I
nte
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t
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
.
3
,
Sep
tem
b
er
2020
,
pp.
2
11
~
2
19
I
SS
N:
2089
-
4856
,
DOI
:
1
0
.
1
1
5
9
1
/
i
j
r
a
.
v
9
i
3
.
pp
2
11
-
2
19
211
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ttp
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A
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m
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crow
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M
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d
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m
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d
e
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ice
s
can
re
c
o
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d
if
f
e
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n
t
p
h
y
sic
a
l
la
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r
m
e
a
su
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ts.
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h
e
se
m
e
a
su
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m
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ts
a
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in
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ica
ti
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se
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q
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a
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at
th
e
p
o
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n
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th
e
y
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re
c
o
ll
e
c
ted
.
T
h
e
se
m
e
a
su
re
m
e
n
ts
d
a
ta
can
be
a
g
g
re
g
a
ted
to
f
o
r
m
p
h
y
sic
a
l
la
y
e
r
m
e
a
su
re
m
e
n
t
m
a
p
s.
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h
e
se
m
a
p
s
a
re
u
se
f
u
l
f
o
r
se
v
e
ra
l
a
p
p
li
c
a
ti
o
n
s
su
c
h
as
lo
c
a
ti
o
n
f
ix
in
g
,
n
a
v
ig
a
ti
o
n
,
a
c
c
e
ss
c
o
n
tro
l,
a
n
d
e
v
a
lu
a
ti
n
g
n
e
tw
o
rk
c
o
v
e
ra
g
e
a
n
d
p
e
rf
o
r
m
a
n
c
e
.
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w
d
so
u
rc
in
g
can
be
an
e
f
f
i
c
ien
t
w
a
y
to
c
re
a
te
su
c
h
m
a
p
s.
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w
e
v
e
r,
u
se
rs
in
a
c
ro
wd
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rc
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g
a
p
p
li
c
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m
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l
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th
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g
e
n
e
ra
ted
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a
p
s.
In
th
is
p
a
p
e
r,
we
p
ro
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se
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m
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th
o
d
to
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i
ld
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ts,
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ro
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ro
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se
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sy
ste
m
g
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s
d
iff
e
r
e
n
t
w
e
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g
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ts
to
each
d
a
ta
p
o
in
t
p
r
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v
id
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d
by
th
e
p
a
rti
c
i
p
a
ti
n
g
d
e
v
ice
s
b
a
se
d
on
t
h
e
d
a
ta
s
o
u
rc
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’s
tru
stw
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rth
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n
e
ss
.
Ou
r
tes
ts
sh
o
w
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d
th
a
t
th
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d
iff
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re
n
t
m
o
d
e
ls
of
m
o
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il
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d
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v
ice
s
re
tu
rn
GPS
lo
c
a
ti
o
n
w
it
h
d
if
fe
re
n
t
lo
c
a
ti
o
n
a
c
c
u
ra
c
ies
.
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se
q
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e
n
tl
y
,
w
h
e
n
b
u
il
d
i
n
g
th
e
p
h
y
sic
a
l
la
y
e
r
m
e
a
su
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m
e
n
ts
m
a
p
s
our
a
lg
o
rit
h
m
a
ss
i
g
n
s
a
h
ig
h
e
r
w
e
ig
h
t
to
d
a
ta
p
o
i
n
ts
c
o
m
in
g
f
ro
m
d
e
v
ice
s
w
it
h
h
ig
h
e
r
G
P
S
lo
c
a
ti
o
n
a
c
c
u
ra
c
y
.
Th
is
a
ll
o
w
s
a
c
c
o
m
m
o
d
a
ti
n
g
a
w
id
e
ra
n
g
e
of
m
o
b
il
e
d
e
v
ice
s
w
it
h
d
iff
e
re
n
t
c
a
p
a
b
il
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ies
in
c
ro
w
d
so
u
rc
in
g
a
p
p
li
c
a
ti
o
n
s.
An
e
x
p
e
rime
n
t
a
n
d
a
sim
u
latio
n
w
e
re
p
e
rf
o
r
m
e
d
to
tes
t
th
e
p
r
o
p
o
se
d
m
e
th
o
d
.
T
h
e
re
su
lt
s
sh
o
w
e
d
i
m
p
ro
v
e
m
e
n
t
in
c
ro
w
d
so
u
rc
e
d
m
a
p
a
c
c
u
ra
c
y
w
h
e
n
th
e
p
ro
p
o
se
d
m
e
th
o
d
is
im
p
lem
e
n
ted
.
K
ey
w
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r
d
s
:
C
r
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w
d
s
o
u
r
cin
g
GP
S
Ma
p
s
Me
asu
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m
en
ts
P
h
y
s
ical
la
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er
T
h
is
is
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o
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n
a
c
c
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ss
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rticle
u
n
d
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th
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CC
BY
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r
:
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s
a
m
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la
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h
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ar
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p
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f
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m
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I
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o
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ay
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m
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r
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to
o
k
o
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th
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w
id
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co
n
s
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m
er
m
ar
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et,
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d
as
of
2018
ac
co
r
d
in
g
to
t
h
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P
e
w
R
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c
h
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ter
,
77%
of
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s
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s
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s
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ar
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es
[
1
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tech
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tili
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4856
I
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J
R
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&
A
u
to
m
,
Vo
l.
9
,
No
.
3
,
Sep
tem
b
er
2020
:
2
11
–
219
212
m
ea
s
u
r
e
m
e
n
t
i
n
d
icate
s
th
e
r
ec
eiv
ed
p
o
w
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of
th
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s
ig
n
al
tr
an
s
m
itted
by
an
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ce
s
s
p
o
in
t.
T
h
e
s
ig
n
al
to
in
ter
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e
n
ce
an
d
n
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(
SNI
R
)
m
ea
s
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r
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m
en
t
in
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s
th
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w
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n
ted
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th
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w
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s
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ter
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u
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ilized
by
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if
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tech
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s
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s
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ap
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m
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m
ap
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r
d
if
f
er
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t
ap
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licatio
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s
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v
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:
In
th
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ap
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licatio
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y
can
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u
s
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ca
lcu
late
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tio
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ex
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m
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R
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m
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.
Fu
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er
m
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t
h
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y
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aid
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s
.
R
SS
s
a
n
d
SIN
R
s
ca
n
be
u
s
ed
to
d
er
iv
e
a
lo
ca
tio
n
p
r
o
o
f
u
s
ed
f
o
r
a
u
th
e
n
t
icatio
n
a
n
d
f
o
r
p
r
o
x
i
m
it
y
d
etec
tio
n
.
Mo
r
eo
v
er
,
s
o
m
e
n
o
is
e
m
ea
s
u
r
e
m
e
n
ts
a
n
d
in
ter
f
er
e
n
ce
m
ea
s
u
r
e
m
e
n
t
s
can
be
u
s
ed
to
in
d
icate
th
e
p
r
ese
n
ce
of
o
th
er
d
ev
ices,
w
h
ich
ca
n
be
u
s
ed
in
s
o
m
e
ac
ce
s
s
co
n
tr
o
l
ap
p
licatio
n
s
.
c.
Net
w
o
r
k
p
er
f
o
r
m
a
n
ce
:
In
t
h
is
ap
p
licatio
n
,
t
h
e
y
ca
n
be
u
s
ed
to
m
o
n
ito
r
n
et
w
o
r
k
co
v
er
ag
e
an
d
p
er
f
o
r
m
a
n
ce
.
Sin
ce
th
e
p
h
y
s
i
ca
l
la
y
er
m
ea
s
u
r
e
m
en
ts
ar
e
i
n
d
icatio
n
s
of
th
e
ac
ce
s
s
p
o
in
t's
f
o
o
tp
r
in
t
at
d
if
f
er
e
n
t
lo
ca
tio
n
s
.
Fo
r
ex
a
m
p
le,
h
ig
h
er
R
SS
v
a
lu
e
s
m
ea
n
clo
s
er
p
r
o
x
i
m
i
t
y
–
w
h
ich
co
r
r
elate
s
to
b
etter
co
v
er
ag
e.
Hig
h
er
SIN
R
v
al
u
e
in
d
icate
s
g
o
o
d
ch
an
n
el
co
n
d
iti
o
n
s
w
h
ich
e
n
tail
s
b
etter
p
er
f
o
r
m
an
ce
.
T
y
p
icall
y
,
p
h
y
s
ical
la
y
er
m
e
asu
r
e
m
en
t
s
m
ap
s
ar
e
b
u
i
lt
f
o
r
th
e
p
u
r
p
o
s
e
of
e
v
al
u
ati
n
g
n
e
t
w
o
r
k
co
v
er
ag
e
an
d
p
er
f
o
r
m
an
ce
by
d
ed
icatin
g
a
n
u
m
b
er
of
d
ev
i
ce
s
to
go
ar
o
u
n
d
an
ar
ea
of
in
ter
est
an
d
g
a
th
er
th
e
p
h
y
s
ica
l
la
y
er
m
ea
s
u
r
e
m
e
n
ts
f
o
r
th
e
ac
ce
s
s
p
o
in
ts
in
an
ar
ea
of
i
n
ter
est
.
An
o
th
er
m
eth
o
d
to
b
u
ild
s
u
ch
m
ap
s
is
by
cr
o
w
d
s
o
u
r
ci
n
g
th
e
p
h
y
s
ical
la
y
er
m
ea
s
u
r
e
m
en
ts
f
r
o
m
u
s
er
s
w
h
o
m
ar
e
alr
e
ad
y
in
t
h
e
ar
ea
of
in
ter
est.
T
h
is
m
et
h
o
d
can
be
f
ea
s
ib
le
w
h
en
n
e
t
w
o
r
k
co
v
er
ag
e
ch
a
n
g
e
s
as
in
s
o
m
e
ap
p
licatio
n
s
,
as
in
h
ig
h
altitu
d
e
s
y
s
te
m
s
[
2
]
.
C
r
o
w
d
s
o
u
r
cin
g
is
a
p
r
o
ce
s
s
th
r
o
u
g
h
wh
ich
a
p
r
o
b
le
m
is
s
o
l
v
ed
or
a
p
r
o
j
ec
t
is
co
m
p
lete
d
by
a
g
r
o
u
p
of
d
i
v
er
s
e
p
ar
ticip
an
ts
.
It
is
a
j
o
in
t
p
r
o
ce
s
s
an
d
a
p
r
o
b
lem
-
s
o
l
v
i
n
g
tec
h
n
iq
u
e
th
at
r
eq
u
ir
es
p
ar
ticip
atio
n
f
r
o
m
a
n
et
w
o
r
k
of
ele
m
en
ts
.
T
ak
e
f
o
r
ex
am
p
le,
th
e
De
f
en
s
e
A
d
v
a
n
ce
d
R
esear
ch
P
r
o
j
ec
ts
Ag
e
n
c
y
(
D
AR
P
A
)
Net
w
o
r
k
C
h
al
len
g
e
t
h
at
w
as
la
u
n
c
h
ed
in
2009
[
3
]
.
In
th
is
ch
alle
n
g
e,
tea
m
s
co
m
p
eted
to
lo
ca
te
ten
r
ed
b
allo
o
n
s
p
lace
d
ar
o
u
n
d
th
e
Un
ited
States
.
T
h
e
tea
m
s
w
er
e
th
e
n
to
r
ep
o
r
t
th
e
b
allo
o
n
s
'
co
o
r
d
in
ates
to
D
A
R
P
A
.
T
h
e
w
i
n
n
i
n
g
tea
m
cr
o
w
d
s
o
u
r
ce
d
th
e
p
r
o
b
le
m
by
r
ec
r
u
iti
n
g
p
ar
ticip
an
ts
v
ia
s
o
cial
m
ed
ia
a
p
o
r
tio
n
of
th
e
p
r
ize
m
o
n
e
y
w
as
u
s
ed
as
an
in
ce
n
t
iv
e)
.
