I
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nte
rna
t
io
na
l J
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urna
l o
f
Ro
bo
t
ics a
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Aut
o
m
a
t
io
n (
I
J
RA)
Vo
l.
1
0
,
No
.
1
,
Ma
r
ch
2021
,
p
p
.
4
1
~
5
0
I
SS
N:
2722
-
2586
,
DOI
: 1
0
.
1
1
5
9
1
/
i
j
r
a
.
v
10
i
1
.
pp
41
-
50
41
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[
1
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.
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[
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1
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2
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3
5
[
3
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[
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[
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.
T
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R
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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
:
4
1
–
50
42
alo
n
g
s
id
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GSM
m
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d
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w
h
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f
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r
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it
h
th
e
as
s
is
ta
n
ce
o
f
th
ese
g
ad
g
ets.
T
h
e
s
ec
o
n
d
s
eg
m
e
n
t
o
f
th
e
p
ap
er
in
co
r
p
o
r
ates
th
e
clo
u
d
w
eb
ad
m
in
i
s
tr
a
tio
n
s
w
h
ic
h
g
o
ab
o
u
t
as
a
m
e
d
iato
r
b
et
w
ee
n
t
h
e
clien
t
an
d
th
e
v
e
h
icle
p
ar
k
i
n
g
ar
ea
.
T
h
e
clo
u
d
is
r
ef
r
esh
ed
b
y
t
h
e
ac
ce
s
s
ib
il
it
y
o
f
t
h
e
p
ar
k
in
g
ar
ea
.
T
h
e
clo
ud
ad
m
in
i
s
tr
atio
n
is
r
eg
u
lated
b
y
t
h
e
ad
m
in
is
tr
ato
r
y
et
it
ca
n
lik
e
w
i
s
e
b
e
s
ee
n
b
y
th
e
clien
t
to
ch
ec
k
th
e
ac
ce
s
s
ib
ilit
y
.
T
h
e
th
ir
d
ar
ea
o
f
th
e
p
ap
er
is
th
e
clien
t
s
id
e.
T
h
e
clien
t
g
ets
to
ld
f
o
r
th
e
ac
ce
s
s
ib
ilit
y
b
y
m
ea
n
s
o
f
SMS
th
r
o
u
g
h
th
e
GSM
m
o
d
u
le.
T
h
e
clien
t
co
llab
o
r
ates
w
i
th
t
h
e
clo
u
d
j
u
s
t
as
a
p
ar
k
in
g
ar
ea
.
T
h
e
clien
t
g
ets
th
e
n
o
tice
w
h
e
n
t
h
e
p
ar
k
in
g
ac
ce
s
s
ib
ili
t
y
is
f
u
ll
w
h
i
ch
s
p
ar
es
t
h
e
id
ea
l
o
p
p
o
r
tu
n
i
t
y
f
o
r
th
e
clie
n
t.
I
n
s
ec
tio
n
2
W
e
s
tu
d
y
s
o
m
e
li
ter
atu
r
e.
Secti
o
n
3
p
r
esen
t
s
p
r
o
p
o
s
ed
s
m
ar
t
ca
r
p
a
r
k
i
n
g
s
y
s
te
m
m
o
d
el
a
n
d
d
escr
ib
es
h
o
w
t
h
e
y
w
o
r
k
.
Se
ctio
n
4
g
iv
es
t
h
e
r
esu
lt
b
ased
o
n
p
r
o
p
o
s
ed
m
o
d
el
an
d
d
escr
ib
es
h
o
w
t
h
es
e
s
y
s
te
m
s
ar
e
f
r
u
it
f
u
l i
n
o
u
r
d
ail
y
li
f
e
an
d
s
ec
tio
n
5
co
n
clu
d
es
th
e
p
ap
er
.
2.
