I
AE
S In
t
er
na
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.
11
,
No
.
1
, M
a
r
ch
20
22
,
p
p
.
1
0
~
20
I
SS
N:
2722
-
2
5
8
6
,
DOI
:
1
0
.
1
1
5
9
1
/i
jr
a
.
v
11
i
1
.
pp
1
0
-
20
10
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ij
r
a
.
ia
esco
r
e.
co
m
An alterna
tive te
c
hnique
to reduc
e
time, co
st and h
u
ma
n ef
fort
during
natura
l or
ma
nufactur
ed di
sa
sters
Sa
m
a
her
Al
-
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a
na
bi
1
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Ay
a
d
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a
im
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Ra
he
m
1
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e
p
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u
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r
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i
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a
c
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e
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n
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a
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a
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e
p
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r
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a
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u
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i
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e
f
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me
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,
U
n
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v
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r
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i
t
y
o
f
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a
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o
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a
b
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o
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I
r
a
q
Art
icle
I
nfo
AB
S
T
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Ma
r
1
7
,
2
0
2
1
R
ev
is
ed
Ma
y
4
,
2
0
2
1
Acc
ep
ted
Au
g
2
6
,
2
0
2
1
Th
e
wo
rl
d
su
ffe
rs
fr
o
m
a
v
e
r
y
larg
e
n
u
m
b
e
r
o
f
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issin
g
p
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n
s,
ra
n
g
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g
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m
a
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u
t
2
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0
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0
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to
a
b
o
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t
o
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e
m
il
li
o
n
p
e
o
p
le
f
o
r
v
a
ri
o
u
s
re
a
so
n
s
in
re
c
e
n
t
y
e
a
rs.
Th
e
re
fo
re
,
th
e
p
ro
c
e
ss
o
f
f
in
d
i
n
g
a
n
d
trac
in
g
t
h
e
m
issin
g
p
e
rso
n
s
a
s
a
re
su
lt
o
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a
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lan
e
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ra
sh
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f
ire
o
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e
x
p
lo
sio
n
i
n
a
p
a
rti
c
u
lar
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re
a
is
a
h
u
m
a
n
it
a
rian
a
n
d
re
li
g
io
u
s
a
n
d
n
a
ti
o
n
a
l
d
u
t
y
,
a
n
d
is
o
n
e
o
f
th
e
m
o
st
imp
o
r
tan
t
issu
e
s
in
o
u
r
c
o
u
n
tr
y
.
S
o
,
th
e
i
d
e
a
o
f
u
sin
g
a
d
r
o
n
e
to
fi
n
d
m
issin
g
p
e
o
p
le
wa
s
in
v
e
ste
d
.
We
h
a
v
e
d
e
sig
n
e
d
s
y
ste
m
th
a
t
c
o
ll
e
c
ts
re
a
l
-
ti
m
e
d
a
ta
a
n
d
a
n
a
ly
z
e
s
in
a
sm
a
rt
wa
y
a
n
d
u
ti
li
z
e
s
g
l
o
b
a
l
p
o
siti
o
n
in
g
sy
ste
m
(G
P
S
)
to
l
o
c
a
te
p
e
o
p
le
a
n
d
trac
k
t
h
e
ir
imp
a
c
t.
Th
e
id
e
a
o
f
t
h
is
wo
r
k
h
a
s
b
e
e
n
d
e
v
e
lo
p
e
d
a
n
d
imp
lem
e
n
ted
.
Th
e
y
re
p
re
se
n
t
it
i
n
t
h
e
f
o
rm
o
f
a
tri
a
n
g
u
lar
p
r
o
b
le
m
,
wh
ich
in
c
lu
d
e
d
:
F
irst
,
h
o
w
t
o
lo
c
a
te
th
e
m
issin
g
p
e
rso
n
s
a
n
d
se
n
d
v
i
d
e
o
b
ro
a
d
c
a
sts
to
a
c
a
lcu
lat
o
r
o
r
m
o
b
il
e
d
e
v
ice
r
e
m
o
tely
.
An
a
l
y
z
e
th
e
d
a
ta
c
o
ll
e
c
ted
in
re
a
l
ti
m
e
,
a
n
d
se
n
d
a
re
p
o
rt
i
d
e
n
ti
f
y
i
n
g
t
h
e
sa
fe
p
a
th
th
a
t
c
a
n
b
e
tak
e
n
to
re
a
c
h
th
e
m
issin
g
p
e
rso
n
s.
T
h
e
se
c
o
n
d
sta
g
e
is
c
o
ll
e
c
ti
o
n
th
e
d
a
ta
i
n
t
h
e
m
a
ste
r
c
o
m
p
u
ter
a
n
d
a
n
a
l
y
sis
it
,
wh
il
e
t
h
e
fin
a
l
sta
g
e
d
e
term
in
e
s
th
e
c
o
o
rd
in
a
tes
o
f
th
e
l
o
c
a
ti
o
n
to
t
h
e
m
issin
g
p
e
rs
o
n
s
a
n
d
th
e
b
e
st
p
o
ss
ib
le
wa
y
t
o
re
a
c
h
o
f
th
e
m
.
K
ey
w
o
r
d
s
:
APM
p
latf
o
r
m
GPS m
o
d
u
le
I
n
ter
n
et
o
f
t
h
in
g
s
L
o
R
a
m
o
d
em
NetL
o
g
o
s
im
u
latio
n
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Sam
ah
er
Al
-
J
an
ab
i
Dep
ar
tm
en
t o
f
C
o
m
p
u
ter
Scie
n
ce
,
Facu
lty
o
f
Scien
ce
f
o
r
W
o
m
en
(
SC
I
W
)
,
Un
iv
er
s
ity
o
f
B
ab
y
lo
n
Hillah
,
B
ab
y
lo
n
,
I
r
a
q
E
m
ail: sam
ah
er
@
itn
et.
u
o
b
ab
y
lo
n
.
ed
u
.
iq
1.
I
NT
RO
D
UCT
I
O
N
D
r
o
n
es
h
a
v
e
b
ec
o
m
e
m
o
r
e
p
o
p
u
lar
an
d
wid
esp
r
ea
d
u
s
ed
.
T
h
ey
h
av
e
b
ee
n
ap
p
lied
i
n
m
an
y
a
r
ea
s
s
u
ch
as
u
s
ed
b
y
co
u
r
ier
c
o
m
p
an
ies
in
th
e
d
eliv
er
y
o
f
m
ail
s
er
v
ices
as
well
as
s
o
lar
p
o
wer
s
tatio
n
s
[
1
]
,
u
s
e
d
r
o
n
es
t
o
co
llect
s
o
lar
en
e
r
g
y
in
s
o
lar
p
an
els
as
well
as
th
e
u
s
e
o
f
g
eo
g
r
a
p
h
ic
p
er
s
o
n
n
el
d
r
o
n
es
to
ex
p
lo
r
e
th
e
to
p
o
g
r
a
p
h
y
.
Ma
n
y
tr
ad
itio
n
al
p
eo
p
le
u
s
e
d
r
o
n
es
in
p
h
o
to
g
r
a
p
h
y
an
d
h
av
e
also
b
ee
n
u
s
ed
i
n
3
D
m
ap
p
in
g
[
2
]
,
[
3
]
d
r
o
n
es a
r
e
also
u
s
ed
to
s
ea
r
ch
an
d
r
escu
e
p
eo
p
le
in
th
e
ev
en
t o
f
d
is
aster
o
r
war
o
r
wh
en
s
o
m
eo
n
e
is
lo
s
t in
th
e
wild
er
n
ess
o
r
f
o
r
est
[
4
]
–
[
2
5
]
.
Victim
s
ar
e
o
f
ten
in
ju
r
ed
an
d
u
n
co
n
s
cio
u
s
.
T
h
er
ef
o
r
e,
it is
im
p
o
r
tan
t to
tak
e
ad
v
an
tag
e
o
f
elec
tr
o
n
ic
a
n
d
i
n
f
o
r
m
atio
n
s
y
s
tem
s
to
o
b
tain
an
d
lo
ca
te
t
h
ese
m
is
s
in
g
p
er
s
o
n
s
s
o
th
at
we
ca
n
f
in
d
a
n
d
tr
ac
k
.