T
h
e
ch
alle
n
g
e
s
h
o
w
ed
th
e
g
en
er
a
l
ef
f
ec
tiv
e
n
e
s
s
of
u
s
in
g
cr
o
w
d
s
o
u
r
cin
g
tec
h
n
iq
u
es
to
s
o
lv
e
p
r
o
b
lem
s
.
T
h
e
D
AR
P
A
p
r
o
g
r
am
m
a
n
ag
er
s
w
er
e
s
u
r
p
r
is
ed
by
h
o
w
q
u
ick
l
y
t
h
e
ch
alle
n
g
e
w
a
s
co
m
p
leted
.
T
h
e
co
n
ce
p
t
of
cr
o
w
d
s
o
u
r
ci
n
g
d
ata
f
r
o
m
m
o
b
ile
d
ev
ices
d
ev
e
lo
p
ed
w
it
h
t
h
e
g
r
o
w
th
of
s
m
ar
tp
h
o
n
e
s
an
d
t
h
e
m
o
b
ile
I
n
ter
n
et.
No
w
it
is
u
s
ed
to
s
o
l
v
e
m
o
r
e
co
m
p
lica
ted
p
r
o
b
lem
s
(
e.
g
.
,
G
o
o
g
le
Ma
p
s
'
tr
a
f
f
ic
co
n
d
itio
n
s
f
ea
t
u
r
e)
.
C
r
o
w
d
s
o
u
r
cin
g
is
an
e
f
f
ec
t
iv
e
ap
p
r
o
ac
h
to
co
llect
d
ata
esp
e
ciall
y
w
it
h
th
e
h
u
g
e
g
r
o
w
th
in
th
e
u
s
a
g
e
of
s
m
ar
tp
h
o
n
es
a
n
d
m
o
b
ile
n
et
w
o
r
k
s
.
Ho
w
ev
er
,
o
n
e
of
th
e
o
b
s
tacle
s
f
ac
ed
in
cr
o
wd
s
o
u
r
cin
g
is
w
h
e
n
d
if
f
er
e
n
t
t
y
p
e
s
of
d
ev
ice
s
w
it
h
d
if
f
er
en
t
ca
p
ab
ilit
ie
s
ar
e
u
s
ed
in
th
e
cr
o
w
d
s
o
u
r
ci
n
g
ap
p
li
ca
tio
n
.
L
et
us
tak
e
GP
S
f
o
r
ex
a
m
p
le;
GP
S
lo
ca
tio
n
ac
cu
r
ac
y
v
ar
ies
b
et
w
e
en
m
o
b
ile
d
ev
ice
s
.
GP
S
lo
ca
tio
n
ac
cu
r
ac
y
h
as
i
m
p
r
o
v
ed
in
t
h
e
p
ast
f
e
w
y
ea
r
s
.
Mo
s
t
s
m
ar
tp
h
o
n
es
to
d
a
y
h
av
e
a
GP
S
ac
c
u
r
ac
y
of
10
m
eter
s
in
o
p
en
ar
ea
s
(
i.e
.
,
s
u
b
u
r
b
an
s
et
tin
g
s
)
.
It
is
a
n
ticip
ated
to
be
ac
c
u
r
ate
w
it
h
in
o
n
e
f
o
o
t
in
s
o
m
e
of
t
h
e
m
o
r
e
r
ec
en
t
s
m
ar
tp
h
o
n
e
m
o
d
el
s
[
4
]
.
Me
an
w
h
ile,
o
ld
er
d
ev
ices
te
n
d
to
p
r
o
v
id
e
p
o
o
r
er
G
P
S
ac
cu
r
ac
y
.
T
h
er
ef
o
r
e,
in
a
cr
o
w
d
s
o
u
r
cin
g
ap
p
licatio
n
d
if
f
er
e
n
t
d
ev
ices
m
a
y
be
r
ep
o
r
tin
g
lo
ca
tio
n
d
ata
w
it
h
d
if
f
er
en
t
ac
cu
r
ac
ies.
O
n
e
s
o
lu
tio
n
f
o
r
t
h
is
o
b
s
tacle
is
h
av
i
n
g
all
t
h
e
p
ar
ticip
an
t
s
in
t
h
e
cr
o
w
d
s
o
u
r
cin
g
ap
p
lic
atio
n
u
s
e
t
h
e
s
a
m
e
t
y
p
e/
m
o
d
el
of
d
ev
ice
s
,
w
h
ic
h
m
i
g
h
t
n
o
t
be
f
ea
s
ib
le
in
p
r
ac
tical
ap
p
licatio
n
s
.
An
o
t
h
er
s
o
lu
tio
n
w
h
ic
h
is
p
r
o
p
o
s
ed
by
t
h
i
s
p
ap
er
is
to
ass
i
g
n
w
eig
h
t
s
to
d
ata
p
o
in
ts
b
ased
on
th
e
d
ata
p
o
in
t
s
o
u
r
ce
tr
u
s
t
w
o
r
t
h
in
e
s
s
.
In
th
is
p
ap
er
,
we
p
r
o
p
o
s
e
a
m
eth
o
d
to
b
u
ild
p
h
y
s
ica
l
la
y
e
r
m
ea
s
u
r
e
m
e
n
t
s
m
ap
s
by
cr
o
w
d
s
o
u
r
ci
n
g
t
h
ese
m
ea
s
u
r
e
m
e
n
t
s
d
ata
f
r
o
m
a
g
r
o
u
p
of
p
ar
ticip
atin
g
m
o
b
i
le
d
ev
ices
o
p
er
atin
g
n
o
r
m
al
l
y
.
P
h
y
s
ical
la
y
er
m
ea
s
u
r
e
m
e
n
t
s
ar
e
cr
o
w
d
s
o
u
r
ce
d
f
r
o
m
m
o
b
ile
d
ev
ice
s
w
it
h
a
s
p
ec
ialized
ap
p
licatio
n
in
s
ta
lled
on
th
e
m
.
T
h
is
ap
p
licatio
n
au
to
m
a
ticall
y
ca
p
tu
r
es
th
e
p
h
y
s
ical
la
y
er
m
ea
s
u
r
e
m
en
t
s
of
ac
ce
s
s
p
o
in
t
s
in
an
ar
ea
an
d
th
e
d
ev
ice
's
GP
S
lo
ca
tio
n
.
In
th
e
p
r
o
p
o
s
ed
s
y
s
te
m
,
t
h
e
co
ll
ec
ted
p
h
y
s
ica
l
la
y
er
m
ea
s
u
r
e
m
en
ts
ar
e
co
r
r
elate
d
to
a
lo
ca
tio
n
(
o
n
a
m
ap
)
th
r
o
u
g
h
t
h
e
GP
S
lo
ca
tio
n
p
r
o
v
id
ed
by
t
h
e
d
ev
ice.
In
t
h
e
p
r
o
p
o
s
ed
s
y
s
te
m
,
d
ata
p
o
in
t
s
p
r
o
v
id
ed
by
a
p
ar
ticip
atin
g
d
e
v
ice
ar
e
g
i
v
en
a
w
ei
g
h
t
b
ased
on
th
e
tr
u
s
t
w
o
r
th
in
e
s
s
of
t
h
e
l
o
ca
tio
n
p
r
o
v
id
ed
.
T
h
er
e
h
av
e
b
ee
n
s
ev
er
al
r
ese
ar
ch
p
r
o
j
ec
ts
in
th
i
s
ar
ea
.
Ga
n
tiet
et
a
l.
[
5
]
d
is
cu
s
s
ed
th
e
co
n
ce
p
t
of
cr
o
w
d
s
o
u
r
ci
n
g
m
ea
s
u
r
e
m
e
n
t
s
f
r
o
m
m
o
b
ile
d
ev
ices,
o
f
f
er
i
n
g
s
ev
er
al
ex
a
m
p
le
s
of
its
ap
p
licatio
n
s
.
First,
t
h
er
e
h
av
e
b
ee
n
s
e
v
er
al
r
esear
c
h
e
f
f
o
r
ts
th
a
t
u
tili
ze
R
SS
m
ea
s
u
r
e
m
en
t
s
f
o
r
lo
ca
lizatio
n
p
u
r
p
o
s
es
[
6
–
9
]
an
d
f
o
r
ac
ce
s
s
co
n
tr
o
l
[1
0
–
12
]
.
T
h
e
au
th
o
r
s
in
[
1
3
]
,
f
o
r
ex
a
m
p
le,
p
r
o
p
o
s
e
an
in
d
o
o
r
p
o
s
itio
n
i
n
g
s
y
s
te
m
by
u
s
i
n
g
m
atc
h
in
g
alg
o
r
it
h
m
s
.
R
S
S
m
e
asu
r
e
m
en
t
s
ar
e
u
s
ed
f
o
r
n
a
v
i
g
atio
n
[
1
4
–
16
]
an
d
r
o
ad
tr
af
f
ic
in
f
o
r
m
at
io
n
[
1
7
]
.
T
h
e
r
ad
ar
s
y
s
te
m
[
6
]
u
s
e
s
R
S
S
m
ea
s
u
r
e
m
e
n
t
s
a
n
d
p
r
o
p
ag
atio
n
m
o
d
el
s
to
co
n
s
tr
u
ct
r
ad
io
m
ap
s
th
at
ar
e
u
s
e
d
f
o
r
lo
ca
tin
g
a
n
d
tr
ac
k
i
n
g
u
s
e
r
s
in
s
id
e
b
u
ild
i
n
g
s
.
T
h
e
au
t
h
o
r
s
in
[
1
8
]
p
r
o
p
o
s
ed
to
co
m
b
in
e
a
co
llectio
n
of
Evaluation Warning : The document was created with Spire.PDF for Python.
I
nt
J
R
ob
&
A
u
to
m
I
SS
N:
2089
-
4856
A
w
eig
h
tin
g
s
ystem
to
b
u
ild
p
h
ysica
l
la
ye
r
mea
s
u
r
e
men
ts
m
a
p
s
by
cro
w
d
s
o
u
r
cin
g
d
a
ta
...
(
Ho
s
a
m
A
la
mleh
)
213
av
ailab
le
s
o
u
r
ce
s
of
RF
s
ig
n
a
ls
cr
o
w
d
s
o
u
r
ce
d
f
r
o
m
p
ar
ticip
atin
g
s
m
ar
tp
h
o
n
es
to
b
u
ild
s
i
g
n
al
m
ap
s
th
at
can
be
u
s
ed
f
o
r
lo
ca
lizatio
n
.
T
h
e
a
u
th
o
r
s
u
s
e
GP
S
s
i
g
n
a
ls
,
alo
n
g
w
i
th
o
t
h
er
s
o
u
r
ce
s
s
u
ch
as
N
FC
a
n
d
QR
ta
g
s
,
to
d
eter
m
in
e
t
h
e
lo
ca
tio
n
of
a
d
e
v
ice.
Ho
w
ev
e
r,
th
e
ir
s
y
s
te
m
d
o
es
n
o
t
tak
e
i
n
to
co
n
s
id
er
atio
n
th
e
v
ar
iet
y
of
th
e
ca
p
ab
ilit
ies
of
th
e
p
ar
ticip
atin
g
p
h
o
n
es.
Fu
r
t
h
er
m
o
r
e,
it
r
eq
u
ir
es
a
u
x
iliar
y
i
n
f
r
astru
ct
u
r
e
(
e.
g
.
,
NF
C
a
n
d
QR
tag
s
)
.
