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t
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g
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Sen
s
o
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h
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is
a
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p
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c
c
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ss
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rticle
u
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d
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CC B
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SA
li
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C
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p
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A
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:
A
d
n
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R
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l T
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ta
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Dep
ar
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d
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war
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d
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,
W
est J
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a
4
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2
,
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d
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ail: a
d
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af
@
p
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NT
RO
D
UCT
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Glo
b
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w
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m
i
n
g
th
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s
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r
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tl
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h
ap
p
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g
h
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a
n
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m
p
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t
o
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th
e
u
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ce
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tain
t
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o
f
cli
m
at
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ch
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g
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em
p
er
atu
r
e,
h
u
m
id
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,
s
o
il
m
o
is
tu
r
e,
an
d
s
u
n
li
g
h
t
in
te
n
s
i
t
y
ar
e
s
o
m
e
p
ar
a
m
eter
s
t
h
at
also
af
f
ec
t
th
e
ch
a
n
g
es
.
I
n
ag
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ic
u
lt
u
r
e,
th
e
c
h
a
n
g
e
i
n
e
n
v
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o
n
m
e
n
tal
p
ar
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m
eter
s
is
o
n
e
o
f
th
e
i
m
p
o
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tan
t
f
ac
to
r
s
t
h
at
m
u
s
t b
e
co
n
s
id
er
ed
b
y
th
e
f
ar
m
er
s
to
m
a
in
tai
n
p
r
o
d
u
ctiv
it
y
.
C
u
r
r
en
t
co
n
d
itio
n
s
in
th
e
f
ield
,
t
h
e
f
ar
m
er
s
h
av
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li
m
ited
ac
ce
s
s
to
co
n
tr
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l
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d
m
o
n
ito
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t
h
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p
ar
a
m
eter
s
.
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n
e
s
o
lu
t
io
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t
h
at
ca
n
b
e
d
o
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i
s
b
y
d
e
s
ig
n
i
n
g
a
s
y
s
te
m
t
h
at
is
a
b
le
to
p
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o
v
id
e
in
f
o
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m
atio
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ab
o
u
t
ag
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lt
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al
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ar
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m
eter
s
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tili
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g
th
e
co
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ce
p
t
o
f
in
te
r
n
et
of
th
in
g
s
(
I
o
T
)
an
d
w
ir
ele
s
s
s
e
n
s
o
r
tec
h
n
o
lo
g
ies.
I
o
T
is
th
e
co
n
ce
p
t
o
f
u
s
in
g
in
ter
n
et
tec
h
n
o
lo
g
y
f
o
r
ce
r
tain
n
ee
d
s
t
h
at
ca
n
f
ac
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ate
h
u
m
a
n
w
o
r
k
.
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c
o
m
e
s
alo
n
g
w
it
h
th
e
d
ev
elo
p
m
en
t
o
f
o
th
er
co
m
p
u
ter
tech
n
o
lo
g
ies.
I
o
T
ca
n
b
e
in
te
g
r
ated
w
i
th
s
ev
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al
tec
h
n
o
lo
g
ies
w
h
ic
h
i
n
th
e
f
u
tu
r
e
w
il
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b
e
w
id
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y
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s
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s
u
c
h
as
w
ir
ele
s
s
s
en
s
o
r
tech
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o
lo
g
y
[
1
]
.
T
h
e
u
s
e
o
f
t
h
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I
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co
n
ce
p
t
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ag
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lt
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ca
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o
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a
te
a
g
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lt
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r
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m
a
n
a
g
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m
en
t
[
2
-
4
]
.
T
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e
I
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T
s
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s
te
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ca
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b
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u
s
ed
f
o
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m
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al
p
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m
eter
s
in
a
g
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ar
ea
s
.
I
n
a
r
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v
el
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lar
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e
ar
ea
,
I
o
T
ca
n
also
b
e
in
teg
r
ated
w
it
h
th
e
w
ir
ele
s
s
s
e
n
s
o
r
n
et
w
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k
(
W
SN)
co
n
ce
p
t.
W
SN
tech
n
o
lo
g
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i
s
also
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
:
2
7
2
2
-
2586
I
A
E
S
I
n
t
J
R
ob
&
A
u
to
m
,
Vo
l
.
1
0
,
No
.
1
,
Ma
r
ch
2021
:
1
–
9
2
w
id
el
y
u
s
ed
in
v
ar
io
u
s
w
a
y
s
s
u
c
h
a
s
m
o
n
i
to
r
in
g
aq
u
ac
u
lt
u
r
e
[
5
]
,
m
o
n
ito
r
in
g
lan
d
s
lid
e
[
6
]
,
an
d
f
o
r
est
f
ir
e
d
etec
tio
n
s
y
s
te
m
s
[
7
]
.