Dr
o
n
e
as
a
te
r
m
h
as
m
an
y
d
if
f
er
en
t
m
ea
n
i
n
g
s
.
W
h
en
we
t
alk
ab
o
u
t
a
d
r
o
n
e
as
a
d
ev
ice
in
wh
ich
m
ec
h
an
ical
p
r
ec
is
io
n
is
as
s
o
ciate
d
with
elec
tr
o
n
ic,
th
e
f
ir
s
t
th
in
g
en
v
is
io
n
ed
b
y
o
u
r
m
in
d
is
th
e
m
is
s
ile
s
o
r
air
cr
a
f
t
th
at
a
r
e
co
n
tr
o
lled
r
em
o
tely
[
4
]
,
[
2
6
]
.
I
t
ca
n
b
e
d
ef
in
e
d
b
y
a
n
air
c
r
af
t
o
r
a
d
r
o
n
e
t
h
at
ca
n
tr
av
el
in
d
ep
e
n
d
en
tly
,
with
o
u
t
h
u
m
an
c
o
n
tr
o
l
o
r
o
u
t o
f
s
ig
h
t.
An
u
n
m
an
n
e
d
ae
r
ial
v
eh
icle
(
UAV)
is
an
air
cr
af
t
with
o
u
t
a
h
u
m
an
p
ilo
t
o
n
b
o
ar
d
.
U
AVs
ar
e
a
co
m
p
o
n
en
t
o
f
a
n
u
n
m
an
n
e
d
a
ir
cr
af
t
s
y
s
tem
(
UAS)
,
wh
ich
in
clu
d
e
a
UAV,
a
g
r
o
u
n
d
-
b
ased
co
n
tr
o
ller
[
1
9
]
.
T
h
e
f
lig
h
t
o
f
UAVs
m
ay
o
p
er
ate
with
v
ar
i
o
u
s
d
e
g
r
ee
s
o
f
a
u
to
n
o
m
y
,
eith
er
u
n
d
er
r
em
o
te
c
o
n
tr
o
l
b
y
a
h
u
m
a
n
o
p
er
ato
r
o
r
au
to
n
o
m
o
u
s
ly
b
y
o
n
b
o
a
r
d
c
o
m
p
u
ter
s
,
(
e.
g
.
f
l
o
wn
b
y
a
p
ilo
t
at
a
g
r
o
u
n
d
c
o
n
tr
o
l
s
tatio
n
)
o
r
ca
n
f
l
y
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
A
n
a
lter
n
a
tive
tech
n
iq
u
e
to
r
e
d
u
ce
time,
co
s
t a
n
d
h
u
m
a
n
eff
o
r
t d
u
r
in
g
n
a
t
u
r
a
l o
r
… (
S
a
ma
h
er A
l
-
Ja
n
a
b
i
)
11
au
to
n
o
m
o
u
s
ly
b
ased
o
n
p
r
e
-
p
r
o
g
r
am
m
ed
f
lig
h
t
p
la
n
s
o
r
m
o
r
e
co
m
p
lex
d
y
n
am
ic
au
t
o
m
ati
o
n
s
y
s
tem
s
.
UAV
s
ar
e
cu
r
r
en
tly
u
s
ed
f
o
r
a
n
u
m
b
er
o
f
m
is
s
io
n
s
[
2
0
]
,
in
clu
d
in
g
tr
ac
in
g
.
Fo
r
th
e
p
u
r
p
o
s
es
o
f
th
is
ar
ticle,
a
UAV
is
d
ef
in
ed
as
b
ein
g
ca
p
ab
le
o
f
c
o
n
tr
o
lled
,
s
u
s
tain
ed
lev
el
f
lig
h
t
an
d
p
o
wer
e
d
b
y
a
jet
o
r
r
e
cip
r
o
ca
tin
g
e
n
g
in
e.
T
h
e
ac
r
o
n
y
m
UAV
h
a
s
b
ee
n
ex
p
an
d
ed
in
s
o
m
e
ca
s
es
to
u
n
m
an
n
ed
air
cr
af
t
v
e
h
icle
s
y
s
tem
(
UAVS)
.
T
h
e
f
ed
er
al
av
iatio
n
ad
m
in
is
tr
atio
n
(
FAA)
h
as
ad
o
p
ted
th
e
ac
r
o
n
y
m
UAS
to
r
ef
lect
th
e
f
ac
t
th
at
th
ese
co
m
p
lex
s
y
s
tem
s
in
clu
d
e
g
r
o
u
n
d
s
tatio
n
s
an
d
o
th
er
elem
en
ts
b
esid
es th
e
ac
tu
al
air
v
e
h
icles.
UAVs
ar
e
d
escen
d
e
d
f
r
o
m
tar
g
et
d
r
o
n
es
an
d
r
e
m
o
tely
p
il
o
ted
v
eh
icles
(
R
PVs
)
em
p
lo
y
ed
b
y
th
e
m
ilit
ar
y
f
o
r
ce
s
o
f
m
a
n
y
co
u
n
t
r
ies
in
th
e
d
ec
ad
es im
m
ed
iately
af
ter
W
o
r
ld
W
ar
I
[
2
1
]
.
T
h
e
id
ea
o
f
th
is
wo
r
k
h
as
b
e
en
d
ev
elo
p
ed
an
d
im
p
lem
e
n
ted
in
o
r
d
er
to
a
d
d
r
ess
a
n
u
m
b
er
o
f
r
ea
l
p
r
o
b
lem
s
ex
p
er
ien
ce
d
b
y
s
o
ciety
as
a
r
esu
lt
o
f
n
atu
r
al
d
i
s
aster
s
o
r
war
s
,
s
p
ec
if
ically
h
elp
i
n
g
r
escu
e
team
s
t
o
f
in
d
m
is
s
in
g
p
e
r
s
o
n
s
.
I
t
r
e
p
r
esen
ts
a
tr
ig
o
n
o
m
etr
ic
p
r
o
b
le
m
th
at
in
clu
d
e
d
:
First,
h
o
w
t
o
id
en
tify
m
is
s
in
g
p
er
s
o
n
s
an
d
s
en
d
an
au
d
io
v
id
eo
to
a
r
em
o
te
co
m
p
u
ter
o
r
m
o
b
ile
d
ev
ice
f
o
r
p
e
o
p
l
e'
s
s
itu
atio
n
s
an
d
wh
er
ea
b
o
u
ts
.
An
aly
ze
d
ata
co
llected
in
r
ea
l
tim
e
in
in
tellig
e
n
t
way
s
an
d
s
en
d
a
r
ep
o
r
t
th
at
id
en
tifie
s
th
e
s
af
e
p
ath
to
b
e
tak
en
to
r
ea
ch
t
h
e
m
is
s
in
g
p
er
s
o
n
s
as sh
o
wn
in
F
ig
u
r
e
1
.
Fig
u
r
e
1
.
R
elatio
n
s
h
ip
am
o
n
g
th
e
m
ain
th
r
ee
c
h
allen
g
es
2.
M
AT
E
R
I
AL
A
ND
T
O
O
L
S
2
.
1
.
UAV
A
UAV
is
a
s
m
all,
r
em
o
te
-
co
n
tr
o
lled
air
cr
a
f
t,
s
o
m
etim
es
ca
lled
a
“d
r
o
n
e”
th
at
ca
n
c
o
v
er
l
ar
g
e
ar
ea
s
.
Als
o
d
o
n
o
t
ca
r
r
y
an
y
h
u
m
an
p
ilo
t
o
r
p
ass
en
g
er
s
.
Dr
o
n
es
ar
e
co
m
p
letely
o
r
p
ar
tially
in
d
ep
en
d
e
n
t,
b
u
t
ar
e
o
f
ten
r
em
o
tely
c
o
n
tr
o
lled
b
y
p
eo
p
le.