Si
m
ilar
l
y
,
t
h
e
s
y
s
te
m
p
r
o
p
o
s
ed
in
[
1
9
]
co
n
s
tr
u
cts
r
ad
io
m
ap
s
u
s
i
n
g
f
o
o
t
-
m
o
u
n
ted
in
er
tial
m
ea
s
u
r
e
m
e
n
t
u
n
i
ts
(
I
MU
s
)
a
n
d
GP
S
p
o
s
itio
n
.
Ho
w
e
v
er
,
th
e
ir
p
r
o
p
o
s
e
d
s
y
s
te
m
r
eq
u
ir
e
s
ex
tr
a
h
ar
d
w
ar
e
(
i.e
.
,
I
MU
s
)
.
Ko
v
alev
in
[
2
0
]
p
r
o
p
o
s
ed
an
in
d
o
o
r
p
o
s
itio
n
in
g
s
y
s
te
m
u
s
i
n
g
Wi
-
Fi
an
d
GP
S
s
i
g
n
al
s
.
T
h
e
au
th
o
r
'
s
m
et
h
o
d
u
s
e
s
t
h
e
Na
iv
e
B
a
y
es
clas
s
i
f
ier
to
ca
lcu
late
r
o
o
m
lev
el
p
o
s
itio
n
i
n
g
.
Ho
w
ev
er
,
it
r
eq
u
i
r
es
ex
te
n
d
ed
u
s
er
in
ter
ac
tio
n
,
w
h
ich
ta
k
es
ti
m
e
an
d
ef
f
o
r
t
f
r
o
m
t
h
e
u
s
er
an
d
n
eg
at
iv
el
y
af
f
ec
t
s
u
s
er
co
n
v
e
n
ien
ce
.
T
h
e
au
th
o
r
s
in
[
2
1
]
p
r
o
p
o
s
e
u
s
in
g
cr
o
w
d
s
o
u
r
cin
g
to
co
llect
GP
S
lo
ca
tio
n
alo
n
g
w
it
h
R
S
S,
an
d
u
s
e
it
f
o
r
p
o
s
itio
n
in
g
b
ased
on
cl
u
s
ter
i
n
g
by
u
ti
lizi
n
g
th
e
k
-
m
ea
n
s
cl
u
s
ter
i
n
g
al
g
o
r
ith
m
.
Ho
w
e
v
er
,
th
e
y
d
o
n
'
t
co
n
s
id
er
th
e
d
i
v
er
s
it
y
of
th
e
p
h
o
n
e
s
’
ca
p
ab
ilit
ies,
as
p
r
ac
tical
cr
o
w
d
s
o
u
r
ci
n
g
s
y
s
te
m
s
u
s
u
all
y
i
n
cl
u
d
e
w
id
e
r
an
g
e
of
u
s
er
s
w
it
h
a
w
id
e
r
an
g
e
of
d
if
f
er
en
t
d
ev
ices
w
it
h
d
if
f
er
en
t
ca
p
ab
ilit
ies.
S
u
p
p
o
r
tin
g
a
w
id
e
r
an
g
e
of
d
e
v
ices
allo
w
m
o
r
e
u
s
er
s
to
p
ar
ticip
ate,
an
d
co
n
s
eq
u
en
tl
y
in
cr
ea
s
e
s
t
h
e
a
m
o
u
n
t
of
d
ata
co
llected
.
T
h
e
au
t
h
o
r
s
in
[
2
2
]
p
r
esen
t
f
iv
e
m
et
h
o
d
s
f
o
r
th
e
g
en
er
atio
n
of
W
L
A
N
m
ap
s
f
o
r
in
d
o
o
r
p
o
s
itio
n
in
g
u
s
i
n
g
cr
o
w
d
s
o
u
r
ce
d
f
in
g
er
p
r
in
ts
.
A
f
i
n
g
er
p
r
in
t
is
a
s
s
u
m
ed
to
co
n
tain
id
en
ti
f
ier
s
t
h
at
ta
k
e
i
n
to
co
n
s
id
er
atio
n
t
h
e
v
ar
iet
y
of
ca
p
ab
ilit
ie
s
of
th
e
p
ar
ticip
ati
n
g
p
h
o
n
e
s
.
Ho
wev
er
,
th
eir
s
y
s
te
m
a
s
s
u
m
es
t
h
a
t
GP
S
p
o
s
itio
n
is
e
x
ac
t.
In
a
r
ea
l
-
w
o
r
ld
,
p
r
ac
tical
ap
p
licatio
n
,
th
is
is
n
o
t
t
y
p
i
ca
ll
y
th
e
ca
s
e.
T
h
e
au
t
h
o
r
s
in
[
2
0
]
p
r
o
p
o
s
e
a
s
y
s
te
m
to
cr
o
w
d
s
o
u
r
ci
n
g
m
ea
s
u
r
e
m
e
n
t
d
u
r
i
n
g
lar
g
e
e
v
en
ts
.
Ho
w
e
v
er
,
in
th
e
ir
s
y
s
te
m
,
th
e
y
u
s
e
B
lu
eto
o
th
b
ea
co
n
s
,
w
h
ich
r
eq
u
ir
e
o
b
tain
in
g
an
d
in
s
tall
ad
d
itio
n
al
h
ar
d
w
ar
e.
Mo
r
eo
v
er
,
th
ey
d
o
n
'
t
co
n
s
id
er
th
e
d
iv
er
s
it
y
of
th
e
p
h
o
n
e
s
’
ca
p
ab
ilit
ies,
as
p
r
ac
tical
cr
o
wd
s
o
u
r
cin
g
s
y
s
te
m
s
u
s
u
all
y
in
c
lu
d
e
a
w
id
e
r
an
g
e
of
u
s
er
s
w
i
th
a
w
id
e
r
a
n
g
e
of
d
if
f
er
e
n
t
d
ev
ices
w
i
th
d
if
f
er
en
t
ca
p
ab
ilit
ie
s
.
S
u
p
p
o
r
tin
g
a
w
id
e
r
an
g
e
of
d
e
v
ices
a
ll
o
w
s
m
o
r
e
u
s
er
s
to
p
ar
ticip
ate,
an
d
co
n
s
eq
u
en
t
l
y
i
n
cr
ea
s
es
t
h
e
a
m
o
u
n
t
of
d
ata
co
llected
.
Ou
r
p
r
o
p
o
s
ed
s
y
s
te
m
d
o
es
not
r
eq
u
ir
e
an
y
ad
d
itio
n
al
i
n
f
r
astru
ct
u
r
e
an
d
tak
es
i
n
to
co
n
s
id
er
atio
n
th
e
ca
p
ab
ilit
ie
s
of
d
i
f
f
er
en
t
d
ev
ices
u
s
ed
by
as
s
i
g
n
in
g
a
w
ei
g
h
t
f
o
r
ea
c
h
d
ata
p
o
in
t
p
r
o
v
id
ed
by
th
e
s
e
d
ev
ice
s
.
In
f
ac
t,
t
h
i
s
is
w
h
at
is
u
n
iq
u
e
ab
o
u
t
th
e
p
r
o
p
o
s
ed
w
o
r
k
,
a
n
d
f
u
r
th
er
m
o
r
e,
w
h
at
s
ets
it
ap
ar
t
f
r
o
m
ex
i
s
ti
n
g
m
et
h
o
d
s
.
A
s
s
i
g
n
in
g
w
ei
g
h
t
s
to
d
ata
p
o
in
ts
in
cr
ea
s
e
s
th
e
r
o
b
u
s
t
n
ess
of
th
e
cr
o
w
d
s
o
u
r
cin
g
s
y
s
te
m
b
ec
a
u
s
e
it
d
ec
r
ea
s
es
th
e
i
m
p
ac
t
of
le
s
s
a
cc
u
r
ate
d
ata
on
t
h
e
s
y
s
te
m
.
F
u
r
th
er
m
o
r
e,
it
e
n
ab
les
m
o
r
e
u
s
er
s
w
i
th
d
if
f
er
en
t
t
y
p
es
of
d
e
v
ices
to
p
ar
ticip
ate
in
t
h
e
cr
o
w
d
s
o
u
r
ci
n
g
ap
p
licatio
n
.
Me
an
w
h
ile,
as
s
h
o
w
n
lat
er
in
th
i
s
te
x
t,
an
y
d
ev
ice
w
ea
k
n
es
s
es
ca
n
be
co
n
s
id
er
ed
by
u
s
i
n
g
w
ei
g
h
ti
n
g
f
ac
to
r
s
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
T
h
e
p
r
o
p
o
s
ed
s
y
s
te
m
ar
c
h
ite
ctu
r
e
co
n
s
i
s
ts
of
t
h
e
p
ar
ticip
atin
g
d
ev
ices
(
w
h
ic
h
ar
e
GP
S
ca
p
ab
le
d
ev
ices
lo
ad
ed
w
it
h
a
cu
s
to
m
m
o
b
ile
ap
p
licatio
n
)
a
n
d
an
ap
p
licatio
n
s
er
v
er
,
w
h
er
e
p
ar
ticip
atin
g
d
ev
ices
u
p
lo
ad
th
eir
u
n
iq
u
e
I
D,
GP
S
lo
ca
tio
n
,
an
d
th
e
s
ca
n
n
ed
ac
ce
s
s
p
o
in
ts
alo
n
g
w
i
th
t
h
eir
co
r
r
esp
o
n
d
in
g
p
h
y
s
ical
la
y
er
m
ea
s
u
r
e
m
e
n
t
s
v
alu
e
s
.
T
h
en
,
th
e
ap
p
licatio
n
s
er
v
er
ar
r
an
g
e
s
t
h
e
r
ec
ei
v
ed
d
ata
a
n
d
s
t
o
r
es
it
in
a
d
atab
ase.
It
th
en
p
r
e
-
p
r
o
ce
s
s
es
t
h
e
d
ata
an
d
f
ee
d
s
r
es
u
lts
to
t
h
e
m
ap
b
u
ild
in
g
e
n
g
i
n
e.
T
h
is
en
g
i
n
e
u
s
es
th
e
r
ec
eiv
ed
d
ata
f
r
o
m
t
h
e
p
ar
ticip
atin
g
d
ev
ice
s
to
b
u
ild
th
e
p
h
y
s
ical
la
y
er
m
ea
s
r
u
m
e
n
t
s
m
ap
s
.
As
p
r
e
v
io
u
s
l
y
m
e
n
tio
n
ed
,
a
s
p
ec
ial
ap
p
licatio
n
is
i
n
s
ta
ll
ed
on
each
p
ar
ticip
atin
g
d
ev
i
ce
.
As
s
h
o
w
n
in
Fi
g
u
r
e
1,
th
e
m
o
b
ile
ap
p
licatio
n
u
p
lo
ad
s
th
e
p
h
y
s
ical
la
y
er
m
ea
s
r
u
m
en
t
s
f
r
o
m
d
i
f
f
er
e
n
t
ac
ce
s
s
p
o
in
t
s
in
an
ar
ea
a
n
d
t
h
eir
co
r
r
esp
o
n
d
in
g
ac
ce
s
s
p
o
in
t
u
n
iq
u
e
id
e
n
ti
f
ier
(
UI
)
.
A
u
n
iq
u
e
id
en
ti
f
ier
m
u
s
t
d
is
ti
n
ctl
y
id
e
n
ti
f
y
an
ac
ce
s
s
p
o
in
t
f
r
o
m
o
th
er
ac
ce
s
s
p
o
in
t
s
.
Fo
r
ex
a
m
p
le,
in
Wi
-
Fi
th
e
M
A
C
ad
d
r
ess
ca
n
be
a
u
n
iq
u
e
id
te
n
f
ier
f
o
r
ac
ce
s
s
p
o
in
t
s
.