I
n
a
g
r
icu
lt
u
r
e,
th
e
co
n
ce
p
t
o
f
W
SN
ca
n
b
e
ap
p
lied
as
a
m
o
n
ito
r
in
g
s
y
s
te
m
f
o
r
ag
r
icu
l
tu
r
al
p
ar
a
m
eter
s
[
8
,
9
]
,
au
to
m
atic
ir
r
ig
a
tio
n
co
n
tr
o
l
s
y
s
te
m
s
[
1
0
]
,
an
d
in
telli
g
e
n
t
ir
r
ig
atio
n
co
n
tr
o
l
sy
s
te
m
s
[
1
1
,
1
2
]
.
Fu
r
th
er
m
o
r
e
,
th
e
I
o
T
an
d
W
SN
co
n
ce
p
ts
ar
e
v
er
y
s
u
itab
le
to
b
e
im
p
le
m
e
n
ted
in
ag
r
ic
u
lt
u
r
e
b
o
th
as a
co
n
tr
o
l s
y
s
te
m
a
n
d
a
m
o
n
ito
r
i
n
g
s
y
s
te
m
.
T
h
e
p
u
r
p
o
s
e
o
f
th
is
r
esear
ch
i
s
to
d
esig
n
an
d
d
ev
elo
p
a
p
air
o
f
p
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tab
le
w
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o
d
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s
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ar
t
ag
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l
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r
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s
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b
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o
n
I
o
T
.
Sen
s
o
r
n
o
d
e
in
clu
d
es
s
o
i
l
m
o
is
t
u
r
e
s
en
s
o
r
YL
-
6
9
an
d
te
m
p
er
atu
r
e
s
e
n
s
o
r
DS1
8
B
2
0
.
T
h
e
s
en
s
o
r
n
o
d
e
is
d
esig
n
ed
to
b
e
p
lace
d
in
th
e
a
g
r
icu
l
tu
r
al
ar
ea
th
at
h
a
s
li
m
ite
d
ac
ce
s
s
to
i
n
ter
n
et
co
m
m
u
n
icatio
n
a
n
d
p
o
w
er
s
u
p
p
l
y
.
T
h
is
d
ev
ice
g
iv
e
s
in
f
o
r
m
at
io
n
ab
o
u
t
t
h
e
ag
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lt
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al
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ar
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eter
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th
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co
n
tr
o
ller
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o
d
e
th
r
o
u
g
h
lo
w
-
c
o
s
t
r
ad
io
f
r
eq
u
e
n
c
y
(
R
F)
co
m
m
u
n
icat
io
n
.
T
h
is
R
F
m
o
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le
n
a
m
ed
n
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0
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is
u
s
ed
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e
to
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e
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s
o
n
s
,
s
u
ch
a
s
lo
w
-
co
s
t
co
m
p
o
n
e
n
t,
l
o
w
m
e
m
o
r
y
u
s
ag
e,
a
n
d
lo
w
p
o
w
er
co
n
s
u
m
p
tio
n
[
1
3
]
.
B
asically
,
th
e
o
th
er
w
ir
e
less
m
o
d
u
le
s
in
ag
r
ic
u
lt
u
r
e
ap
p
licatio
n
ca
n
al
s
o
b
e
u
s
ed
s
u
c
h
a
s
B
lu
e
to
o
th
[
1
4
]
an
d
Z
i
g
b
ee
m
o
d
u
le
[
1
5
]
,
b
u
t
B
lu
eto
o
th
h
a
s
r
elati
v
el
y
s
h
o
r
t
r
an
g
e
co
m
m
u
n
icatio
n
a
n
d
Z
i
g
b
ee
is
r
elati
v
el
y
ex
p
en
s
iv
e.
T
h
u
s
,
in
th
i
s
s
t
u
d
y
,
w
e
u
s
e
an
R
F
m
o
d
u
le
as
a
lo
w
-
co
s
t
w
ir
eles
s
m
o
d
u
le
co
m
m
u
n
ic
atio
n
.
T
h
e
i
n
ter
n
e
t
n
et
w
o
r
k
is
ap
p
lied
to
th
e
co
n
tr
o
ller
n
o
d
e
th
at
is
in
a
s
af
e
p
lace
,
h
av
e
in
ter
n
et
ac
ce
s
s
,
an
d
af
f
o
r
d
ab
le
p
o
w
er
s
u
p
p
l
y
.
W
e
u
s
e
a
w
i
f
i
m
o
d
u
le
E
SP
8
2
6
6
to
tr
an
s
m
it
t
h
e
s
e
n
s
o
r
d
ata
to
th
e
in
ter
n
et
s
er
v
er
.
W
iFi
m
o
d
u
le
is
u
s
ed
d
u
e
to
p
o
r
tab
ilit
y
ch
ar
ac
ter
is
tic.