I
n
th
e
r
ec
e
n
t
p
ast,
d
r
o
n
es
wer
e
m
o
s
tly
ass
o
ciate
d
with
th
e
m
ilit
ar
y
,
wh
er
e
th
ey
wer
e
in
itially
u
s
ed
in
tar
g
eted
an
ti
-
air
cr
a
f
t
p
r
ac
ti
ce
,
an
d
in
tellig
en
ce
g
ath
e
r
in
g
.
T
o
d
ay
,
UAVs
ar
e
u
s
ed
in
a
wid
e
r
an
g
e
o
f
ci
v
ilian
ap
p
licatio
n
s
r
an
g
i
n
g
f
r
o
m
s
ea
r
ch
an
d
r
escu
e,
tr
af
f
ic
co
n
tr
o
l,
wea
th
er
m
o
n
ito
r
in
g
,
f
ir
e
f
ig
h
tin
g
,
p
h
o
to
g
r
ap
h
y
,
v
id
e
o
p
h
o
to
g
r
ap
h
y
,
ag
r
icu
ltu
r
e
an
d
ev
en
d
eliv
er
y
s
er
v
ices.
T
h
e
f
ir
s
t
r
em
o
te
-
co
n
tr
o
lled
d
r
o
n
e
was
u
s
ed
in
W
o
r
ld
W
ar
I
.
Hay
at
et
a
l
.
[
8
]
I
n
1
9
1
8
,
th
e
Un
ited
States
m
ilit
ar
y
(
US
m
ilit
ar
y
)
d
ev
el
o
p
ed
an
e
x
p
er
im
e
n
ta
l
Ketter
in
g
B
u
g
,
a
n
o
n
-
b
o
m
b
ed
air
c
r
af
t
th
at
s
u
b
s
eq
u
en
tly
in
cr
ea
s
ed
t
h
e
u
s
e
o
f
d
r
o
n
es
in
a
wid
er
r
an
g
e
o
f
ap
p
licatio
n
s
.
Dr
o
n
es
ar
e
b
e
in
g
u
s
ed
in
o
il
a
n
d
g
as
f
ac
ilit
ies
f
o
r
s
ec
u
r
ity
,
s
u
r
v
eilla
n
ce
,
em
er
g
e
n
cy
r
esp
o
n
s
e
an
d
in
f
r
astru
ctu
r
e
in
s
p
ec
tio
n
.
I
n
s
ea
p
o
r
ts
,
d
r
o
n
es
ca
n
co
n
d
u
ct
ap
p
licatio
n
s
s
u
c
h
as
m
ap
p
in
g
,
s
u
r
v
ey
in
g
,
o
p
e
r
atio
n
al
s
u
p
er
v
is
io
n
,
p
o
r
t
co
n
tr
o
l,
tr
af
f
ic
co
n
t
r
o
l
an
d
also
in
m
in
in
g
o
p
er
atio
n
s
,
d
r
o
n
es
ca
n
b
e
u
s
ed
to
m
an
ag
e
s
to
ck
s
,
waste
d
am
s
,
in
s
p
ec
ti
o
n
s
an
d
m
o
r
e.
T
h
e
u
s
e
ca
s
es o
f
th
e
d
r
o
n
e
ac
co
r
d
i
n
g
to
an
an
aly
s
is
ca
r
r
ied
o
u
t in
m
o
r
e
th
an
1
0
0
d
if
f
e
r
en
t c
o
u
n
tr
ies an
d
m
o
r
e
th
an
8
0
d
if
f
er
en
t m
a
n
u
f
ac
tu
r
er
s
an
d
th
e
r
esu
lts
ar
e
s
h
o
wn
i
n
Fig
u
r
e
2
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
11
,
No
.
1
,
M
a
r
ch
20
22
:
10
-
20
12
Fig
u
r
e
2
.
R
esu
lts
o
f
th
e
r
e
p
o
r
t
[
1
6
]
2
.
2
.
G
P
S
m
o
du
le
An
u
p
d
ate
d
"NE
O
-
6
M"
,
g
lo
b
al
p
o
s
itio
n
in
g
s
y
s
tem
m
o
d
u
le
(
GPS
m
o
d
u
le
)
th
at
ca
n
b
e
u
s
ed
with
th
e
“Ar
d
u
p
ilo
t
m
e
g
a
V2
(
APM
)
”.
T
h
is
GPS
m
o
d
u
le
u
s
es
th
e
latest
tech
n
o
lo
g
y
to
p
r
o
v
id
e
th
e
b
est
p
o
s
s
ib
le
lo
ca
tio
n
in
f
o
r
m
atio
n
,
allo
win
g
f
o
r
im
p
r
o
v
ed
p
er
f
o
r
m
an
ce
u
s
in
g
Ar
d
u
p
ilo
t
o
r
an
y
o
th
er
m
u
lti
-
m
o
to
r
c
o
n
tr
o
l
s
y
s
tem
.
I
t
also
in
clu
d
es
“Ho
n
ey
well'
s
”
latest
h
ig
h
-
p
r
ec
is
io
n
d
ig
ital
m
ag
n
eti
c
g
a
u
g
e
(
HM
C
5
8
8
3
L
)
,
wh
ich
p
r
o
v
id
es
a
co
n
v
en
ien
t
way
to
m
o
u
n
t
th
e
co
m
p
ass
awa
y
f
r
o
m
in
ter
f
er
en
ce
s
o
u
r
ce
s
th
at
m
ay
b
e
lo
ca
ted
n
ea
r
th
e
m
u
lti
-
s
tag
e
f
lig
h
t c
o
n
tr
o
lle
r
[
9
]
,
[
1
4
]
.
T
h
e
s
y
s
tem
r
elies
o
n
k
n
o
wled
g
e
o
f
th
e
d
is
tan
ce
b
etwe
en
tw
o
p
o
in
ts
in
tim
e
is
well
k
n
o
wn
,
th
e
f
ir
s
t
p
o
in
t
is
a
d
ev
ice
t
h
a
t
s
en
d
s
a
s
ig
n
al
in
a
v
er
y
p
r
ec
is
e,
well
-
d
ef
in
ed
tim
e
(
GPS
d
ev
ice
ass
o
ciate
d
with
5
1
4
)
,
th
e
s
ec
o
n
d
p
o
i
n
t
is
th
e
l
o
ca
tio
n
o
f
a
d
ev
ice
t
h
at
r
ec
eiv
es
s
u
c
h
a
r
ef
er
en
ce
(
m
o
b
ile
d
ev
ice
o
r
a
c
o
m
p
u
te
r
)
as
in
Fig
u
r
e
3
,
a
n
d
th
e
n
ca
lcu
late
th
e
tim
e
s
p
en
t b
y
th
e
s
ig
n
a
l to
r
e
ac
h
th
e
r
ec
eiv
e
r
(
1
)
.
=
×
(
1
)
Fig
u
r
e
3
.
Dem
o
n
s
tr
ates th
e
wo
r
k
o
f
GPS with
UAV
2
.
3
.
Net
L
o
g
o
s
im
ula
t
io
n
I
t
is
a
f
r
ee
m
o
d
ellin
g
en
v
ir
o
n
m
en
t
ca
p
a
b
le
o
f
s
im
u
latin
g
co
m
p
lex
s
itu
atio
n
s
s
u
ch
as
n
atu
r
al
an
d
s
o
cial
p
h
en
o
m
e
n
a.
Su
itab
le
f
o
r
r
esear
ch
an
d
ed
u
ca
tio
n
,
it
ca
n
b
e
d
ef
i
n
ed
as
a
s
im
p
le
en
o
u
g
h
en
v
ir
o
n
m
e
n
t
to
en
ab
le
s
tu
d
en
ts
an
d
r
esear
ch
er
s
to
cr
ea
te
th
eir
o
wn
J
av
a
p
r
o
g
r
am
m
in
g
lan
g
u
ag
e
m
o
d
els.
T
h
ey
ar
e
p
ar
ticu
lar
ly
s
u
itab
le
f
o
r
f
o
r
m
in
g
co
m
p
lex
s
y
s
tem
s
th
at
ev
o
lv
e
o
v
e
r
tim
e
.