T
h
ese
in
f
o
r
m
atio
n
is
u
p
lo
ad
ed
a
m
o
n
g
t
h
e
GP
S
lo
ca
tio
n
o
b
s
er
v
ed
by
th
e
s
m
ar
tp
h
o
n
e
to
t
h
e
ap
p
l
icatio
n
s
er
v
er
u
s
i
n
g
a
r
eg
u
lar
n
et
w
o
r
k
co
n
n
ec
tio
n
.
In
t
he
p
r
o
p
o
s
ed
s
y
s
te
m
,
t
h
e
p
h
y
s
ical
la
y
er
m
ea
s
r
u
m
en
t
s
m
ap
is
d
iv
id
ed
in
to
a
g
r
id
co
n
s
is
t
in
g
of
s
q
u
ar
e
-
s
h
ap
ed
clu
s
ter
s
.
A
clu
s
ter
is
t
h
e
s
m
alle
s
t
u
n
it
in
t
h
e
m
ap
,
an
d
it
ca
r
r
ies
th
e
p
h
y
s
ica
l
la
y
er
m
ea
s
r
u
m
e
n
t
s
in
f
o
r
m
a
tio
n
f
o
r
th
at
lo
ca
tio
n
on
th
e
m
ap
.
T
h
e
m
ap
b
u
ild
in
g
e
n
g
i
n
e
u
p
d
ates
clu
s
ter
s
b
ased
on
th
e
r
ec
eiv
ed
d
ata
f
r
o
m
p
ar
tici
p
atin
g
d
e
v
ices
.
T
h
is
d
ata
is
p
r
o
v
id
ed
au
to
m
atica
ll
y
by
t
h
e
p
ar
ticip
atin
g
d
ev
ice
s
an
d
each
d
ata
p
o
in
t
in
cl
u
d
es
th
e
GP
S
lo
ca
tio
n
an
d
p
h
y
s
ica
l
la
y
er
m
ea
s
r
u
m
e
n
ts
d
ata.
T
h
e
p
r
o
p
o
s
ed
s
y
s
te
m
o
p
er
ates
as
f
o
llo
w
s
.
a.
T
h
e
ap
p
licatio
n
in
s
talled
on
th
e
p
ar
ticip
atin
g
s
m
ar
tp
h
o
n
es
u
p
lo
ad
s
th
e
GP
S
lo
ca
tio
n
alo
n
g
w
it
h
t
h
e
UI
s
of
n
ea
r
b
y
ac
ce
s
s
p
o
i
n
ts
(
in
cl
u
d
i
n
g
t
h
eir
co
r
r
esp
o
n
d
in
g
p
h
y
s
i
ca
l
la
y
er
m
ea
s
u
r
e
m
e
n
ts
v
al
u
es).
T
h
e
u
p
lo
ad
p
r
o
ce
s
s
is
d
o
n
e
r
ep
ea
ted
ly
,
e
v
er
y
d
ef
i
n
ed
p
er
io
d
of
ti
m
e.
T
h
is
p
er
io
d
can
be
o
p
tim
iz
ed
by
th
e
u
s
er
.
T
h
e
u
s
er
can
d
ec
id
e
th
e
p
er
io
d
b
ased
on
s
o
m
e
f
ac
to
r
s
,
in
cl
u
d
in
g
p
r
o
ce
s
s
i
n
g
p
o
w
er
r
eq
u
i
r
e
m
en
t
s
,
m
o
b
ile
d
ata
r
eq
u
ir
em
e
n
t
s
,
an
d
b
atter
y
lif
e.
b.
T
h
e
ap
p
licatio
n
s
er
v
er
is
p
r
e
-
c
o
n
f
i
g
u
r
ed
w
it
h
p
ar
a
m
eter
s
f
o
r
each
d
ev
ice
I
D.
T
h
ese
p
ar
am
e
ter
s
ar
e:
-
E
f
f
ec
tiv
e
r
ad
iu
s
:
T
h
e
r
ad
iu
s
t
h
at
is
u
s
ed
f
o
r
a
d
ata
p
o
in
t
to
u
p
d
ate
th
e
p
h
y
s
ical
la
y
er
m
e
asru
m
en
t
s
m
ap
.
T
h
is
v
al
u
e
d
ep
en
d
s
on
t
h
e
ac
c
u
r
ac
y
of
t
h
e
lo
ca
tio
n
s
o
u
r
ce
(
i.e
.
,
GP
S).
T
h
e
lar
g
er
th
e
ac
c
u
r
ac
y
,
t
h
e
s
m
alle
r
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
I
nt
J
R
ob
&
A
u
to
m
,
Vo
l.
9
,
No
.
3
,
Sep
tem
b
er
2020
:
2
11
–
219
214
th
e
e
f
f
ec
tiv
e
r
ad
iu
s
.
T
h
er
ef
o
r
e
,
d
ata
p
o
in
ts
o
r
ig
i
n
ati
n
g
f
r
o
m
m
o
r
e
ac
c
u
r
ate
lo
ca
tio
n
s
o
u
r
ce
s
u
p
d
ate
f
e
w
er
clu
s
ter
s
on
th
e
p
h
y
s
ical
la
y
er
m
ea
s
r
u
m
e
n
ts
m
ap
th
a
n
d
ata
p
o
in
ts
o
r
ig
in
ati
n
g
f
r
o
m
less
ac
cu
r
ate
p
ar
ticip
atin
g
d
ev
ice
s
.
-
W
eig
h
ti
n
g
f
ac
to
r
:
T
h
is
f
ac
to
r
d
ep
en
d
s
on
th
e
tr
u
s
t
w
o
r
th
i
n
ess
of
th
e
lo
ca
tio
n
d
ata
s
o
u
r
ce
.
T
h
e
h
ig
h
er
th
e
lo
ca
tio
n
ac
c
u
r
ac
y
of
a
d
e
v
ice
t
h
e
lar
g
er
t
h
e
w
ei
g
h
ti
n
g
f
ac
to
r
.
In
g
e
n
er
al,
d
ata
p
r
o
v
id
ed
by
n
e
w
e
r
s
m
ar
tp
h
o
n
es
h
av
e
a
g
r
ea
ter
w
eig
h
tin
g
f
ac
to
r
th
a
n
d
ata
p
r
o
v
id
ed
by
o
ld
er
o
n
es.
Fig
u
r
e
1.
S
y
s
te
m
o
v
er
v
ie
w
c.
T
h
e
m
ap
b
u
ild
in
g
e
n
g
in
e
u
s
e
s
th
e
d
ev
ice
ID
to
f
etc
h
t
h
e
p
r
e
-
co
n
f
i
g
u
r
ed
v
a
lu
e
s
of
t
h
e
e
f
f
e
ctiv
e
r
ad
iu
s
an
d
w
ei
g
h
ti
n
g
f
ac
to
r
f
o
r
a
d
ev
ice.
d.
T
h
e
m
ap
b
u
ild
in
g
e
n
g
i
n
e
c
alcu
late
s
th
e
d
i
s
tan
ce
b
et
w
e
en
each
of
t
h
e
ce
n
ter
s
of
t
h
e
cl
u
s
ter
s
on
th
e
p
h
y
s
ical
la
y
er
m
ea
s
r
u
m
e
n
ts
m
ap
an
d
th
e
lo
ca
tio
n
of
a
d
ata
p
o
in
t.
T
h
is
is
d
o
n
e
u
s
in
g
Vi
n
ce
n
t
y
's
f
o
r
m
u
la
f
o
r
ca
lcu
lati
n
g
th
e
d
is
tan
ce
b
et
w
ee
n
t
w
o
p
o
in
ts
.
th
i
s
f
u
n
ctio
n
is
an
iter
ati
v
e
m
et
h
o
d
th
a
t
ca
lcu
late
s
t
h
e
d
is
ta
n
ce
b
et
w
ee
n
t
w
o
p
o
in
t
s
on
t
h
e
s
u
r
f
ac
e
of
a
s
p
h
er
o
id
.
No
w
,
if
th
e
d
is
ta
n
ce
as
ca
lc
u
lated
ab
o
v
e
is
eq
u
als
or
is
les
s
t
h
an
t
h
e
e
f
f
ec
ti
v
e
r
ad
iu
s
,
t
h
e
n
th
e
m
ap
en
g
i
n
e
u
p
d
ates
t
h
e
p
h
y
s
ical
la
y
er
m
ea
s
u
r
e
m
e
n
t
s
v
alu
e
s
f
o
r
th
e
ac
ce
s
s
p
o
in
ts
in
t
h
e
cl
u
s
ter
.
T
h
is
is
d
o
n
e
by
e
m
p
lo
y
i
n
g
th
e
w
e
ig
h
ti
n
g
f
ac
to
r
as
f
o
llo
w
s
:
(
)
(
1
)
w
h
er
e:
is
th
e
c
u
r
r
en
t
p
h
y
s
ical
la
y
er
m
ea
s
u
r
e
m
e
n
t
s
v
al
u
es
s
to
r
ed
in
th
e
R
S
S
m
ap
f
o
r
a
s
p
ec
if
ic
ac
ce
s
s
p
o
in
t
is
th
e
p
h
y
s
ical
la
y
er
m
ea
s
u
r
e
m
en
ts
v
alu
e
p
r
o
v
id
ed
by
a
u
s
e
r
f
o
r
th
e
s
p
ec
if
ic
ac
ce
s
s
p
o
in
t
Wu
is
th
e
w
ei
g
h
ti
n
g
f
ac
to
r
of
t
h
e
d
ata
p
o
in
t
Wm
is
t
h
e
s
u
m
of
all
w
ei
g
h
t
in
g
f
ac
to
r
s
t
h
at
u
p
d
ated
th
is
cl
u
s
ter
in
th
e
p
ast.
e.
T
h
e
m
ap
en
g
i
n
e
u
p
d
ates
Wm
as
f
o
llo
w
s
:
(
2
)
E
m
p
lo
y
i
n
g
t
h
e
w
ei
g
h
ti
n
g
f
ac
t
o
r
s
allo
w
s
m
o
r
e
ac
cu
r
ate
d
ata
to
h
av
e
a
lar
g
er
e
f
f
ec
t
on
t
h
e
p
h
y
s
ica
l
la
y
er
m
ea
s
u
r
e
m
e
n
ts
m
ap
th
a
n
less
ac
c
u
r
ate
d
ata.
T
h
u
s
,
allo
w
i
n
g
a
m
o
r
e
d
iv
er
s
e
r
a
n
g
e
of
d
ev
ices
to
p
ar
ticip
ate
in
t
h
is
cr
o
w
d
s
o
u
r
ci
n
g
ap
p
licatio
n
.
T
h
is
is
v
er
y
u
s
ef
u
l
in
p
r
ac
tical
ca
s
es,
w
h
er
e
d
if
f
er
e
n
t
u
s
er
s
u
s
e
a
v
ar
iet
y
of
s
m
ar
tp
h
o
n
e
s
'
m
o
d
els.
3.
RE
SU
L
T
S
AND
AN
AL
Y
SI
S
In
t
h
is
r
esear
ch
,
we
tes
ted
a
n
u
m
b
er
of
s
m
ar
tp
h
o
n
es
m
an
u
f
ac
t
u
r
ed
b
et
w
ee
n
2010
an
d
2018.
T
h
e
test
w
as
co
n
d
u
cted
at
s
i
x
d
if
f
er
en
t
o
p
en
-
to
-
s
k
y
o
u
td
o
o
r
lo
ca
tio
n
s
an
d
ten
d
if
f
er
e
n
t
in
d
o
o
r
lo
ca
tio
n
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
-
4856
A
w
eig
h
tin
g
s
ystem
to
b
u
ild
p
h
ysica
l
la
ye
r
mea
s
u
r
e
men
ts
m
a
p
s
by
cro
w
d
s
o
u
r
cin
g
d
a
ta
...
(
Ho
s
a
m
A
la
mleh
)
215
(
in
s
id
e
a
t
w
o
-
s
to
r
y
b
u
ild
in
g
)
.