T
h
e
u
s
e
o
f
in
ter
n
et
n
et
w
o
r
k
d
ir
ec
tl
y
o
n
t
h
e
s
e
n
s
o
r
n
o
d
e
ca
n
ac
tu
all
y
b
e
d
o
n
e
u
s
in
g
GSM
n
et
w
o
r
k
s
a
s
p
r
ese
n
ted
i
n
[
1
6
]
.
Ho
w
e
v
er
,
t
h
e
GS
M
n
et
w
o
r
k
s
o
m
eti
m
es
u
n
s
tab
le
i
n
s
en
d
i
n
g
d
ata
a
n
d
is
m
o
r
e
co
m
p
lica
ted
in
t
h
e
i
n
s
ta
llatio
n
p
r
o
ce
s
s
.
F
u
r
th
er
m
o
r
e,
b
y
u
s
i
n
g
th
is
p
r
o
p
o
s
ed
co
n
ce
p
t,
it
w
ill
b
e
ea
s
ier
in
th
e
in
s
tallat
io
n
p
r
o
ce
s
s
,
lo
w
-
co
s
t
h
ar
d
w
ar
e
s
y
s
te
m
,
an
d
h
av
in
g
f
lex
ib
i
lit
y
i
n
h
ar
d
w
ar
e
p
lace
m
e
n
t.
T
h
e
co
n
t
r
ib
u
tio
n
o
f
t
h
is
p
ap
er
is
to
d
es
ig
n
a
p
air
o
f
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o
r
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le
n
o
d
es
with
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i
m
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le
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n
tr
o
l
alg
o
r
ith
m
t
h
at
ar
e
s
m
a
ll in
s
iz
e
an
d
ca
n
b
e
d
u
p
licated
as n
ee
d
ed
f
o
r
m
o
n
i
to
r
in
g
lar
g
e
ag
r
ic
u
lt
u
r
al
ar
ea
s
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
T
h
is
r
esear
ch
i
s
co
n
d
u
cted
u
s
i
n
g
t
h
e
h
ar
d
w
ar
e
an
d
s
o
f
t
w
ar
e
ex
p
er
i
m
e
n
t
al
m
eth
o
d
.
Har
d
w
a
r
e
s
y
s
te
m
is
b
u
ilt
to
d
eter
m
i
n
e
t
h
e
p
er
f
o
r
m
a
n
ce
o
f
t
h
e
co
n
ce
p
t
b
ein
g
d
esig
n
ed
.
T
h
e
s
tag
e
s
ca
r
r
ied
o
u
t
in
t
h
is
s
ec
tio
n
in
cl
u
d
e
o
v
er
all
s
y
s
te
m
ar
ch
ite
ctu
r
e
,
h
ar
d
w
ar
e
d
esi
g
n
,
co
n
tr
o
l
d
esig
n
,
an
d
m
o
n
ito
r
in
g
d
esi
g
n
.
2
.
1
.
Sy
s
t
em
a
rc
hite
ct
ure
T
h
e
d
esig
n
ed
s
y
s
te
m
ar
ch
i
tect
u
r
e
is
d
e
p
icted
in
Fig
u
r
e
1
.
T
h
e
s
en
s
o
r
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e
is
b
u
ilt
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s
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g
YL
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(
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ata
tr
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itter
to
th
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ter
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C
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ater
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Se
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ac
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ar
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co
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Fig
u
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ased
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ad
e
f
o
r
p
o
w
er
s
u
p
p
l
y
i
n
s
tal
latio
n
i
n
t
h
e
ag
r
ic
u
lt
u
r
al
ar
ea
.
T
h
is
is
n
o
t
e
f
f
ec
t
iv
el
y
d
o
n
e
b
ec
au
s
e
t
h
e
s
e
n
s
o
r
n
o
d
es
a
r
e
d
esig
n
ed
to
b
e
p
o
r
tab
le
w
it
h
a
p
o
w
er
s
u
p
p
l
y
f
r
o
m
th
e
b
atter
y
.
I
n
ad
d
itio
n
,
i
f
th
e
DC
p
u
m
p
is
s
u
p
p
lied
w
it
h
p
o
w
er
f
r
o
m
t
h
e
b
atter
y
,
it
w
ill
ca
u
s
e
a
w
as
te
o
f
p
o
w
er
at
th
e
s
e
n
s
o
r
n
o
d
e
d
u
e
to
th
e
lar
g
e
d
em
a
n
d
f
o
r
p
u
m
p
p
o
w
er
.
T
h
e
L
C
D
d
is
p
la
y
i
s
also
u
s
ed
to
d
is
p
la
y
p
ar
a
m
eter
v
a
lu
e
s
in
t
h
i
s
s
y
s
te
m
.