Desig
n
er
s
ca
n
g
i
v
e
in
s
tr
u
cti
o
n
s
to
h
u
n
d
r
ed
s
o
r
th
o
u
s
an
d
s
o
f
in
d
ep
en
d
en
t
a
g
e
n
ts
,
all
o
f
wh
o
m
wo
r
k
c
o
n
cu
r
r
en
tly
.
T
h
is
m
ak
es
it
p
o
s
s
ib
le
to
ex
p
l
o
r
e
th
e
lin
k
s
b
etwe
en
in
d
iv
i
d
u
al
m
icr
o
-
lev
e
l
b
eh
av
io
r
s
an
d
m
ac
r
o
-
lev
el
p
atter
n
s
th
at
ar
is
e
f
r
o
m
th
eir
in
t
er
ac
tio
n
s
.
I
t
allo
ws
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
A
n
a
lter
n
a
tive
tech
n
iq
u
e
to
r
e
d
u
ce
time,
co
s
t a
n
d
h
u
m
a
n
eff
o
r
t d
u
r
in
g
n
a
t
u
r
a
l o
r
… (
S
a
ma
h
er A
l
-
Ja
n
a
b
i
)
13
u
s
er
s
to
s
im
u
late
d
if
f
er
en
t
en
v
ir
o
n
m
en
ts
u
s
in
g
a
g
en
ts
,
an
d
to
ex
p
lo
r
e
th
eir
b
eh
a
v
io
r
s
u
n
d
er
d
if
f
er
en
t
cir
cu
m
s
tan
ce
s
[
9
]
.
Ag
en
ts
m
o
v
e
th
r
o
u
g
h
a
n
etwo
r
k
o
f
"c
o
r
r
ec
tio
n
s
"
u
s
in
g
s
ev
er
al
r
u
les
to
ad
ju
s
t
th
eir
p
at
h
to
war
d
s
th
e
tar
g
et
an
d
th
e
p
o
s
s
ib
ilit
y
o
f
p
ass
in
g
an
y
o
b
s
tacle
s
th
ey
en
co
u
n
ter
in
th
eir
o
wn
way
in
p
r
o
g
r
a
m
m
ab
le
way
s
.
All a
g
e
n
ts
ca
n
in
ter
ac
t w
ith
ea
ch
o
th
e
r
an
d
p
er
f
o
r
m
m
u
ltip
le
task
s
co
n
cu
r
r
e
n
tly
[
1
0
]
.
2
.
4
.
Co
ntr
o
l
s
y
s
t
em
A
co
n
tr
o
l
s
y
s
tem
is
a
d
ev
ice
o
r
g
r
o
u
p
o
f
d
ev
ices
th
at
m
an
a
g
es,
d
ir
ec
ts
,
o
r
r
eg
u
lates
th
e
b
eh
av
io
r
o
f
o
th
er
d
ev
ices
o
r
s
y
s
tem
s
.
I
n
d
u
s
tr
ial
co
n
tr
o
l
s
y
s
tem
s
ar
e
u
s
ed
in
in
d
u
s
tr
ial
p
r
o
d
u
ctio
n
to
co
n
tr
o
l
eq
u
ip
m
e
n
t
o
r
m
ac
h
in
er
y
.
T
h
er
e
a
r
e
two
co
m
m
o
n
ca
teg
o
r
ies
o
f
co
n
tr
o
l
s
y
s
tem
s
,
o
p
en
lo
o
p
c
o
n
tr
o
l
s
y
s
tem
,
an
d
clo
s
e
lo
o
p
co
n
tr
o
l
s
y
s
tem
.
W
h
en
,
we
d
eter
m
in
e
th
e
p
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[
1
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[
1
2
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T
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[
1
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.
2
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T
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T
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ased
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[
1
2
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[
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3.
T
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D
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atch
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Fig
u
r
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Fig
u
r
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4
.
Flo
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ac
tiv
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11
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20
22
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14
In
p
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R
a
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Re
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S
t
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p
1
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u
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(
D
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p
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p
2
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C
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p
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Pre
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t
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p
4
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1
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Desig
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wir
eless
co
m
m
u
n
icatio
n
(
wir
eless
ch
an
n
el)
ea
ch
ch
an
n
el
ca
n
ac
c
o
m
m
o
d
ate
2
5
4
p
o
in
ts
.
Sin
ce
th
e
c
o
m
m
u
n
icatio
n
b
etwe
en
th
e
m
ai
n
n
o
d
e
(
b
ase
s
tatio
n
)
an
d
th
e
r
est o
f
th
e
p
a
r
ts
o
f
t
h
e
n
etwo
r
k
will b
e
th
r
o
u
g
h
its
o
wn
n
o
d
e
ad
d
r
ess
.
3
.
2
.
Uplo
a
d
m
a
p
o
f
t
he
a
re
a
s
pecif
ied
na
t
ura
l
co
nd
it
io
n
a
nd
bu
ild
a
n
inte
g
ra
t
ed
da
t
a
ba
s
e
o
f
t
he
m
o
s
t
im
po
rt
a
nt
ent
it
ies in t
ha
t
re
g
io
n a
nd
t
heir
lo
ca
t
io
ns
T
h
is
s
tag
e
is
d
iv
id
ed
in
to
two
p
ar
ts
,
th
e
f
ir
s
t
p
ar
t
is
lo
ad
ed
m
ap
o
f
th
e
r
e
g
io
n
th
at
h
a
s
m
is
s
in
g
p
eo
p
le,
wh
er
e
th
e
s
p
ec
if
ied
ar
ea
in
co
n
tr
o
l
p
lan
e
with
o
u
t
a
p
ilo
t
an
d
s
p
ec
if
ically
o
n
th
e
c
o
m
p
u
ter
wh
e
r
e
h
e
p
ick
s
u
p
a
co
m
p
u
ter
r
ad
io
s
ig
n
al
em
itted
b
y
tech
n
o
lo
g
y
GPS,
wh
ich
in
tu
r
n
co
n
tain
im
p
o
r
tan
t
in
f
o
r
m
atio
n
ab
o
u
t th
e
s
tatu
s
s
atel
lite c
al
ler
GPS
as we
ll a
s
th
e
cu
r
r
en
t d
ate
an
d
tim
e.
T
h
is
p
ar
t o
f
th
e
s
i
g
n
al
is
n
ec
ess
ar
y
to
d
eter
m
in
e
t
h
e
lo
ca
tio
n
.
Af
te
r
g
ettin
g
a
p
ictu
r
e
o
f
a
m
ap
o
f
t
h
e
af
f
ec
te
d
ar
ea
s
ec
tio
n
2
o
f
th
is
p
h
ase
b
e
g
in
s
,
o
f
b
u
ild
in
g
a
d
atab
ase
o
f
all
co
m
p
o
n
en
ts
o
r
en
titi
es
th
at
ar
e
p
r
im
ar
ily
th
o
s
e
s
p
ec
if
ic
en
v
ir
o
n
m
en
ts
.
So
,
th
at
it
i
s
s
u
itab
le
f
o
r
d
ata
s
to
r
ag
e
m
o
d
e
l
in
a
way
th
at
a
v
o
id
ed
r
ed
u
n
d
an
cy
th
r
o
u
g
h
c
o
r
r
elatio
n
tab
le
s
s
p
ec
if
ic
r
elatio
n
s
en
v
ir
o
n
m
en
t,
as we
ll a
s
s
p
ee
d
in
th
e
s
ea
r
ch
q
u
er
y
.
3
.
3
.
B
uil
din
g
s
o
f
t
wa
re
s
y
s
t
em
co
ns
is
t
s
o
f
s
ev
er
a
l st
eps
T
h
is
s
tag
e
r
ep
r
esen
ts
th
e
in
teg
r
atio
n
b
etwe
en
t
h
e
d
ata
o
b
tain
ed
f
r
o
m
wo
r
k
in
g
en
v
ir
o
n
m
en
t
an
d
d
r
o
n
e’
s
s
o
f
twar
e
p
r
o
ce
s
s
.