T
h
e
lo
ca
tio
n
s
er
v
ice
s
etti
n
g
s
in
th
e
p
h
o
n
e
s
w
er
e
s
et
to
“
d
ev
ice
o
n
l
y
m
o
d
e
”
w
h
ic
h
r
elies
s
o
lel
y
on
th
e
GP
S
r
ad
io
s
ig
n
al
g
e
n
er
ated
by
t
h
e
GP
S
ch
ip
b
u
i
lt
i
n
to
t
h
e
p
h
o
n
e,
u
n
li
k
e
t
h
e
h
i
g
h
ac
cu
r
ac
y
m
o
d
e
w
h
ic
h
u
s
e
s
a
co
m
b
in
a
tio
n
of
GP
S,
Wi
-
Fi,
B
lu
eto
o
th
,
a
n
d
/o
r
ce
ll
u
lar
n
et
w
o
r
k
s
.
T
h
e
GP
S
y
ield
s
w
er
e
co
m
p
ar
ed
to
t
h
e
g
r
o
u
n
d
tr
u
th
s
(
w
h
ic
h
ar
e
t
h
e
p
o
in
t
s
of
t
h
e
te
s
t
w
it
h
k
n
o
w
n
co
o
r
d
in
ates)
.
T
h
e
lo
ca
tio
n
er
r
o
r
w
as
ca
lc
u
la
ted
as
th
e
a
v
er
ag
e
of
t
h
e
d
is
ta
n
ce
s
b
et
w
ee
n
th
e
GP
S
y
ield
a
n
d
th
e
g
r
o
u
n
d
tr
u
t
h
f
o
r
each
of
th
e
d
e
v
ices.
R
e
s
u
lt
s
,
as
s
h
o
w
n
in
T
ab
le
1,
s
h
o
w
t
h
at
d
if
f
er
en
t
p
h
o
n
es
h
a
v
e
d
if
f
er
en
t
GP
S
lo
ca
tio
n
ac
cu
r
ac
ies.
F
u
r
th
er
m
o
r
e,
it
s
h
o
w
s
t
h
at
n
e
w
er
d
ev
ices,
r
elativ
el
y
,
h
a
v
e
b
etter
GP
S
l
o
ca
tio
n
ac
cu
r
ac
ies
co
m
p
ar
ed
to
o
ld
er
o
n
es.
T
ab
le
1.
G
P
S
lo
ca
tio
n
acc
u
r
ac
y
f
o
r
d
if
f
er
en
t
s
m
ar
tp
h
o
n
es
D
e
v
i
c
e
M
o
d
e
l
Y
e
a
r
of
r
e
l
e
a
se
O
u
t
d
o
o
r
l
o
c
a
t
i
o
n
e
r
r
o
r
(
m)
I
n
d
o
o
r
l
o
c
a
t
i
o
n
e
r
r
o
r
(
m)
N
e
x
u
s
2
0
1
0
2
4
.
4
5
3
1
.
7
4
LG
G3
V
i
g
o
r
2
0
1
4
1
5
.
7
4
2
9
.
0
5
A
l
c
a
t
e
l
F
l
a
sh
2
0
1
4
8
.
6
7
2
1
.
4
5
M
o
t
o
r
o
l
a
M
o
t
o
Z
2
0
1
6
1
0
.
8
3
2
0
.
9
7
O
n
e
p
l
u
s
3
2
0
1
6
9
.
3
2
1
6
.
8
2
S
a
msu
n
g
G
a
l
a
x
y
S9
2
0
1
8
5
.
9
4
1
2
.
4
5
3
.
1
.
E
x
peri
m
e
nt
1
(
Wi
-
Fi
a
cc
ess
po
ints)
In
o
u
r
e
x
p
er
i
m
e
n
t
s
,
t
h
e
s
i
x
An
d
r
o
id
-
b
ased
s
m
ar
tp
h
o
n
e
s
s
h
o
w
n
ab
o
v
e
w
er
e
u
s
ed
.
L
o
ca
ti
o
n
s
er
v
ice
s
etti
n
g
s
w
er
e
s
et
to
th
e
d
ev
ic
e
-
o
n
l
y
s
u
ch
t
h
at
t
h
e
lo
ca
tio
n
is
g
e
n
er
ated
s
o
lel
y
b
ased
on
th
e
GP
S
in
te
g
r
ated
cir
cu
it
(
i.e
.
,
w
it
h
o
u
t
co
r
r
elatin
g
it
w
i
th
Wi
-
Fi,
B
lu
eto
o
th
,
etc.
)
.
An
a
n
d
r
o
id
ap
p
licatio
n
w
a
s
d
esi
g
n
ed
an
d
in
s
ta
lled
on
t
h
ese
d
ev
ices
as
s
h
o
w
n
in
F
i
g
u
r
e
2.
T
h
is
ap
p
lic
atio
n
p
er
f
o
r
m
s
t
h
e
s
i
m
p
le
f
u
n
ctio
n
of
u
p
lo
ad
in
g
th
e
GP
S
d
ata
an
d
R
SS
d
ata
f
o
r
s
ca
n
n
ed
Wi
-
Fi
ac
ce
s
s
p
o
i
n
ts
e
v
er
y
p
r
ed
eter
m
in
ed
p
er
io
d
of
tim
e.
In
t
h
is
ex
p
er
i
m
e
n
t,
th
is
p
er
io
d
of
ti
m
e
w
as
s
et
to
f
i
v
e
s
ec
o
n
d
s
(
to
ac
ce
ler
ate
d
ata
co
llectio
n
in
o
r
d
er
to
co
llect
lar
g
e
a
m
o
u
n
ts
of
d
ata
f
o
r
an
a
l
y
s
is
)
.
Ho
w
e
v
er
,
in
n
o
n
-
ex
p
er
i
m
en
t
al
ap
p
licatio
n
s
,
t
h
i
s
p
er
io
d
of
ti
m
e
can
be
s
et
to
a
m
in
u
te
to
av
o
id
o
v
er
w
h
el
m
i
n
g
t
h
e
r
eso
u
r
ce
s
of
p
ar
ticip
atin
g
s
m
ar
tp
h
o
n
es.
Fig
u
r
e
2.
T
h
e
A
n
d
r
o
id
ap
p
lica
tio
n
r
u
n
n
i
n
g
on
a
s
m
ar
tp
h
o
n
e
T
ests
w
er
e
co
n
d
u
cted
in
a
t
wo
-
s
to
r
y
b
u
ild
i
n
g
,
w
h
er
e
d
ata
w
a
s
co
llected
f
r
o
m
t
h
e
g
r
o
u
n
d
f
lo
o
r
o
n
l
y
(
in
th
is
e
x
p
er
i
m
e
n
t,
alti
tu
d
e
was
ig
n
o
r
ed
)
.
Six
d
i
f
f
er
e
n
t
d
ev
i
ce
s
w
er
e
u
s
ed
f
o
r
d
ata
co
llect
io
n
.
T
h
e
R
SS
m
ap
s
ize
w
as
100
m
eter
s
by
100
m
eter
s
,
w
h
ic
h
co
v
er
s
o
n
e
ca
m
p
u
s
b
u
ild
in
g
a
n
d
it
s
s
u
r
r
o
u
n
d
i
n
g
s
.
T
h
e
cl
u
s
ter
s
ize
in
t
h
is
e
x
p
er
i
m
en
t
w
as
s
et
to
o
n
e
s
q
u
ar
e
m
eter
.
T
h
is
s
ize
w
a
s
c
h
o
s
en
ac
co
r
d
in
g
to
t
h
e
GP
S
ac
cu
r
ac
y
of
th
e
p
ar
ticip
atin
g
d
ev
ice
s
(
th
e
m
o
s
t
ac
cu
r
ate
d
e
v
ice
in
t
h
e
ex
p
er
i
m
e
n
t
h
a
s
av
er
a
g
e
GP
S
lo
ca
tio
n
er
r
o
r
of
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
I
nt
J
R
ob
&
A
u
to
m
,
Vo
l.
9
,
No
.
3
,
Sep
tem
b
er
2020
:
2
11
–
219
216
9
.
1
9
m
eter
s
)
.
T
h
e
ap
p
licatio
n
w
a
s
u
s
ed
to
co
llect
ap
p
r
o
x
im
atel
y
6
,
0
0
0
d
ata
p
o
in
ts
d
iv
i
d
ed
eq
u
all
y
b
et
w
ee
n
th
e
p
ar
ticip
ati
n
g
d
e
v
ices.
A
p
p
r
o
x
i
m
atel
y
800
u
n
iq
u
e
ac
ce
s
s
p
o
in
t
s
w
er
e
s
ca
n
n
ed
.
T
h
e
d
ata
p
o
in
ts
w
er
e
p
r
o
ce
s
s
ed
by
t
h
e
m
ap
b
u
ild
in
g
en
g
i
n
e
on
t
h
e
ap
p
licatio
n
s
er
v
er
to
b
u
ild
th
e
R
SS
m
ap
.
T
h
e
co
llected
d
ata
p
o
in
ts
w
er
e
f
ed
to
th
e
m
ap
en
g
in
e,
a
n
d
th
e
R
SS
m
ap
w
as
b
u
ilt
u
s
in
g
t
h
e
cr
iter
ia
ab
o
v
e.
In
o
r
d
er
to
test
th
e
ac
cu
r
ac
y
of
th
e
g
en
er
ated
w
ei
g
h
ted
R
S
S
m
ap
,
100
ad
d
itio
n
al
d
ata
p
o
in
ts
w
er
e
co
llected
at
lo
ca
tio
n
s
w
it
h
k
n
o
w
n
co
o
r
d
in
ates.
T
h
en
th
e
a
v
er
ag
e
of
t
h
e
m
ea
n
ab
s
o
lu
te
p
er
ce
n
tag
e
er
r
o
r
s
of
th
e
w
ei
g
h
ted
R
SS
m
ap
(
d
if
f
er
en
t
d
ev
ices
w
er
e
ass
ig
n
ed
d
if
f
er
e
n
t
w
ei
g
h
t
s
w
h
e
n
b
u
i
ld
in
g
t
h
e
m
ap
)
w
a
s
ca
lcu
lated
at
th
e
te
s
t
d
ata
p
o
in
ts
’
lo
ca
tio
n
s
as
f
o
llo
w
s
.
∑
(
∑
(
(
)
(
)
(
)
)
)
(
3
)
w
h
er
e:
n
is
in
d
ex
of
an
ac
ce
s
s
p
o
in
t
i
is
th
e
i
n
d
ex
of
a
te
s
t
p
o
in
t.
(
)
is
th
e
R
SS
I
r
ec
o
r
d
ed
by
th
e
te
s
t
p
o
in
t
f
o
r
ac
ce
s
s
p
o
in
t
n
(
)
is
th
e
R
SS
I
v
a
lu
e
s
to
r
ed
in
th
e
R
SS
I
m
ap
clu
s
ter
f
o
r
ac
ce
s
s
p
o
in
t
n
We
b
u
ild
th
e
R
SS
m
ap
ag
a
i
n
,
b
u
t
th
i
s
ti
m
e
w
i
th
o
u
t
e
m
p
lo
y
in
g
w
ei
g
h
t
in
g
f
ac
to
r
s
(
t
h
e
w
ei
g
h
t
in
g
f
ac
to
r
s
w
er
e
s
et
to
1
f
o
r
all
of
th
e
d
ata
p
o
in
t
s
r
eg
ar
d
less
of
t
h
e
m
o
d
el
of
t
h
e
d
ev
ice)
.