E
lectr
icall
y
,
w
e
d
esi
g
n
t
h
e
h
ar
d
w
ar
e
s
y
s
te
m
as
s
m
al
l
as
p
o
s
s
ib
le
to
ac
h
ie
v
e
s
e
v
er
al
n
o
d
e
s
p
ec
if
icatio
n
s
s
u
ch
as
lig
h
t
weig
h
t,
p
o
r
tab
le,
f
le
x
ib
le,
a
n
d
lo
w
-
co
s
t.
Sen
s
o
r
an
d
co
n
tr
o
ller
n
o
d
es
ar
e
t
h
e
n
ass
e
m
b
led
in
s
m
al
l
p
r
o
to
ty
p
in
g
u
s
i
n
g
a
p
r
o
j
ec
t
b
o
ar
d
as
p
r
eli
m
i
n
ar
y
d
esi
g
n
b
ef
o
r
e
co
n
s
tr
u
cted
i
n
i
n
te
g
r
ated
h
ar
d
w
ar
e
as
p
r
ese
n
ted
in
t
h
e
p
r
ev
io
u
s
s
t
u
d
y
[
1
7
]
.
I
n
th
is
s
tu
d
y
,
w
e
h
a
v
e
to
in
teg
r
ate
t
h
e
h
ar
d
w
ar
e
s
y
s
te
m
u
s
i
n
g
a
r
ap
id
p
r
o
to
ty
p
in
g
m
et
h
o
d
.
A
ll
o
f
t
h
e
elec
tr
ical
co
m
p
o
n
en
ts
ar
e
i
n
te
g
r
ated
u
s
in
g
s
o
ld
er
in
g
s
y
s
te
m
to
g
u
ar
a
n
tee
t
h
e
s
tab
ilit
y
o
f
w
ir
i
n
g
s
y
s
te
m
.
T
h
e
elec
tr
ical
cir
c
u
it
o
f
s
e
n
s
o
r
an
d
co
n
tr
o
ller
n
o
d
es
b
ased
o
n
t
h
e
h
ar
d
w
ar
e
b
lo
ck
d
iag
r
a
m
is
d
e
p
icted
in
Fig
u
r
e
s
3
an
d
4
r
esp
ec
tiv
el
y
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2586
I
A
E
S
I
n
t
J
R
ob
&
A
u
to
m
,
Vo
l
.
1
0
,
No
.
1
,
Ma
r
ch
2021
:
1
–
9
4
Fig
u
r
e
3
.
E
lectr
ical
s
ch
e
m
atic
o
f
th
e
s
e
n
s
o
r
n
o
d
e
Fig
u
r
e
4
.
E
lectr
ical
s
ch
e
m
atic
o
f
co
n
tr
o
ller
n
o
d
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2586
P
o
r
ta
b
le
w
ir
eles
s
n
o
d
e
d
esig
n
fo
r
s
ma
r
t a
g
r
icu
ltu
r
a
l sys
tem
b
a
s
ed
…
(
A
d
n
a
n
R
a
fi A
l Ta
h
t
a
w
i
)
5
2.
3
.
Co
ntr
o
l sy
s
t
e
m
de
s
ig
n
T
h
e
co
n
tr
o
l
alg
o
r
ith
m
is
d
e
s
i
g
n
ed
s
o
t
h
at
t
h
e
w
ater
i
n
g
p
r
o
ce
s
s
ca
n
w
o
r
k
a
u
to
m
at
icall
y
.
T
h
e
b
lo
ck
d
iag
r
a
m
o
f
t
h
e
co
n
tr
o
l
s
y
s
te
m
i
s
d
ep
icted
in
Fi
g
u
r
e
5
.
C
o
n
tr
o
l
s
y
s
te
m
is
d
esi
g
n
ed
u
s
i
n
g
co
n
v
e
n
tio
n
al
r
ela
y
o
n
/o
f
f
co
n
tr
o
ller
b
ased
o
n
th
e
v
alu
e
s
o
f
s
o
il
m
o
is
tu
r
e
a
n
d
te
m
p
er
at
u
r
e
.
L
o
g
ical
l
y
,
w
h
e
n
t
h
e
s
o
il
m
o
i
s
t
u
r
e
an
d
te
m
p
er
atu
r
e
ex
ce
ed
a
ce
r
tai
n
li
m
it,
t
h
e
m
icr
o
co
n
tr
o
ller
w
ill
s
en
d
a
lo
g
ic
s
i
g
n
al
to
th
e
r
ela
y
w
h
ic
h
is
co
n
n
ec
ted
to
th
e
p
u
m
p
in
a
ce
r
tai
n
d
u
r
ati
o
n
.
T
h
e
p
u
m
p
w
ill
n
o
t
w
o
r
k
wh
en
t
h
e
s
en
s
o
r
v
al
u
es d
o
n
o
t e
x
ce
ed
th
e
s
p
ec
if
ied
li
m
it.