T
h
e
r
ef
o
r
e,
th
e
s
o
f
twar
e
at
th
e
f
ir
s
t
d
e
ter
m
in
e
th
e
r
eg
io
n
th
at
d
r
o
n
e
ca
n
s
ea
r
ch
it
o
r
m
o
v
e
u
n
it,
wh
ich
s
im
u
lates
th
e
ac
tu
al
en
v
ir
o
n
m
en
t.
I
n
g
e
n
er
al,
we
will
lo
o
k
f
o
r
f
o
u
r
p
r
o
ce
d
u
r
es
f
o
r
th
e
d
etec
tio
n
o
f
m
is
s
in
g
p
er
s
o
n
s
,
th
at
p
r
o
ce
d
u
r
es
will
ca
llin
g
s
eq
u
en
tially
as
ex
p
lain
in
alg
o
r
ith
m
1
.
Fo
r
m
o
r
e
d
etails to
s
ee
h
o
w
th
is
f
o
u
r
p
r
o
ce
d
u
r
es wo
r
k
s
ee
[
2
6
]
.
3
.
4
.
M
a
t
ching
pro
ce
s
s
I
s
a
m
atch
in
g
p
r
o
ce
s
s
b
etwe
en
th
e
co
o
r
d
i
n
ates
o
f
th
e
en
titi
es
to
th
e
o
r
i
g
in
al
m
a
p
,
wh
ich
was
u
p
lo
ad
in
s
tep
2
an
d
all
th
e
n
ew
en
titi
es
th
at
h
av
e
b
ee
n
ca
p
tu
r
ed
b
y
th
e
ca
m
er
a
o
f
a
d
r
o
n
e.
T
h
e
p
u
r
p
o
s
e
o
f
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
A
n
a
lter
n
a
tive
tech
n
iq
u
e
to
r
e
d
u
ce
time,
co
s
t a
n
d
h
u
m
a
n
eff
o
r
t d
u
r
in
g
n
a
t
u
r
a
l o
r
… (
S
a
ma
h
er A
l
-
Ja
n
a
b
i
)
15
co
n
f
o
r
m
ity
is
ex
p
lain
e
d
in
th
e
f
o
llo
win
g
ca
s
es:
i)
I
F
ea
ch
d
r
o
n
e
ca
p
t
u
r
es
d
if
f
e
r
en
t
o
b
ject,
it’s
th
en
ty
p
ical
as
o
b
ject
in
th
e
o
r
i
g
in
al
d
atab
as
e
an
d
it’s
c
o
n
s
id
er
ed
as
a
n
at
u
r
al
co
n
d
itio
n
;
ii)
W
h
en
th
e
d
r
o
n
e
ca
p
tu
r
es
th
e
o
b
jects,
an
d
we
co
m
p
ar
e
th
e
n
to
th
e
o
r
ig
in
al
d
atab
ase
w
h
en
f
in
d
th
at
it
d
o
esn
’
t
m
atch
.
So
,
we
s
en
d
th
e
co
o
r
d
in
ates
o
f
th
e
o
b
ject
th
at
d
o
esn
’
t
h
av
e
an
y
m
atch
ed
o
b
j
e
ct
f
o
r
in
th
e
d
atab
ase
;
iii)
W
h
en
we
ex
tr
ac
t
th
e
p
o
s
itio
n
o
f
th
e
o
b
jects
th
at
th
e
p
lan
es
ca
p
tu
r
e
r
ig
h
t
b
ef
o
r
e
th
e
p
r
o
ce
s
s
o
f
m
atch
in
g
as
m
en
tio
n
ed
in
s
tep
1
,
s
tep
2
.
W
e
n
o
tice
i
f
th
er
e
ar
e
m
o
r
e
t
h
an
o
n
e
d
r
o
n
e
to
ca
p
t
u
r
es
th
e
s
am
e
p
o
s
itio
n
o
f
th
e
o
b
ject
th
a
t
d
o
esn
’
t
m
atch
an
y
o
b
ject
in
th
e
d
atab
a
s
e.
4.
I
M
P
L
E
M
E
NT
A
T
I
O
N
Af
ter
b
u
ild
i
n
g
th
e
in
te
g
r
ated
a
ir
f
r
am
e,
in
th
e
p
r
ev
io
u
s
ch
ap
t
er
an
d
id
e
n
tify
t
h
e
m
o
s
t
im
p
o
r
tan
t
p
ar
ts
an
d
co
m
p
o
n
en
ts
u
s
ed
in
it.
T
h
is
ch
ap
ter
will
ex
p
lain
th
e
im
p
lem
en
tatio
n
an
d
r
esu
lt
o
f
ea
ch
s
t
ep
o
f
d
esig
n
s
tr
u
ctu
r
e.
Als
o
,
we
will u
s
ed
NetL
o
g
o
as si
m
u
latio
n
o
f
th
e
d
esig
n
m
o
d
el
.
4
.
1
.
Co
nn
ec
t
co
m
po
nents o
f
UAV
s
t
ruct
ure
T
h
e
p
r
ac
tical
co
n
n
ec
tio
n
am
o
n
g
th
e
m
ain
co
m
p
o
n
en
ts
o
f
U
AV
s
tr
u
ctu
r
e
to
ac
h
ie
v
e
th
e
g
o
al
o
f
th
is
p
ap
er
s
h
o
wn
in
Fig
u
r
e
5
ac
co
r
d
in
g
to
th
e
d
iag
r
am
o
f
t
h
e
ac
to
r
cir
cu
it.
T
h
is
elec
tr
i
ca
l
cir
cle
u
s
ed
th
e
f
o
llo
win
g
:
4
.
1
.
1
.
Acc
eler
o
m
et
er
An
elec
tr
o
m
ec
h
a
n
ical
d
ev
ice
u
s
ed
to
m
ea
s
u
r
e
ac
ce
le
r
atio
n
f
o
r
ce
s
s
u
ch
f
o
r
ce
s
m
ay
b
e
s
tatic,
lik
e
th
e
co
n
tin
u
o
u
s
f
o
r
ce
o
f
g
r
av
ity
o
r
,
as
is
th
e
ca
s
e
with
m
an
y
m
o
b
ile
d
e
v
ices,
d
y
n
am
ic
to
s
en
s
e
m
o
v
em
e
n
t
o
r
v
ib
r
atio
n
s
.
Acc
eler
atio
n
is
th
e
m
ea
s
u
r
em
en
t o
f
th
e
ch
a
n
g
e
in
v
elo
city
,
o
r
s
p
ee
d
d
i
v
id
ed
b
y
t
im
e.
4
.
1
.
2
.
G
P
S
T
h
e
in
co
r
p
o
r
atio
n
o
f
GPS
r
ec
eiv
er
s
in
a
d
v
an
ce
d
d
r
o
n
es
all
o
ws
f
o
r
GPS
d
r
o
n
e
way
p
o
in
t
n
av
ig
atio
n
.
T
h
is
is
an
ad
v
an
ce
d
tech
n
o
lo
g
y
th
at
allo
ws
a
d
r
o
n
e
t
o
a
u
to
n
o
m
o
u
s
ly
f
ly
to
p
r
ep
r
o
g
r
a
m
m
ed
p
o
in
ts
.
T
h
is
s
y
s
tem
ca
n
in
s
tr
u
ct
th
e
d
r
o
n
e
h
o
w
f
ast,
h
o
w
h
ig
h
,
a
n
d
wh
e
r
e
to
f
ly
.
I
t
ca
n
also
b
e
p
r
o
g
r
a
m
m
ed
to
h
o
v
er
f
o
r
a
p
er
io
d
o
f
tim
e
o
v
er
ea
ch
way
p
o
in
t.
Dr
o
n
es
ar
e
in
cr
ea
s
in
g
l
y
b
ein
g
u
s
ed
f
o
r
s
u
r
v
ey
i
n
g
b
u
i
ld
in
g
co
n
s
tr
u
ctio
n
,
r
o
ad
m
ain
ten
a
n
ce
,
an
d
in
f
r
a
s
tr
u
ctu
r
e
in
s
p
ec
tio
n
s
.