T
h
en
,
u
s
i
n
g
t
h
e
s
a
m
e
tes
t
p
o
in
ts
,
we
ca
lc
u
lated
t
h
e
a
v
er
ag
e
of
th
e
m
ea
n
ab
s
o
l
u
te
p
er
ce
n
tag
e
er
r
o
r
s
f
o
r
th
e
u
n
w
ei
g
h
ted
R
SS
m
ap
(
all
d
ev
ices
h
a
v
e
t
h
e
s
a
m
e
w
ei
g
h
t
i
n
g
f
ac
to
r
)
u
s
i
n
g
(
3
)
.
T
h
e
r
esu
lt
s
ar
e
s
h
o
w
n
in
T
ab
le
2.
As
can
be
s
ee
n
f
r
o
m
T
ab
le
2,
th
er
e
is
les
s
er
r
o
r
w
h
e
n
w
ei
g
h
in
g
f
ac
to
r
s
ar
e
e
m
p
lo
y
ed
co
m
p
ar
ed
to
w
h
e
n
t
h
e
y
ar
e
n
o
t.
In
t
h
i
s
e
x
p
er
im
e
n
t,
th
e
w
ei
g
h
ted
m
ap
h
as
6
.
7
1
%
le
s
s
a
v
er
ag
e
m
ea
n
ab
s
o
lu
te
er
r
o
r
th
a
n
th
e
u
n
w
e
ig
h
ted
m
ap
.
In
t
h
e
ca
s
e
th
e
s
e
R
SS
m
ap
s
ar
e
u
s
ed
f
o
r
lo
ca
tio
n
f
ix
in
g
p
u
r
p
o
s
es,
to
ca
lcu
la
te
th
e
lo
ca
tio
n
er
r
o
r
th
e
y
w
o
u
ld
p
r
o
d
u
ce
,
f
ir
s
t,
we
co
r
r
elate
d
t
h
e
R
SS
d
ata
of
th
e
test
p
o
in
ts
v
e
r
s
u
s
th
e
cl
u
s
ter
s
in
th
e
R
SS
m
ap
to
f
i
n
d
w
h
ic
h
cl
u
s
ter
ca
r
r
ies
t
h
e
m
o
s
t
s
i
m
ilar
R
SS
d
ata
to
each
of
th
e
te
s
t
p
o
in
ts
.
T
h
is
is
d
o
n
e
u
s
i
n
g
th
e
m
i
n
i
m
u
m
m
ea
n
s
q
u
ar
e
er
r
o
r
.
T
h
en
,
we
ca
lcu
la
ted
th
e
lo
ca
tio
n
er
r
o
r
,
w
h
ich
is
t
h
e
d
is
tan
ce
b
et
w
ee
n
th
e
tr
u
e
co
o
r
d
in
ates
of
a
test
p
o
in
t
an
d
th
e
co
o
r
d
in
ates
of
th
e
ce
n
ter
of
th
e
clu
s
ter
w
h
ic
h
te
s
t
p
o
in
t
'
s
R
SS
d
ata
w
a
s
m
atc
h
ed
to
.
T
h
is
w
as
done
f
o
r
all
of
t
h
e
te
s
t
p
o
in
t
s
a
n
d
t
h
e
a
v
er
ag
e
lo
ca
tio
n
er
r
o
r
w
a
s
ca
lcu
lated
f
o
r
b
o
th
R
SS
m
ap
s
(
i.e
.
,
w
e
ig
h
ted
a
n
d
u
n
w
ei
g
h
ted
)
.
T
h
e
r
esu
lts
ar
e
s
h
o
w
n
in
T
ab
le
3.
T
h
e
r
esu
lt
s
in
d
icate
th
a
t
les
s
lo
ca
tio
n
er
r
o
r
is
p
r
o
d
u
ce
d
by
t
h
e
w
e
ig
h
ted
R
SS
m
ap
c
o
m
p
ar
ed
to
t
h
e
u
n
w
ei
g
h
ted
o
n
e.
F
u
r
th
er
m
o
r
e,
th
e
r
esu
lts
s
h
o
w
t
h
at
lo
ca
tio
n
er
r
o
r
s
ar
e
less
w
h
e
n
a
clu
s
te
r
h
as
a
h
i
g
h
Wm
v
a
lu
e.
Mo
r
eo
v
er
,
lar
g
e
lo
ca
tio
n
er
r
o
r
s
ar
e
less
lik
el
y
f
o
r
clu
s
t
er
s
w
it
h
a
h
ig
h
Wm
v
a
lu
e.
T
h
is
s
h
o
w
s
h
o
w
d
ata
f
r
o
m
le
s
s
ac
cu
r
ate
d
ev
ices
ca
n
be
b
alan
ce
d
w
it
h
t
h
e
d
ata
f
r
o
m
m
o
r
e
ca
p
ab
le
o
n
es.
T
h
is
allo
w
s
t
h
e
u
s
e
of
d
iv
er
s
e
r
an
g
e
d
ev
ices
in
cr
o
w
d
s
o
u
r
ci
n
g
f
o
r
p
r
ac
tical
ca
s
es
an
d
allo
w
s
a
w
id
e
r
an
g
e
of
u
s
er
s
to
p
ar
ticip
ate
in
cr
o
w
d
s
o
u
r
cin
g
ap
p
licatio
n
s
.
T
ab
le
2.
T
h
e
av
er
ag
e
m
ea
n
ab
s
o
u
late
er
r
o
r
f
o
r
th
e
u
n
w
ei
g
h
ted
an
d
w
eig
h
ted
R
SS
m
ap
s
R
S
S
I
M
a
p
A
v
e
r
a
g
e
me
a
n
a
b
so
l
u
t
e
e
r
r
o
r
U
n
w
e
i
g
h
t
e
d
1
9
.
1
%
W
e
i
g
h
t
e
d
1
2
.
3
9
%
T
ab
le
3.
L
o
ca
tio
n
er
r
o
r
f
o
r
th
e
lo
ca
to
n
g
en
er
ated
u
s
i
n
g
th
e
w
ei
g
h
ted
an
d
th
e
u
n
w
ei
g
h
ted
R
S
S
m
ap
s
R
S
S
I
M
a
p
L
o
c
a
t
i
o
n
e
r
r
o
r
(
m)
U
n
w
e
i
g
h
t
e
d
2
1
.
5
2
W
e
i
g
h
t
e
d
1
3
.
6
9
3
.
2
.
E
x
peri
m
e
nt
2
(
L
T
E
ce
ll
s
)
In
o
r
d
er
to
test
th
e
ac
cu
r
ac
y
of
th
e
g
e
n
er
ated
w
ei
g
h
ted
m
ap
,
we
s
i
m
u
lated
t
h
e
s
y
s
te
m
u
s
i
n
g
Ma
tlab
.
T
h
r
ee
L
T
E
b
ase
s
tatio
n
s
w
it
h
th
r
ee
ce
lls
each
w
er
e
p
lace
d
on
a
m
ap
as
can
be
s
ee
n
in
Fi
g
u
r
e
3.
T
h
ese
ce
lls
w
er
e
as
s
ig
n
ed
p
h
y
s
ical
I
Ds
f
r
o
m
1
-
9
(
in
th
is
ca
s
e
ar
e
th
e
ac
ce
s
s
p
o
in
ts
UI
s
)
.
An
te
n
n
a
to
o
l
b
o
x
on
Ma
tlab
w
as
u
s
ed
to
s
i
m
u
late
th
e
co
v
er
ag
e
of
th
e
s
e
a
n
ten
n
a
s
.
T
h
is
w
as
d
o
n
e
u
s
i
n
g
th
e
1700
Me
g
ah
er
tz
b
an
d
w
i
th
e
f
f
ec
ti
v
e
r
ad
iated
p
o
w
er
of
52
d
B
m
.
We
ass
ig
n
ed
th
e
ef
f
ec
ti
v
e
r
ad
iu
s
an
d
th
e
w
ei
g
h
ti
n
g
f
ac
to
r
f
o
r
th
e
s
ix
d
ev
ice
s
ab
o
v
e
b
ased
on
th
eir
GP
S
lo
ca
tio
n
ac
cu
r
ac
y
.
We
co
n
f
i
g
u
r
ed
th
is
s
i
m
u
latio
n
to
h
av
e
t
h
ese
d
ev
ices
r
ep
o
r
t
R
SS
I
v
al
u
e
at
r
an
d
o
m
lo
ca
tio
n
s
on
th
e
m
ap
,
w
it
h
a
r
a
n
d
o
m
lo
ca
tio
n
er
r
o
r
in
a
w
a
y
th
e
a
v
er
ag
e
lo
ca
tio
n
er
r
o
r
m
atc
h
es
t
h
e
v
al
u
es
in
T
ab
le
1.
1
0
,
0
0
0
d
ata
p
o
in
ts
w
er
e
g
en
er
ated
.
T
h
e
g
en
er
ated
test
p
o
in
ts
w
er
e
u
s
ed
to
b
u
ild
an
R
SS
I
m
ap
u
s
i
n
g
th
e
s
tep
s
d
is
c
u
s
s
ed
in
th
e
p
r
ev
io
u
s
s
ec
tio
n
.
In
o
r
d
er
to
test
t
h
e
ac
cu
r
ac
y
of
th
e
g
e
n
er
ated
w
e
ig
h
ted
R
SS
I
m
ap
,
th
e
a
v
er
ag
e
of
th
e
m
ea
n
ab
s
o
l
u
te
p
er
ce
n
tag
e
er
r
o
r
s
of
th
e
w
ei
g
h
ted
R
SS
I
m
ap
(
d
if
f
er
e
n
t
d
ev
ices
w
er
e
ass
ig
n
ed
d
if
f
er
en
t
w
ei
g
h
ts
w
h
en
b
u
ild
in
g
th
e
m
ap
)
w
as
ca
lc
u
lat
ed
at
th
e
test
d
ata
p
o
in
ts
’
lo
ca
t
io
n
s
as
f
o
llo
w
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
-
4856
A
w
eig
h
tin
g
s
ystem
to
b
u
ild
p
h
ysica
l
la
ye
r
mea
s
u
r
e
men
ts
m
a
p
s
by
cro
w
d
s
o
u
r
cin
g
d
a
ta
...
(
Ho
s
a
m
A
la
mleh
)
217
∑
(
∑
(
(
)
(
)
(
)
)
)
(
4
)
w
h
er
e
n
is
in
d
ex
of
an
L
T
E
c
ell
.
i
is
th
e
in
d
ex
of
a
test
p
o
in
t
.
(
)
is
th
e
R
SS
I
g
e
n
er
a
te
d
by
th
e
an
ten
n
a
c
o
v
e
r
ag
e
s
im
u
lati
o
n
f
o
r
L
T
E
ce
l
l
n.
(
)
is
th
e
R
SS
I
v
alu
e
s
t
o
r
e
d
in
th
e
R
SS
I
m
ap
clu
s
t
er
f
o
r
L
T
E
c
ell
n.
Fig
u
r
e
3
.
Si
m
u
latio
n
m
ap
s
ett
i
n
g
s
We
b
u
ild
th
e
R
SS
I
m
ap
ag
ai
n
,
b
u
t
th
i
s
ti
m
e
w
ith
o
u
t
e
m
p
l
o
y
i
n
g
w
eig
h
ti
n
g
f
ac
to
r
s
(
th
e
w
ei
g
h
ti
n
g
f
ac
to
r
s
w
er
e
s
et
to
1
f
o
r
all
of
th
e
d
ata
p
o
in
t
s
r
eg
ar
d
less
of
t
h
e
m
o
d
el
of
t
h
e
d
ev
ice)
.
T
h
en
,
u
s
i
n
g
t
h
e
s
a
m
e
tes
t
p
o
in
ts
,
we
ca
lc
u
lated
t
h
e
a
v
er
ag
e
of
th
e
m
ea
n
ab
s
o
l
u
te
p
er
ce
n
tag
e
er
r
o
r
s
f
o
r
th
e
u
n
w
ei
g
h
ted
R
SS
m
ap
(
all
d
ev
ices
h
a
v
e
t
h
e
s
a
m
e
w
ei
g
h
t
i
n
g
f
ac
to
r
)
u
s
i
n
g
(
4
)
.