Mo
r
e
clea
r
l
y
,
th
i
s
au
to
m
atic
co
n
tr
o
l
alg
o
r
ith
m
ca
n
b
e
s
e
en
in
T
ab
le
1
.
B
ased
o
n
th
e
alg
o
r
ith
m
,
it
ca
n
b
e
s
ee
n
t
h
at
th
e
p
u
m
p
w
ill
b
e
o
n
f
o
r
a
ce
r
tain
d
u
r
atio
n
w
h
e
n
co
n
d
itio
n
s
A
,
D,
E
,
G,
an
d
H.
I
n
co
n
tr
ast,
th
e
p
u
m
p
w
il
l
b
e
o
f
f
w
h
e
n
f
u
l
f
illed
co
n
d
itio
n
s
B
,
C
,
F,
an
d
I
.
T
h
is
co
n
tr
o
l
alg
o
r
it
h
m
is
ce
r
tain
l
y
ca
n
b
e
m
o
d
i
f
ied
ag
a
in
as
n
ee
d
ed
ac
co
r
d
in
g
to
t
h
e
ac
tu
al
co
n
d
itio
n
.
T
h
e
v
alu
e
s
i
n
ea
ch
co
n
d
itio
n
ca
n
also
b
e
m
o
d
if
ied
ac
co
r
d
in
g
to
th
e
cu
r
r
en
t e
n
v
ir
o
n
m
e
n
tal
p
ar
a
m
eter
.
Fig
u
r
e
5
.
C
o
n
tr
o
l s
y
s
te
m
d
esi
g
n
T
ab
le
1
.
T
h
e
co
n
tr
o
ller
alg
o
r
ith
m
C
o
n
d
i
t
i
o
n
s
T
e
mp
e
r
a
t
u
r
e
S
o
i
l
M
o
i
st
u
r
e
P
u
mp
S
t
a
t
e
A
<
2
5
℃
<
3
0
%
ON
B
<
2
5
℃
3
0
%
≤
y
≤
5
0
%
O
F
F
C
<
2
5
℃
>
5
0
%
O
F
F
D
2
5
℃
≤
x
≤
3
0
℃
<
3
0
%
ON
E
2
5
℃
≤
x
≤
3
0
℃
3
0
%
≤
y
≤
5
0
%
ON
F
2
5
℃
≤
x
≤
3
0
℃
>
5
0
%
O
F
F
G
>
3
0
℃
<
3
0
%
ON
H
>
3
0
℃
3
0
%
≤
y
≤
5
0
%
ON
I
>
3
0
℃
>
5
0
%
O
F
F
2
.
4
.
M
o
nito
ring
des
ig
n
W
e
u
s
e
I
o
T
co
n
ce
p
t
as
t
h
e
m
et
h
o
d
o
lo
g
y
o
f
m
o
n
ito
r
in
g
s
y
s
te
m
.
I
n
t
h
e
co
n
tr
o
ller
n
o
d
e,
th
er
e
is
a
W
iFi
m
o
d
u
le
t
h
at
w
ill
b
e
co
n
n
ec
ted
to
an
i
n
ter
n
et
n
et
w
o
r
k
in
t
h
e
s
ta
tio
n
r
o
o
m
.
T
h
is
m
o
n
ito
r
in
g
s
y
s
te
m
i
s
d
esig
n
ed
as
a
u
s
er
i
n
ter
f
ac
e.
W
ith
th
i
s
s
y
s
te
m
,
th
e
p
ar
a
m
eter
s
ca
n
b
e
o
b
s
er
v
ed
b
y
t
h
e
u
s
er
v
ia
w
eb
s
ite
in
ter
f
ac
e.
T
h
e
f
lo
w
c
h
ar
t o
f
m
o
n
ito
r
in
g
s
y
s
te
m
i
s
d
ep
icted
in
Fig
u
r
e
6
.
Fig
u
r
e
6
.
Flo
w
c
h
ar
t o
f
m
o
n
ito
r
in
g
s
y
s
te
m
in
t
h
e
s
e
n
s
o
r
n
o
d
e
(
lef
t
)
an
d
th
e
co
n
tr
o
ller
n
o
d
e
(
r
ig
h
t
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2586
I
A
E
S
I
n
t
J
R
ob
&
A
u
to
m
,
Vo
l
.
1
0
,
No
.
1
,
Ma
r
ch
2021
:
1
–
9
6
T
h
e
d
esig
n
ed
s
y
s
te
m
m
o
n
i
to
r
in
g
allo
w
s
th
e
u
s
er
to
m
an
a
g
e
s
en
s
o
r
d
ata.