Ag
r
icu
ltu
r
al
ap
p
licatio
n
s
in
clu
d
e
cr
o
p
in
s
p
ec
tio
n
,
a
n
d
tr
ac
k
in
g
f
ar
m
an
im
als.
Usi
n
g
GPS
d
r
o
n
e
way
p
o
in
t
n
a
v
ig
ati
o
n
,
an
ar
ea
ca
n
b
e
in
s
p
ec
ted
a
t
th
e
p
r
ed
esig
n
ated
p
o
s
itio
n
s
.
T
h
e
d
r
o
n
e
co
n
tr
o
lle
r
is
th
en
ab
le
to
f
o
cu
s
h
is
atte
n
tio
n
o
n
th
e
ca
m
er
a,
a
n
d
co
n
d
u
ct
th
e
in
s
p
ec
tio
n
.
T
h
e
ad
v
an
ce
m
e
n
t
o
f
GPS
d
r
o
n
e
n
av
i
g
atio
n
h
as
g
r
ea
tly
in
cr
ea
s
ed
th
eir
u
tili
ty
an
d
r
an
g
e
o
f
ap
p
licatio
n
s
.
Fig
u
r
e
5
is
s
h
o
win
g
d
esig
n
s
tr
u
ctu
r
e
o
f
UAV.
Acc
o
r
d
in
g
t
o
th
e
Fig
u
r
e
5
,
we
ca
n
s
u
m
m
ar
izatio
n
th
e
m
ain
p
ar
ticle
s
tep
s
o
f
co
n
n
ec
tio
n
as:
i)
C
o
n
n
ec
tin
g
th
e
m
ain
s
tr
u
ct
u
r
e
(
q
u
ad
c
o
p
ter
f
r
am
e
)
in
th
e
f
o
r
m
o
f
a
s
ig
n
al
(
+)
,
with
f
o
u
r
ar
m
s
;
ii)
T
h
e
m
ai
n
s
tr
u
ctu
r
e
co
n
tain
s
a
p
an
el
(
PC
B
)
to
co
n
n
ec
tin
g
th
e
d
r
o
n
e
p
ar
ts
in
a
b
atter
y
(
L
i
-
po
b
att
er
y
)
to
co
n
n
ec
t
th
e
p
o
wer
;
iii)
C
o
n
n
ec
t
m
o
to
r
s
(
b
r
u
s
h
less
DC
m
o
to
r
)
in
ea
ch
ar
m
,
an
d
co
n
n
ec
t
p
r
o
p
eller
s
in
m
o
to
r
s
o
b
v
er
s
e
;
iv
)
I
n
s
tall
th
e
c
o
n
tr
o
l
o
f
m
o
to
r
s
)
elec
tr
o
n
ic
s
p
ee
d
co
n
tr
o
l
(
E
SC
)
(
o
n
ea
ch
ar
m
,
ea
ch
E
S
C
is
co
n
n
ec
ted
with
m
o
to
r
s
o
n
th
e
o
n
e
h
an
d
an
d
with
PC
B
o
n
th
e
o
th
er
.
W
ir
es
E
SC
ar
e
also
co
n
n
ec
ted
to
th
e
r
ec
eiv
i
n
g
d
ev
ic
e
(
I
m
m
er
s
io
n
R
C
a
u
d
io
/
v
i
d
eo
tr
an
s
m
itter
)
;
v
)
C
o
n
n
ec
t
th
e
c
am
er
a
(
FP
V)
with
(
Ser
v
o
Gi
m
b
al)
in
s
talled
in
f
r
am
e.
T
h
e
ca
m
er
a
h
as
th
r
ee
co
n
n
ec
tin
g
wir
es
(
r
ed
,
b
lack
,
y
ello
w)
,
th
e
r
e
d
an
d
b
lack
wir
e
is
co
n
n
ec
ted
with
(
u
n
iv
er
s
al
b
atter
y
elim
in
ato
r
c
ir
cu
it
(
UB
E
C
)
)
wh
ich
in
tu
r
n
ar
e
co
n
n
ec
ted
with
th
e
p
an
el
PC
B
to
co
n
n
ec
t
th
e
p
o
wer
.
T
h
e
y
ello
w
wir
e
is
co
n
n
ec
ted
with
th
e
v
id
eo
tr
a
n
s
m
itter
(
I
m
m
er
s
io
n
R
C
)
in
s
tall
ed
in
th
e
f
r
am
e
;
v
i
)
I
n
s
tall
th
e
s
ig
n
al
r
ec
eiv
er
(
MC8
R
B
)
in
o
n
e
o
f
th
e
ar
m
s
o
f
f
r
am
e,
wh
ich
h
as
8
ch
an
n
els
with
an
ten
n
a.
C
h
an
n
els (
1
to
5
)
co
n
n
ec
t w
ith
(
Ar
d
u
Pil
o
t A
PM
2
.
8
f
lig
h
t c
o
n
tr
o
ller
)
,
an
d
c
h
an
n
el
7
an
d
8
co
n
n
ec
t w
ith
s
er
v
o
g
im
b
al
wh
ich
co
n
tr
o
ls
th
e
F
PV
ca
m
er
a
;
v
ii)
I
n
s
tall
f
lig
h
t
co
n
tr
o
ller
in
th
e
f
r
a
m
e,
t
o
b
e
p
ar
t
o
f
th
e
m
ain
s
tr
u
ctu
r
e.
C
o
n
tain
s
f
lig
h
t
co
n
t
r
o
ller
(
APM)
8
p
in
s
,
c
o
n
n
ec
te
d
(
1
to
5
)
p
i
n
s
with
ch
an
n
els
(
1
to
5
)
r
esp
ec
tiv
el
y
in
th
e
r
ec
eiv
e
r
(
MC8
R
B
)
,
also
co
n
tain
s
3
p
in
s
c
o
n
n
ec
t
wi
th
E
SC
.
I
t
co
n
tain
s
s
ev
er
al
p
o
r
ts
s
u
ch
as
(
GPS,
OSD,
3
DR
,
PM)
,
an
d
u
n
iv
e
r
s
al
s
er
ial
b
u
s
(
USB
)
t
ype
-
C
p
o
r
t
to
c
o
n
n
ec
t
th
e
d
e
v
ic
e
with
th
e
p
e
r
s
o
n
al
co
m
p
u
ter
(
PC
)
;
v
iii)
I
s
in
s
talled
(
GPS)
in
th
e
f
r
am
e
an
d
co
n
n
ec
t
it
with
f
lig
h
t
co
n
tr
o
ller
APM
v
ia
an
o
u
tlet
GPS
p
o
r
t
;
ix
)
T
o
s
tar
t
d
r
o
n
e
a
ir
cr
af
t,
th
e
L
i
-
p
o
b
atter
y
is
c
o
n
n
ec
ted
t
o
th
e
b
o
ar
d
PC
B
,
als
o
as
co
n
n
ec
t
(
APM)
to
th
e
PC
an
d
wo
r
k
(
AR
M2
)
b
y
s
o
f
twar
e
(
Mis
s
io
n
Plan
n
er
)
.
R
em
o
te
co
n
tr
o
l
o
f
t
h
e
air
cr
af
t
is
d
o
n
e
b
y
(
Mic
r
o
zo
n
e
MC8
B
)
;
x
)
T
h
e
(
I
m
m
er
s
io
n
R
C
)
d
ev
ice
s
en
d
s
v
id
eo
ca
p
tu
r
ed
b
y
FP
V
ca
m
e
r
a
to
th
e
r
ec
eiv
in
g
d
ev
ice
v
id
e
o
s
ig
n
al
(
FP
V
R
ec
eiv
er
)
,
wh
ich
in
tu
r
n
is
ass
o
ciate
d
with
th
e
m
o
b
ile
d
ev
ice
,
wh
er
e
we
u
s
e
an
An
d
r
o
id
s
o
f
twar
e
ca
lled
(
Go
F
PV a
p
p
)
to
watc
h
th
e
v
id
eo
.