T
h
e
r
esu
lt
s
ar
e
s
h
o
w
n
in
T
ab
le
4.
T
ab
le
4
.
A
v
er
ag
e
m
ea
n
ab
s
o
l
u
te
er
r
o
r
f
o
r
th
e
m
ap
s
R
S
S
I
M
a
p
A
v
e
r
a
g
e
me
a
n
a
b
so
l
u
t
e
e
r
r
o
r
U
n
w
e
i
g
h
t
e
d
2
2
.
1
8
%
W
e
i
g
h
t
e
d
1
3
.
3
9
%
As
can
be
s
ee
n
f
r
o
m
T
ab
le
4,
th
er
e
is
i
m
p
r
o
v
e
m
e
n
t
in
t
h
e
ac
cu
r
ac
y
of
t
h
e
m
ap
w
h
e
n
w
ei
g
h
i
n
g
f
ac
to
r
s
ar
e
e
m
p
lo
y
ed
co
m
p
ar
ed
to
w
h
e
n
t
h
e
y
ar
e
n
o
t.
In
t
h
is
s
i
m
u
latio
n
,
t
h
e
w
ei
g
h
ted
m
ap
h
a
s
%8
.
7
9
les
s
av
er
ag
e
m
ea
n
ab
s
o
lu
te
er
r
o
r
th
an
t
h
e
u
n
w
eig
h
ted
m
ap
.
T
h
is
s
h
o
w
s
h
o
w
d
ata
f
r
o
m
le
s
s
a
cc
u
r
ate
d
ev
ices
ca
n
be
b
alan
ce
d
w
it
h
th
e
d
ata
f
r
o
m
m
o
r
e
ca
p
ab
le
o
n
es.
T
h
is
allo
w
s
th
e
u
s
e
of
d
i
v
er
s
e
r
an
g
e
d
ev
ices
in
m
ap
s
cr
o
w
d
s
o
u
r
ci
n
g
f
o
r
p
r
ac
tical
ca
s
es
an
d
allo
w
s
a
w
id
e
r
an
g
e
of
u
s
er
s
to
p
ar
ticip
ate
in
cr
o
w
d
s
o
u
r
cin
g
ap
p
licatio
n
s
.
In
th
is
e
x
p
er
i
m
en
t,
d
u
e
to
s
i
m
u
latio
n
li
m
itatio
n
we
o
n
l
y
b
u
ild
t
h
e
m
ap
f
o
r
th
e
R
SS
I
m
ea
s
u
r
e
m
e
n
t.
Ho
w
ev
er
,
th
e
a
v
er
ag
e
m
ea
n
ab
s
o
lu
te
er
r
o
r
v
a
lu
e
is
g
o
i
n
g
to
be
t
h
e
s
a
m
e
f
o
r
th
e
o
th
er
p
h
y
s
ical
la
y
er
m
ea
s
u
r
e
m
e
n
ts
m
ap
s
.
4.
CO
NCLU
SI
O
N
P
h
y
s
ical
la
y
er
m
ea
s
u
r
e
m
e
n
t
m
ap
s
ar
e
u
s
ed
in
d
if
f
er
en
t
ap
p
licatio
n
s
in
cl
u
d
i
n
g
n
a
v
i
g
atio
n
,
s
ec
u
r
it
y
,
an
d
n
et
w
o
r
k
p
er
f
o
r
m
a
n
ce
ev
a
lu
atio
n
.
T
h
e
p
r
o
p
o
s
ed
m
et
h
o
d
o
lo
g
y
ac
h
ie
v
es
an
ef
f
ec
ti
v
e
ap
p
r
o
ac
h
to
g
en
er
ate
p
h
y
s
ical
la
y
er
m
ea
s
u
r
e
m
e
n
t
s
m
ap
s
b
ec
au
s
e
it
d
o
es
n
o
t
r
eq
u
ir
e
d
ed
icate
d
d
ev
ices
a
nd
p
er
s
o
n
n
el
to
co
llect
th
e
m
ea
s
u
r
e
m
e
n
ts
m
a
n
u
all
y
.
As
d
is
cu
s
s
ed
p
r
ev
io
u
s
l
y
,
th
e
u
s
e
of
cr
o
w
d
s
o
u
r
ci
n
g
s
a
v
es
m
an
y
r
eso
u
r
ce
s
an
d
o
f
f
er
s
clea
r
p
er
f
o
r
m
an
ce
ad
v
a
n
tag
e
s
.
T
h
e
p
r
o
p
o
s
ed
s
y
s
te
m
tak
es
i
n
to
co
n
s
id
er
atio
n
t
h
e
d
iv
er
s
it
y
of
m
o
b
ile
d
ev
ices
u
s
ed
by
u
s
er
s
a
n
d
d
o
es
n
o
t
r
eq
u
ir
e
an
y
ad
d
itio
n
a
l
e
q
u
ip
m
e
n
t
n
o
r
in
f
r
astr
u
ct
u
r
e.
T
h
is
w
o
r
k
p
r
ese
n
ted
a
m
eth
o
d
to
b
u
ild
cr
o
w
d
s
o
u
r
ce
d
p
h
y
s
ical
la
y
er
m
ea
s
u
r
e
m
en
ts
m
ap
s
in
a
w
a
y
t
h
at
it
a
cc
o
m
m
o
d
ate
w
id
e
r
an
g
e
s
of
d
ev
ice
s
,
it
d
o
es
not
r
eq
u
ir
e
ad
d
itio
n
al
h
ar
d
w
ar
e,
an
d
ta
k
e
i
n
to
co
n
s
id
er
atio
n
t
h
e
ca
p
ab
ilit
y
of
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
I
nt
J
R
ob
&
A
u
to
m
,
Vo
l.
9
,
No
.
3
,
Sep
tem
b
er
2020
:
2
11
–
219
218
d
if
f
er
e
n
t
d
ev
ice
s
.
T
h
is
w
o
r
k
is
d
if
f
er
en
t
f
r
o
m
cu
r
r
e
n
t
w
o
r
k
in
th
a
t
it
s
u
p
p
o
r
ts
a
w
id
e
r
an
g
e
of
d
ev
ice
s
.
T
h
is
f
its
w
ell
in
r
ea
l
-
li
f
e
ap
p
licatio
n
s
,
w
h
er
e
th
er
e
is
a
w
id
e
r
a
n
g
e
of
d
ev
ices
’
m
o
d
el
s
w
it
h
d
if
f
er
en
t
m
a
n
u
f
ac
tu
r
er
s
an
d
ca
p
ab
ilit
ies.
T
h
e
p
r
o
p
o
s
e
d
s
y
s
te
m
ad
d
r
ess
e
s
th
i
s
by
allo
w
i
n
g
a
w
id
e
r
an
g
e
of
u
s
er
s
to
p
ar
ticip
ate
in
th
e
cr
o
w
d
s
o
u
r
ci
n
g
ap
p
licatio
n
w
it
h
o
u
t
a
f
f
ec
t
in
g
t
h
e
p
er
f
o
r
m
a
n
ce
of
t
h
e
s
y
s
te
m
.
T
h
i
s
is
ac
h
ie
v
ed
by
e
m
p
lo
y
i
n
g
w
ei
g
h
tin
g
f
ac
to
r
s
f
o
r
each
of
th
e
d
ata
p
o
in
ts
b
as
ed
on
th
e
tr
u
s
t
w
o
r
th
in
e
s
s
of
t
h
e
s
o
u
r
ce
.
T
h
e
m
o
s
t
tr
u
s
t
w
o
r
t
h
y
d
e
v
ices
h
a
v
e
a
lar
g
er
ef
f
ec
t
on
t
h
e
R
SS
m
ap
t
h
a
n
les
s
tr
u
s
t
w
o
r
t
h
y
o
n
es.
Af
ter
b
u
ild
in
g
t
h
e
s
y
s
te
m
f
o
r
t
w
o
ap
p
licatio
n
s
an
d
te
s
ti
n
g
t
h
e
m
.
T
h
e
test
a
n
d
s
i
m
u
la
t
io
n
r
esu
l
ts
s
h
o
w
ed
a
v
i
s
ib
le
i
m
p
r
o
v
e
m
e
n
t
in
t
h
e
ac
cu
r
ac
y
of
th
e
g
e
n
er
ated
p
h
y
s
ical
la
y
er
m
ea
s
u
r
e
m
en
t
m
ap
s
w
h
e
n
w
eig
h
ti
n
g
f
ac
to
r
s
w
as
e
m
p
lo
y
ed
co
m
p
ar
ed
to
w
h
e
n
t
h
e
y
ar
e
n
o
t.
T
h
i
s
p
ap
er
s
h
o
w
ed
h
o
w
e
m
p
l
o
y
i
n
g
w
e
ig
h
ti
n
g
f
ac
to
r
s
w
h
en
b
u
ild
in
g
m
ap
s
cr
o
w
d
s
o
u
r
ce
d
f
r
o
m
a
r
an
g
e
of
d
ev
ices
can
i
m
p
r
o
v
e
th
e
a
cc
u
r
ac
y
of
g
e
n
er
ated
m
ap
s
.
T
h
is
w
as
s
ee
n
f
r
o
m
th
e
test
,
in
w
h
ic
h
th
e
a
v
er
ag
e
m
ea
n
ab
s
o
lu
te
er
r
o
r
of
th
e
w
ei
g
h
ted
m
ap
d
ec
r
ea
s
ed
by
6
.
7
1
%,
an
d
f
r
o
m
th
e
s
i
m
u
latio
n
,
in
w
h
ic
h
th
e
d
ec
r
ea
s
e
in
er
r
o
r
w
as
8
.
7
9
%.
RE
F
E
R
E
NC
E
S
[1
]
P
e
w
Re
se
a
rc
h
Ce
n
ter,
“
M
o
b
il
e
F
a
c
t
S
h
e
e
t
.
”
2
0
1
8
.
h
tt
p
s:
//
ww
w
.
p
e
wre
se
a
rc
h
.
o
rg
/i
n
tern
e
t/
f
a
c
t
-
sh
e
e
t/
m
o
b
il
e
.
[2
]
R
.
A
.
Jo
h
n
i.
“
M
e
a
su
re
m
e
n
ts
to
d
e
sig
n
a
c
o
v
e
ra
g
e
a
re
a
by
u
sin
g
h
ig
h
a
lt
it
u
d
e
p
latf
o
rm
s
y
ste
m
s
,”
T
EL
KOM
NIKA
T
e
lec
o
mm
u
n
ica
ti
o
n
Co
mp
u
ti
n
g
E
lec
tro
n
ics
a
n
d
C
o
n
tr
o
l
, v
o
l
.
1
8,
n
o.
4,
p
p
.
1
6
9
5
-
1
7
0
0
,
2
0
2
0
.
[3
]
De
fe
n
se
A
d
v
a
n
c
e
d
Re
se
a
r
c
h
P
r
o
j
e
c
ts
A
g
e
n
c
y
,
“
D
A
RP
A
Ne
t
w
o
rk
Ch
a
ll
e
n
g
e
P
r
o
jec
t
Re
p
o
rt
,
”
2
0
1
2
.
[4
]
J.
Ka
stre
n
a
k
e
s.