T
h
e
u
s
er
ca
n
m
an
a
g
e
th
e
d
ata
af
ter
th
e
y
ar
e
lo
g
in
to
t
h
e
w
eb
s
ite
i
n
ter
f
ac
e.
T
h
e
f
ac
ilit
i
es
th
at
ca
n
b
e
u
s
ed
ar
e
ex
p
o
r
t
an
d
d
elete
th
e
d
ata.
W
ith
t
h
is
f
ea
t
u
r
e,
u
s
er
s
h
a
v
e
th
e
ad
v
a
n
ta
g
es
t
o
ac
ce
s
s
th
e
d
ata
w
i
th
o
u
t
li
m
ita
tio
n
a
s
t
h
o
s
e
o
f
f
er
ed
b
y
s
o
m
e
th
ir
d
p
ar
ty
I
o
T
p
latf
o
r
m
s
.
3.
RE
SU
L
T
AND
DI
SCUS
SI
O
N
3
.
1
.
H
a
rdwa
re
i
m
ple
m
ent
a
t
io
n
I
n
t
h
is
s
tep
,
h
ar
d
w
ar
e
i
m
p
le
m
en
tatio
n
is
co
n
d
u
cted
i
n
ac
co
r
d
an
ce
w
it
h
t
h
e
d
esig
n
th
a
t
h
as
d
escr
ib
ed
p
r
ev
io
u
s
l
y
.
B
o
th
s
e
n
s
o
r
an
d
c
o
n
tr
o
ller
n
o
d
es
ar
e
b
u
ilt
in
s
m
all
s
ize
d
u
e
to
s
e
v
er
al
n
o
d
e
cr
iter
ia
m
e
n
tio
n
ed
i
n
th
e
p
r
ev
io
u
s
s
ec
tio
n
.
T
h
e
r
esu
lt
o
f
i
m
p
le
m
en
tatio
n
s
h
o
w
s
th
at
t
h
e
n
o
d
e
s
y
s
te
m
is
co
n
s
tr
u
cted
as
w
el
l
as
ex
p
ec
ted
.
Mo
r
e
d
etails
ab
o
u
t
t
h
e
n
o
d
e
h
ar
d
w
ar
e
p
ar
a
m
e
ter
c
an
b
e
s
ee
n
i
n
T
ab
le
2
,
w
h
ile
t
h
e
p
ictu
r
e
o
f
n
o
d
e
h
ar
d
w
ar
e
ca
n
b
e
s
ee
n
i
n
Fi
g
u
r
e
7
.
T
ab
le
2
.
Har
d
w
ar
e
i
m
p
le
m
e
n
t
atio
n
r
esu
l
ts
N
o
d
e
D
i
me
n
si
o
n
(
c
m)
W
e
i
g
h
t
(
g
)
S
e
n
so
r
9
.
2
x
6
.
8
x
8
.
7
3
2
0
C
o
n
t
r
o
l
l
e
r
1
0
.
8
x
6
.
4
x
8
.
6
2
6
0
Fig
u
r
e
7
.
T
h
e
n
o
d
e
h
ar
d
w
ar
e:
s
en
s
o
r
n
o
d
e
(
lef
t)
,
co
n
tr
o
ller
n
o
d
e
(
r
ig
h
t)
3
.
2
.
Sens
o
r
s
y
s
t
e
m
t
esting
Sen
s
o
r
test
in
g
is
p
er
f
o
r
m
ed
to
s
ee
th
e
lin
ea
r
itie
s
o
f
YL
-
6
9
s
o
il
m
o
is
t
u
r
e
s
e
n
s
o
r
,
DS1
8
B
2
0
te
m
p
er
atu
r
e
s
e
n
s
o
r
,
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ased
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NC
E
S
[1
]
J.
G
u
b
b
i,
R.
B
u
y
y
a
,
S
.
M
a
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sic
,
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In
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Co
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S
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m
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2
9
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.
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p
p
.
1
6
4
5
-
1
6
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0
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2
0
1
2
.
[2
]
M
.
A
.
Ak
k
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ş an
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R.
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o
k
u
ll
u
,
“
A
n
Io
T
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h
M
ica
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m
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tes
,
”
Pro
c
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d
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o
mp
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ter
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c
e
,
v
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l.
1
1
3
,
p
p
.
6
0
3
-
6
0
8
,
2
0
1
7
.
[3
]
R.
S
h
a
h
z
a
d
i,
M
.
T
a
u
sif
,
J.
F
e
rz
u
n
d
,
M
.
A
.
S
u
ry
a
n
i,
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tern
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o
f
th
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s
b
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d
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s
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ste
m
f
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s
m
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,
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ter
n
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t
io
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o
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rn
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d
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ter
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o
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9
,
p
p
.
3
4
1
-
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0
,
2
0
1
6
.
[4
]
J.
Nu
v
u
la,
S
.