T
o
illu
s
tr
ate
th
ese
s
tep
s
,
s
ee
Fig
u
r
e
6
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
11
,
No
.
1
,
M
a
r
ch
20
22
:
10
-
20
16
Fig
u
r
e
5
.
Desig
n
s
tr
u
ctu
r
e
o
f
UAV
Fig
u
r
e
6
.
C
o
n
n
ec
t m
ain
to
o
ls
4
.
2
.
B
uil
d da
t
a
ba
s
e
f
o
r
a
ll o
bje
ct
s
(
elem
ent
s
)
in t
ha
t
s
pecif
ic
a
re
a
T
h
e
in
teg
r
ated
s
y
s
tem
was
im
p
lem
en
ted
u
s
in
g
a
NetL
o
g
o
v
er
s
io
n
6
.
0
.
2
,
T
h
e
m
o
d
el
was
cr
ea
ted
to
r
ep
r
esen
t th
e
m
o
v
em
en
t
o
f
u
n
m
an
n
ed
air
c
r
af
t o
v
er
a
d
ef
in
ed
ar
ea
.
Fig
u
r
e
7
s
h
o
wn
t
h
e
m
ai
n
s
cr
ee
n
o
f
s
y
s
tem
.
T
h
e
m
o
d
el
u
s
es
th
r
ee
b
r
ee
d
s
o
f
ag
en
ts
:
p
ad
s
,
wh
ich
ju
s
t
s
ig
n
al
th
r
o
u
g
h
th
eir
c
o
lo
r
wh
et
h
er
th
ey
’
r
e
av
ailab
le
f
o
r
lan
d
in
g
(
g
r
ee
n
)
,
av
ailab
le
o
n
ly
to
em
p
ty
d
r
o
n
e
s
(
b
lu
e)
,
o
r
o
cc
u
p
ied
b
y
a
d
r
o
n
e
(
r
ed
)
;
T
h
e
y
h
av
e
a
ca
p
ac
ity
,
wh
ich
is
th
e
m
a
x
im
u
m
n
u
m
b
er
o
f
p
ac
k
ets
th
at
ca
n
b
e
u
p
lo
ad
ed
to
th
e
p
latf
o
r
m
at
th
e
s
am
e
ti
m
e.
T
h
e
m
ain
in
ter
f
ac
e
co
n
tain
s
a
to
o
lk
it:
i)
T
o
tal
-
tar
g
ets:
t
h
is
t
o
o
l
r
ep
r
esen
ts
to
tal
n
u
m
b
er
o
f
p
eo
p
les
ex
p
ec
ted
m
is
s
in
g
in
a
s
p
ec
if
ic
ar
ea
;
ii)
T
o
tal
-
f
in
d
er
s
:
a
to
o
l u
s
ed
to
d
eter
m
in
e
th
e
r
o
u
te
o
f
d
r
o
n
e
p
l
an
es
in
th
e
s
p
ec
if
ied
ar
ea
;
iii)
Vis
io
n
:
t
h
is
t
o
o
l
r
ep
r
esen
ts
a
v
is
io
n
wh
ich
we
m
ea
n
th
e
v
is
io
n
o
f
th
e
d
r
o
n
e
with
in
th
e
s
p
ec
if
ie
d
r
eg
io
n
;
iv
)
Setu
p
:
t
h
is
to
o
l
is
u
s
ed
to
ad
j
u
s
t
th
e
wo
r
k
o
f
th
e
s
im
u
latio
n
b
ef
o
r
e
s
tar
tin
g
th
e
im
p
lem
en
tatio
n
o
r
co
n
f
ig
u
r
atio
n
; v
)
Go
:
t
o
o
l
u
s
ed
to
b
e
g
in
th
e
wo
r
k
o
f
d
r
o
n
e.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
A
n
a
lter
n
a
tive
tech
n
iq
u
e
to
r
e
d
u
ce
time,
co
s
t a
n
d
h
u
m
a
n
eff
o
r
t d
u
r
in
g
n
a
t
u
r
a
l o
r
… (
S
a
ma
h
er A
l
-
Ja
n
a
b
i
)
17
Fig
u
r
e
7
.
Mo
d
el
o
f
UAVs to
f
in
d
in
g
a
n
d
tr
ac
k
in
g
o
f
m
is
s
in
g
p
er
s
o
n
s
5.
CASE
S
T
UD
Y
T
o
ex
p
lain
th
e
m
ain
s
tep
s
wi
ll
all
d
etails,
we
will
ass
u
m
e
h
av
e
1
4
p
e
r
s
o
n
s
lo
s
t
in
s
p
ec
if
ies
ar
ea
.
T
h
er
ef
o
r
wh
er
e,
o
r
d
e
r
g
iv
e
to
f
in
d
th
em
th
e
s
y
s
tem
in
two
p
ar
ts
will
s
tar
t
:
i)
Step
1
:
u
p
lo
ad
to
th
e
s
y
s
tem
th
e
m
ap
o
f
th
e
a
r
ea
lo
s
t th
e
p
er
s
o
n
o
n
it,
an
d
b
u
ild
d
atab
ase
f
o
r
th
e
m
o
r
e
p
o
p
u
lar
o
b
ject
in
th
a
t a
r
ea
.
As ex
p
lain
ed
a
Fig
u
r
e
8
.
T
h
is
is
a
s
tep
t
o
d
is
co
v
er
th
e
p
ath
f
o
r
m
is
s
in
g
p
er
s
o
n
s
to
f
in
d
th
e
s
h
o
r
test
p
at
h
an
d
r
e
ac
h
th
em
.
T
h
e
s
tep
u
s
es
a
s
p
ec
if
ic
ar
ea
m
ap
,
in
clu
d
in
g
b
u
ild
in
g
s
,
co
r
r
id
o
r
s
,
d
r
iv
in
g
r
o
u
tes
an
d
wate
r
.
Pas
s
en
g
er
s
s
elec
t
th
e
b
u
ild
in
g
r
an
d
o
m
ly
as
a
d
esti
n
atio
n
,
s
ea
r
ch
a
n
d
f
o
ll
o
w
th
e
s
h
o
r
test
r
o
u
te
to
g
et
th
er
e
;
ii)
Step
2
:
d
ep
lo
y
m
e
n
t
th
e
d
r
o
n
es
d
esig
n
th
r
o
u
g
h
in
itial
s
tep
s
o
f
th
is
p
ap
er
o
n
th
e
s
p
ec
if
ic
r
e
g
io
n
a
f
ter
d
eter
m
in
ed
th
e
in
itial
co
o
r
d
in
ate
(
X,
Y)
f
o
r
ea
ch
d
r
o
n
e
as
ex
p
lain
in
T
ab
le
1
;
iii)
Step
3
:
d
eter
m
i
n
ed
th
e
p
ath
o
f
p
e
o
p
le
th
r
o
u
g
h
u
s
in
g
th
e
ca
m
er
a
o
f
UAV
an
d
tr
ac
k
in
g
th
em
b
y
GPS.
Af
ter
lo
ad
in
g
th
e
m
ap
,
th
e
p
r
o
ce
s
s
o
f
d
eter
m
in
in
g
th
e
p
ath
o
f
p
e
o
p
l
e
to
r
ea
ch
th
em
ac
co
r
d
in
g
to
t
h
e
co
o
r
d
i
n
ates
o
f
th
e
d
r
o
n
e
c
o
r
r
esp
o
n
d
in
g
to
th
e
co
o
r
d
in
ates
o
f
th
e
p
er
s
o
n
as
s
h
o
wn
in
Fig
u
r
e
9
;
I
n
f
i
g
u
r
e
9
,
th
e
tr
ac
k
o
f
th
e
p
er
s
o
n
n
o
.