“
G
P
S
w
il
l
be
a
c
c
u
ra
te
w
it
h
in
one
f
o
o
t
in
so
m
e
p
h
o
n
e
s
n
e
x
t
y
e
a
r
,
”
h
tt
p
s:/
/www
.
th
e
v
e
r
g
e
.
c
o
m
/circ
u
it
b
re
a
k
e
r/2
0
1
7
/
9
/
2
5
/
1
6
3
6
2
2
9
6
/g
p
s
-
a
c
c
u
ra
c
y
-
i
m
p
ro
v
in
g
-
one
-
f
o
o
t
-
b
ro
a
d
c
o
m
.
[5
]
R.
K.
G
a
n
ti
,
F.
Ye
,
a
n
d
H.
L
e
i,
“
M
o
b
i
le
c
ro
w
d
se
n
sin
g
:
c
u
rre
n
t
sta
te
a
n
d
f
u
tu
re
c
h
a
ll
e
n
g
e
s,
”
IEE
E
Co
mm
u
n
ica
ti
o
n
s
M
a
g
a
zin
e
,
v
o
l.
4
9
,
n
o
.
1
1
,
p
p
.
32
-
39,
N
o
v
e
m
b
e
r
2011,
d
o
i:
1
0
.
1
1
0
9
/M
COM.
2
0
1
1
.
6
0
6
9
7
0
7
.
[6
]
P.
Ba
h
l
a
n
d
V.
N.
P
a
d
m
a
n
a
b
h
a
n
,
“
RA
D
A
R:
an
in
-
b
u
il
d
in
g
RF
-
b
a
se
d
u
se
r
lo
c
a
ti
o
n
a
n
d
trac
k
in
g
s
y
st
e
m
,
”
in
Pro
c
e
e
d
in
g
s
I
EE
E
INFOCOM
2
0
0
0
.
Co
n
fer
e
n
c
e
on
Co
mp
u
ter
Co
mm
u
n
ica
ti
o
n
s.
Ni
n
e
tee
n
t
h
An
n
u
a
l
J
o
in
t
Co
n
fer
e
n
c
e
of
t
h
e
IEE
E
Co
mp
u
t
e
r
and
C
o
mm
u
n
ica
ti
o
n
s
S
o
c
ietie
s
(
Ca
t.
No
.
0
0
CH3
7
0
6
4
)
,
T
e
l
A
v
i
v
,
v
o
l.
2
,
2
0
0
0
,
pp.
7
7
5
-
784
,
d
o
i:
1
0
.
1
1
0
9
/INF
C
OM.
2
0
0
0
.
8
3
2
2
5
2
.
[7
]
Z.
Ch
o
n
g
a
n
d
H.
Y.
Yu
,
“
I
n
d
o
o
r
m
a
tch
in
g
lo
c
a
ti
o
n
a
lg
o
rit
h
m
b
a
se
d
on
W
IF
I
sig
n
a
l
stre
n
g
th
,
”
in
2
0
1
3
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
on
Co
mm
u
n
ica
ti
o
n
s,
Circ
u
it
s
a
n
d
S
y
ste
ms
(ICCCAS
)
,
C
h
e
n
g
d
u
,
2
0
1
3
,
pp.
1
1
6
-
1
1
9
,
d
o
i:
1
0
.
1
1
0
9
/ICCCA
S
.
2
0
1
3
.
6
7
6
5
2
9
8
.
[8
]
C.
Hs
u
,
et
al
.
,
“
An
A
d
a
p
ti
v
e
Wi
-
Fi
In
d
o
o
r
L
o
c
a
li
z
a
ti
o
n
S
c
h
e
m
e
u
sin
g
De
e
p
L
e
a
rn
in
g
,
”
in
2
0
1
8
I
E
EE
Asia
-
P
a
c
if
ic
Co
n
fer
e
n
c
e
on
An
ten
n
a
s
and
Pr
o
p
a
g
a
ti
o
n
(
AP
CAP
)
,
A
u
c
k
lan
d
,
2
0
1
8
,
pp.
1
3
2
-
1
3
3
,
d
o
i:
1
0
.
1
1
0
9
/A
P
CA
P
.
2
0
1
8
.
8
5
3
8
1
9
1
.
[9
]
A
.
M
a
k
k
i,
e
t
a
l
.
,
“
S
u
rv
e
y
o
f
W
iF
i
p
o
sit
io
n
in
g
u
sin
g
ti
m
e
-
b
a
se
d
tec
h
n
i
q
u
e
s,
”
Co
m
p
u
ter
Ne
t
wo
rk
s
,
v
o
l.
8
8
,
p
p
.
2
1
8
–
2
3
3
,
2
0
1
5
.
[1
0
]
P
.
W
a
n
g
a
n
d
Y.
L
u
o
,
“
Re
se
a
rc
h
o
n
W
iF
i
In
d
o
o
r
L
o
c
a
ti
o
n
A
l
g
o
rit
h
m
Ba
se
d
o
n
RS
S
I
Ra
n
g
in
g
,
”
in
2
0
1
7
4
th
I
n
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
In
f
o
rm
a
ti
o
n
S
c
ien
c
e
a
n
d
C
o
n
tro
l
E
n
g
in
e
e
rin
g
(
ICIS
CE)
,
C
h
a
n
g
sh
a
,
2
0
1
7
,
p
p
.
1
6
9
4
-
1
6
9
8
,
d
o
i:
1
0
.
1
1
0
9
/ICIS
CE.
2
0
1
7
.
3
5
4
.
[1
1
]
Y.
Ag
a
ta,
J.
Ho
n
g
,
a
n
d
T.
Oh
tsu
k
i,
“
Ro
o
m
-
lev
e
l
p
ro
x
im
it
y
d
e
te
c
ti
o
n
u
si
n
g
b
e
a
c
o
n
f
ra
m
e
f
ro
m
m
u
lt
ip
le
a
c
c
e
ss
p
o
i
n
ts,
”
in
2
0
1
5
Asia
-
P
a
c
if
ic
S
i
g
n
a
l
a
n
d
In
f
o
rm
a
ti
o
n
Pro
c
e
ss
in
g
Asso
c
ia
ti
o
n
An
n
u
a
l
S
u
mm
it
a
n
d
Co
n
fer
e
n
c
e
(
AP
S
IPA
)
,
Ho
n
g
Ko
n
g
,
2
0
1
5
,
p
p
.
941
-
9
4
5
,
d
o
i:
1
0
.
1
1
0
9
/A
P
S
I
P
A
.
2
0
1
5
.
7
4
1
5
4
1
1
.
[1
2
]
C.
Ja
v
a
li
,
et
al
.,
“
De
m
o
a
b
stra
c
t:
L
o
c
a
ti
o
n
f
in
g
e
rp
rin
t
e
v
id
e
n
c
e
a
n
d
a
u
t
h
o
r
isa
ti
o
n
u
si
n
g
W
iF
i
c
h
a
n
n
e
l
c
h
a
ra
c
teristics
,
”
in
2
0
1
6
IE
EE
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
on
Per
v
a
siv
e
Co
mp
u
ti
n
g
a
n
d
C
o
mm
u
n
ic
a
t
io
n
W
o
rk
sh
o
p
s
(
Per
Co
m
W
o
rk
sh
o
p
s)
,
S
y
d
n
e
y
,
NSW
,
2
0
1
6
,
p
p
.
1
-
3,
d
o
i:
1
0
.
1
1
0
9
/
P
ERCO
M
W
.
2
0
1
6
.
7
4
5
7
0
7
7
.
[1
3
]
T
.
G
u
e
lzi
m
a
n
d
M.
Ob
a
id
a
t
,
“
No
v
e
l
Ne
u
ro
c
o
m
p
u
ti
n
g
-
b
a
se
d
S
c
h
e
m
e
to
A
u
th
e
n
ti
c
a
te
WL
A
N
Us
e
rs
E
m
p
lo
y
in
g
Dista
n
c
e
P
r
o
x
im
it
y
T
h
re
sh
o
ld
,
”
in
Co
n
fer
e
n
c
e
:
S
EC
RY
PT
2
0
0
8
,
Pro
c
e
e
d
in
g
s
of
th
e
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
on
S
e
c
u
rity
a
n
d
Cry
p
t
o
g
r
a
p
h
y
,
2
0
0
8
,
p
p
.
1
4
5
-
1
5
3
.
[1
4
]
D.
G
u
n
d
leg
å
rd
a
n
d
J.
M.
Ka
rlsso
n
,
“
T
h
e
s
m
a
rtp
h
o
n
e
as
e
n
a
b
ler
f
o
r
ro
a
d
tra
ff
ic
in
f
o
r
m
a
ti
o
n
b
a
se
d
on
c
e
ll
u
lar
n
e
tw
o
rk
sig
n
a
ll
in
g
,
”
in
1
6
t
h
In
ter
n
a
ti
o
n
a
l
IEE
E
Co
n
fer
e
n
c
e
on
I
n
telli
g
e
n
t
T
ra
n
sp
o
rta
ti
o
n
S
y
ste
ms
(
IT
S
C
2
0
1
3
)
,
T
h
e
Ha
g
u
e
,
2
0
1
3
,
p
p
.
2
1
0
6
-
2
1
1
2
,
d
o
i
:
1
0
.
1
1
0
9
/IT
S
C.
2
0
1
3
.
6
7
2
8
5
4
0
.
[1
5
]
P
.
M
iro
w
sk
i,
e
t
a
l
.,
“
S
ig
n
a
lS
LAM
:
S
im
u
lt
a
n
e
o
u
s
lo
c
a
li
z
a
ti
o
n
a
n
d
m
a
p
p
in
g
w
it
h
m
ix
e
d
W
iF
i,
Blu
e
to
o
t
h
,
L
T
E
a
n
d
m
a
g
n
e
ti
c
sig
n
a
ls,
”
in
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
I
n
d
o
o
r
P
o
siti
o
n
in
g
a
n
d
In
d
o
o
r
Na
v
ig
a
ti
o
n
,
M
o
n
t
b
e
li
a
rd
-
Be
lf
o
rt,
2
0
1
3
,
p
p
.
1
-
1
0
,
d
o
i:
1
0
.
1
1
0
9
/I
P
IN
.
2
0
1
3
.
6
8
1
7
8
5
3
.
[1
6
]
M
.
Ra
it
o
h
a
rj
u
,
T
.
F
a
d
ju
k
o
f
f
,
S
.
A
li
-
L
ö
y
tt
y
a
n
d
R.
P
ich
é
,
“
Us
in
g
u
n
lo
c
a
ted
f
in
g
e
rp
rin
ts
in
g
e
n
e
ra
ti
o
n
o
f
W
LAN
m
a
p
s f
o
r
in
d
o
o
r
p
o
si
ti
o
n
in
g
,
”
i
n
Pro
c
e
e
d
in
g
s
o
f
th
e
2
0
1
2
IEE
E/
IO
N
Po
siti
o
n
,
L
o
c
a
ti
o
n
a
n
d
Na
v
i
g
a
t
io
n
S
y
mp
o
si
u
m
,
M
y
rtl
e
Be
a
c
h
,
S
C,
2
0
1
2
,
p
p
.
5
7
6
-
5
8
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7
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K.
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8
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[1
9
]
Y.
G
u
,
et
al
.,
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0
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e
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d
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u
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d
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h
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.
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g
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h
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x
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e
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ti
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ra
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te
in
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u
g
2020.
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h
a
s
w
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rk
e
d
in
f
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e
ld
s
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u
strial,
a
c
a
d
e
m
ia,
re
s
e
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n
d
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il
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a
r
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r
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o
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rs.
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p
ri
m
a
r
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re
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e
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h
,
in
w
h
ich
he
h
a
s
p
a
rti
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ip
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ted
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e
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n
in
g
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u
lt
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-
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a
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to
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tere
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in
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rit
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c
y
,
w
it
h
a
f
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u
s
on
a
c
c
e
ss
c
o
n
tro
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sy
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m
s,
a
n
d
lo
c
a
ti
o
n
-
b
a
se
d
se
rv
ice
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.