A
d
iraju
,
S
.
M
u
b
i
n
,
S
.
Ba
n
o
,
V
.
R
.
V
a
li
se
tt
y
,
“
En
v
iro
n
m
e
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tal
sm
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rt
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lt
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m
o
n
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to
rin
g
sy
ste
m
u
sin
g
in
tern
e
t
o
f
th
i
n
g
s
,
”
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ter
n
a
ti
o
n
a
l
J
o
u
r
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a
l
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re
a
n
d
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p
p
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a
th
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ti
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s
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l.
1
1
5
,
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o
.
6
,
p
p
.
3
1
3
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3
2
0
,
2
0
1
7
.
[5
]
K.
G
.
S
u
tar,
R.
T
.
P
a
ti
l,
“
W
irele
ss
se
n
so
r
n
e
t
w
o
rk
s
y
ste
m
to
m
o
n
it
o
r
th
e
f
ish
fa
r
m
,
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In
ter
n
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ti
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n
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l
J
o
u
rn
a
l
o
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En
g
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se
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s
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l
.
3
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5
,
p
p
.
1
9
4
-
1
9
7
,
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t
2
0
1
3
.
[6
]
M
.
V.
Ra
m
e
sh
,
“
De
sig
n
,
d
e
v
e
lo
p
m
e
n
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a
n
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tw
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rk
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o
r
d
e
tec
ti
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n
o
f
lan
d
slid
e
s,”
Ad
Ho
c
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tw
o
rk
s
,
v
o
l.
1
3
,
p
p
.
2
-
1
8
,
2
0
1
4
.
[7
]
A
.
H
e
ru
to
m
o
,
M
.
A
b
d
u
ro
h
m
a
n
,
N.
A
.
S
u
wa
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a
,
S
.
P
ra
b
o
w
o
a
n
d
C.
W
.
W
ij
iu
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m
o
,
“
F
o
re
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f
ire
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e
tec
ti
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ste
m
re
li
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Op
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m
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latf
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,
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2
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In
ter
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Co
mm
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ICo
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CT
,
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sa
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0
9
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2
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7
2
3
1
4
0
2
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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2722
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9
[8
]
J.
S
.
Aw
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ti
,
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.
P
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ti
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a
n
d
S
.
Aw
a
ti
,
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p
p
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ricu
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ter
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p
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[9
]
D.
D.
Ch
a
u
d
h
a
ry
,
S
.
P
.
Na
y
se
,
a
n
d
L
.
M
.
W
a
g
h
m
a
r,
“
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p
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ter
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in
p
re
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a
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re
,
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ter
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.
[1
0
]
J.
G
u
ti
é
rre
z
,
J.
F
.
V
il
la
-
M
e
d
in
a
,
A
.
Nie
to
-
Ga
rib
a
y
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n
d
M
.
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.
P
o
rt
a
-
Gá
n
d
a
ra
,
“
A
u
to
m
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ted
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u
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g
a
w
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n
so
r
n
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tw
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rk
a
n
d
G
P
RS
m
o
d
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le
,
”
IEE
E
T
r
a
n
s
a
c
ti
o
n
s
o
n
In
stru
me
n
ta
ti
o
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a
n
d
M
e
a
su
re
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n
t
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l.
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0
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4
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0
9
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.
2
0
1
3
.
2
2
7
6
4
8
7
.
[1
1
]
L
.
G
a
o
,
M
Zh
a
n
g
,
G
.
Ch
e
n
,
“
A
n
in
telli
g
e
n
t
irri
g
a
ti
o
n
sy
ste
m
b
a
se
d
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n
w
irele
ss
se
n
so
r
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tw
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rk
a
n
d
f
u
z
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y
c
o
n
tro
l
,
”
J
o
u
rn
a
l
o
f
Ne
two
rk
s
,
v
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l.
8
,
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o
.
5
,
p
p
.
1
0
8
0
-
1
0
8
7
,
2
0
1
3
.
[1
2
]
V
.
S
ra
v
a
n
i,
K.
V
.
S
a
n
to
s
h
,
S
.
Bh
a
rg
a
v
a
,
V
.
D’A
l
m
e
id
a
,
“
De
si
g
n
a
n
d
im
p
le
m
e
n
tatio
n
o
f
a
s
m
a
rt
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ler
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n
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lt
u
re
f
o
r
im
p
ro
v
e
d
p
ro
d
u
c
ti
v
it
y
,
”
El
e
c
trica
,
v
o
l.
1
8
,
n
o
.
1
,
p
p
.
4
5
-
5
1
,
2
0
1
8
.
[1
3
]
U.
J.
S
h
o
b
ri
n
a
,
R.
P
rim
a
n
a
n
d
a
,
R.