3
wh
ich
was
f
o
u
n
d
ac
co
r
d
in
g
to
th
e
co
o
r
d
in
ates
o
f
ce
r
tain
f
ac
ts
.
r
ed
r
o
u
te
is
a
r
o
u
te
o
f
th
e
p
er
s
o
n
a
n
d
m
o
v
e
m
en
ts
in
th
e
r
eg
io
n
,
an
d
th
e
y
ello
w
p
ath
r
ep
r
esen
ts
th
e
p
ath
o
f
th
e
d
r
o
n
e
d
ata
h
as
b
ee
n
estab
lis
h
ed
ac
co
r
d
in
g
to
th
e
co
o
r
d
in
ates
o
f
th
ese
p
er
s
o
n
s
ar
e
s
h
o
wn
in
th
e
T
ab
le
2
;
iv
)
Step
4
:
m
atch
i
n
g
b
etwe
en
th
e
o
r
ig
in
al
d
ata
s
et
o
f
ar
ea
an
d
th
e
d
ataset
ca
p
tu
r
e
th
r
o
u
g
h
d
r
o
n
es,
th
en
g
en
er
ated
th
e
f
in
al
r
ep
o
r
t
h
av
e
s
p
ec
if
ic
co
o
r
d
in
at
ed
f
o
r
ea
ch
p
er
s
o
n
d
eter
m
in
ed
its
lo
ca
tio
n
.
T
ab
le
1
.
I
n
itial c
o
o
r
d
i
n
ates f
o
r
ea
ch
d
r
o
n
e
Ti
me
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CO
NCLU
SI
O
NS A
ND
F
UT
URE WO
RK
S
W
e
ca
n
s
u
m
m
ar
ize
th
e
m
ain
p
o
in
ts
co
n
clu
s
io
n
f
r
o
m
th
is
wo
r
k
b
y
th
e
f
o
llo
win
g
:
d
esig
n
a
p
r
ag
m
atic
d
r
o
n
e
s
tr
u
ctu
r
e
to
f
in
d
an
d
tr
a
ck
m
is
s
in
g
p
er
s
o
n
s
in
a
s
p
ec
if
ic
en
v
ir
o
n
m
en
t u
s
in
g
p
r
in
cip
al
an
aly
s
is
in
tellig
en
t
d
ata
(
I
DA)
an
d
GPS.
Desig
n
an
d
im
p
lem
en
tatio
n
o
f
a
n
in
t
eg
r
ated
elec
tr
o
n
ic
cir
c
u
it
i
n
ter
f
ac
in
g
cir
cu
it
(
i.e
.
APM
2
.
8
Ar
d
u
Pil
o
t)
,
s
in
ce
"APM
2
.
8
Ar
d
u
Pil
o
t"
is
n
o
t simp
ly
u
s
ed
,
f
iv
e
s
u
p
p
o
r
tin
g
p
ar
ts
ar
e
r
ea
l tim
e
clo
ck
,
b
atter
y
3
0
0
0
m
A/L
,
GPS
m
o
d
el,
(
wir
eless
au
d
io
/
v
id
eo
T
X/R
X
(
f
o
r
liv
e
v
id
e
o
)
,
r
em
o
te
c
o
n
tr
o
l
t
r
an
s
m
itter
)
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
A
n
a
lter
n
a
tive
tech
n
iq
u
e
to
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u
ce
time,
co
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m
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n
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t d
u
r
in
g
n
a
t
u
r
a
l o
r
… (
S
a
ma
h
er A
l
-
Ja
n
a
b
i
)
19
Usi
n
g
g
lo
b
al
p
o
s
itio
n
in
g
s
y
s
tem
to
d
ev
elo
p
th
e
ef
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icien
c
y
o
f
p
er
f
o
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m
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ce
in
th
e
f
ield
o
f
s
e
cu
r
ity
in
I
r
a
q
.
T
h
is
is
d
o
n
e
b
y
b
u
ild
in
g
an
in
teg
r
ated
s
y
s
tem
in
ter
m
s
o
f
p
h
y
s
ical
en
titi
es
H/W
,
an
d
S/W
s
av
es
tim
e,
ef
f
o
r
t
a
n
d
co
s
t
an
d
ad
d
r
ess
e
s
a
r
ea
l
s
ec
u
r
ity
p
r
o
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lem
in
th
e
c
o
u
n
t
r
y
.
U
s
in
g
"APM
2
.
8
Ar
d
u
Pil
o
t"
ar
c
h
itectu
r
e
to
co
llect
r
ea
l d
ata
as a
f
ir
s
t step
to
s
tar
t k
n
o
wled
g
e
d
is
co
v
er
y
f
r
o
m
d
at
ab
ases
.
I
n
th
e
f
u
tu
r
e,
we
ca
n
u
s
e
th
e
d
esig
n
s
tr
u
ctu
r
e
i
n
th
e
f
o
llo
win
g
p
o
i
n
ts
:
f
in
d
in
g
t
h
e
lo
ca
tio
n
s
o
f
m
u
ltip
le
tar
g
ets
in
a
f
lig
h
t
an
d
u
s
in
g
r
ein
f
o
r
ce
m
e
n
t
lear
n
in
g
to
g
et
th
e
lo
ca
tio
n
o
f
wir
eless
d
ev
ice
an
d
tr
ac
e
it.
An
o
p
tim
ized
ap
p
licatio
n
will
b
e
d
ev
elo
p
ed
to
im
p
r
o
v
e
th
e
s
y
s
tem
in
o
r
d
er
to
m
a
k
e
it
m
o
r
e
ef
f
icien
t
in
r
o
u
te
tr
ac
in
g
an
d
d
r
o
n
e
in
ter
ac
tio
n.
Fo
cu
s
o
n
th
e
in
teg
r
atio
n
o
f
two
ac
tio
n
ca
m
er
as
with
m
u
t
u
al
co
v
er
ag
e
i
n
s
ter
eo
m
o
d
e,
w
h
ich
will
m
a
k
e
it
p
o
s
s
ib
le
to
in
cr
ea
s
e
th
e
ef
f
icien
c
y
o
f
im
ag
in
g
d
u
r
in
g
o
n
e
f
lig
h
t.
T
h
e
u
s
e
o
f
UAV
n
etwo
r
k
s
in
co
m
b
in
atio
n
with
th
e
ce
llu
lar
n
etwo
r
k
wir
ele
s
s
s
en
s
o
r
n
et
wo
r
k
(
W
SN
)
,
a
n
d
s
h
o
w
p
r
o
m
is
in
g
f
u
tu
r
e
tech
n
o
lo
g
y
f
o
r
ap
p
licatio
n
s
in
d
is
aster
m
an
ag
em
e
n
t.
RE
F
E
R
E
NC
E
S
[
1
]
E.
V
a
t
t
a
p
p
a
r
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m
b
a
n
,
I
.
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ü
v
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.
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.
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k
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,
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n
d
S
.
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l
u
a
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:
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ssu
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sec
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r
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r
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p
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.
[
2
]
F
.
N
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x
a
n
d
F
.
R
e
m
o
n
d
i
n
o
,
“
U
A
V
f
o
r
3
D
ma
p
p
i
n
g
a
p
p
l
i
c
a
t
i
o
n
s
:
A
r
e
v
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e
w
,
”
Ap
p
l
i
e
d
G
e
o
m
a
t
i
c
s
,
v
o
l
.
6
,
n
o
.
1
,
p
p
.
1
–
1
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,
M
a
r
.
2
0
1
4
,
d
o
i
:
1
0
.
1
0
0
7
/
s
1
2
5
1
8
-
013
-
0
1
2
0
-
x.
[
3
]
S
.
A
l
-
Jan
a
b
i
,
A
.
F
.
A
l
k
a
i
m
,
a
n
d
Z
.
A
d
e
l
,
“
A
n
I
n
n
o
v
a
t
i
v
e
s
y
n
t
h
e
si
s
o
f
d
e
e
p
l
e
a
r
n
i
n
g
t
e
c
h
n
i
q
u
e
s
(
D
C
a
p
sN
e
t
&
D
C
O
M
)
f
o
r
g
e
n
e
r
a
t
i
o
n
e
l
e
c
t
r
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c
a
l
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e
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4
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[
5
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S
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6
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[
7
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8
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[
9
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[
1
4
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6
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[
1
7
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