M
a
u
lan
a
,
“
A
n
a
l
y
sis
o
f
tran
sc
e
iv
e
r
m
o
d
u
le
d
a
ta
se
n
d
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g
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o
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0
1
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a
n
d
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8
2
6
6
o
n
a
w
irele
ss
se
n
so
r
n
e
tw
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rk
(in
Ba
h
a
sa
),
”
J
u
rn
a
l
Pen
g
e
mb
a
n
g
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n
T
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n
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lo
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Ko
mp
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ter
,
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l.
2
,
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4
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p
p
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1
5
1
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5
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7
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.
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4
]
Yu
e
S
h
a
o
b
o
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t
a
l
.
,
“
T
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o
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e
to
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le
o
n
th
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g
ricu
lt
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re
e
x
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rt
s
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ste
m
,
”
2
0
1
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2
n
d
In
t
e
rn
a
t
io
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a
l
Co
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fer
e
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e
o
n
In
d
u
stri
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a
n
d
In
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ms
,
Da
li
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n
,
Ch
in
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,
p
p
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1
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9
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,
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0
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:
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S
I
S
.
2
0
1
0
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5
5
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5
9
0
2
.
[1
5
]
A
.
Ku
m
a
r,
K.
Ka
m
a
l,
M
.
O.
A
r
sh
a
d
,
S
.
M
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th
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a
n
d
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.
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d
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m
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la,
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m
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g
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o
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re
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n
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rs
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d
X
Be
e
-
b
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d
c
o
m
m
u
n
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,
”
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E
Glo
b
a
l
Hu
ma
n
i
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T
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n
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HTC
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4
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n
Jo
se
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,
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2
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[1
6
]
K.
A
n
u
sh
a
,
T
.
S
u
re
sh
,
K.
N.
Re
d
d
y
,
“
G
S
M
b
a
s
e
d
a
u
to
m
a
ti
o
n
s
y
st
e
m
f
o
r
a
g
ricu
lt
u
ra
l
f
ield
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Co
m
p
u
ter
S
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c
e
a
n
d
M
o
b
il
e
Co
mp
u
t
in
g
,
v
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l
.
4
,
n
o
.
1
,
p
p
.
2
3
6
-
2
4
1
,
2
0
1
5
.
[1
7
]
A
.
R.
A
l
Tah
taw
i,
E.
A
n
d
ik
a
,
W
.
N.
Ha
rjan
to
,
“
In
it
ial
d
e
sig
n
o
f
w
irele
ss
n
o
d
e
-
b
a
se
d
a
n
d
in
tern
e
t
-
of
-
th
in
g
s
a
u
to
m
a
ti
c
irri
g
a
ti
o
n
c
o
n
tr
o
l
sy
ste
m
d
e
v
e
lo
p
m
e
n
t
(in
Ba
h
a
sa
)
,
”
J
u
rn
a
l
Ot
o
ma
si,
Ko
n
tro
l,
d
a
n
I
n
stru
me
n
ta
si
v
o
l.
1
0
,
n
o
.
2
,
p
p
.
1
2
1
-
1
3
2
,
2
0
1
8
,
d
o
i:
1
0
.
5
6
1
4
/j
o
k
i.
2
0
1
8
.
1
0
.
2
.
5
.
[1
8
]
S
.
Na
v
u
lu
r,
M
.
G
.
P
ra
sa
d
,
“
A
g
ric
u
lt
u
ra
l
m
a
n
a
g
e
m
e
n
t
th
ro
u
g
h
w
irele
ss
se
n
so
rs an
d
in
tern
e
t
o
f
th
in
g
s
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
El
e
c
t
ric
a
l
a
n
d
C
o
mp
u
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n
g
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n
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e
rin
g
,
v
o
l.
7
,
n
o
.
6
,
p
p
.
3
4
9
2
-
3
4
9
9
,
2
0
1
7
.
[1
9
]
R.
B.
L
u
k
it
o
,
C.
L
u
k
it
o
,
“
De
v
e
l
o
p
m
e
n
t
o
f
Io
T
a
t
h
y
d
ro
p
o
n
ic
sy
ste
m
u
sin
g
Ra
sp
b
e
rry
P
i,
”
T
e
lec
o
mm
u
n
ic
a
ti
o
n
,
Co
mp
u
t
in
g
,
El
e
c
tro
n
ics
a
n
d
Co
n
t
ro
l
T
EL
KOM
NIKA
,
v
o
l.
1
7
,
n
o
.
2
,
p
p
.
8
9
7
-
9
0
6
,
2
0
1
8
.
[2
0
]
D.
I.
S
a
p
u
tra,
A
.
Ro
h
m
a
t,
A
.
Na
j
m
u
rro
k
h
m
a
n
,
Z.
F
a
k
h
ri,
“
I
m
p
le
m
e
n
tatio
n
o
f
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