L
I
T
E
R
AT
U
RE
R
E
VI
E
W
T
h
e
s
en
s
o
r
s
u
tili
ze
d
in
I
o
T
b
ased
s
m
ar
t
p
ar
k
in
g
s
y
s
te
m
s
t
o
r
es
an
d
g
ets
in
f
o
r
m
atio
n
f
r
o
m
r
e
m
o
te
ar
ea
s
w
it
h
t
h
e
as
s
i
s
tan
ce
o
f
th
e
clo
u
d
t
h
ese
v
ar
iab
les
o
f
f
er
r
aise
to
clo
u
d
o
f
t
h
i
n
g
s
(
C
OT
)
.
T
h
e
h
u
b
s
co
u
ld
b
e
o
b
s
er
v
ed
an
d
co
n
tr
o
lled
f
r
o
m
a
n
y
ar
ea
t
h
e
f
r
a
m
e
w
o
r
k
th
at
w
e
p
r
o
p
o
s
e
g
i
v
es
d
ata
in
r
eg
ar
d
s
to
t
h
e
ac
ce
s
s
ib
ilit
y
o
f
th
e
p
ar
k
in
g
s
l
o
ts
w
it
h
th
e
ass
is
ta
n
ce
o
f
th
e
v
er
s
atile
ap
p
licatio
n
t
h
e
clie
n
ts
f
r
o
m
t
h
e
r
e
m
o
te
ar
ea
ca
n
b
o
o
k
t
h
e
p
ar
k
i
n
g
s
l
o
ts
[
6
]
.
A
ca
lc
u
lat
io
n
i
s
u
tili
z
ed
to
b
u
ild
ef
f
ec
ti
v
e
n
es
s
o
f
c
lo
u
d
-
b
ased
p
ar
k
i
n
g
f
r
a
m
e
w
o
r
k
an
d
s
y
s
te
m
en
g
i
n
e
er
in
g
in
n
o
v
atio
n
is
u
t
ilized
.
T
h
is
ca
lcu
latio
n
is
u
tili
ze
d
to
lo
ca
te
th
e
least
co
s
t
p
ar
k
in
g
s
p
o
t.
C
o
n
s
id
er
in
g
th
e
q
u
an
tit
y
o
f
p
ar
k
i
n
g
s
p
o
ts
ac
ce
s
s
ib
le
an
d
f
u
r
th
er
m
o
r
e
co
n
s
id
er
in
g
t
h
e
s
ep
ar
atio
n
o
f
t
h
e
p
ar
k
i
n
g
s
p
o
t
f
r
o
m
th
e
c
lien
t.
T
h
e
clie
n
t
ca
n
leg
iti
m
at
e
l
y
g
et
to
th
e
clo
u
d
-
b
a
s
ed
s
er
v
er
an
d
d
i
s
co
v
er
t
h
e
d
ata
o
n
th
e
p
ar
k
in
g
s
p
o
t.
T
h
e
clien
t
ca
n
li
k
e
w
i
s
e
in
tr
o
d
u
ce
an
ap
p
licatio
n
in
th
eir
ce
ll
p
h
o
n
es
to
g
et
to
th
is
d
ata.
W
ith
th
e
ass
is
ta
n
ce
o
f
t
h
is
ca
lc
u
latio
n
,
h
o
ld
in
g
u
p
tim
e
o
f
t
h
e
clie
n
t
to
d
is
co
v
er
a
p
ar
k
in
g
s
p
o
t
ca
n
b
e
li
m
ited
.
Sec
u
r
it
y
p
er
s
p
ec
tiv
e
s
ar
e
ex
clu
d
ed
f
r
o
m
t
h
is
p
ap
er
[
7
]
.
A
r
e
m
o
te
s
e
n
s
o
r
h
u
b
a
lo
n
g
s
id
e
ad
v
a
n
ce
d
m
o
b
ile
p
h
o
n
e
ap
p
licatio
n
i
s
b
ein
g
u
til
ized
to
d
is
co
v
er
th
e
p
ar
k
in
g
s
p
o
t.
Si
n
ce
,
r
e
m
o
te
in
n
o
v
atio
n
is
u
tili
ze
d
h
er
e
th
e
f
r
a
m
e
w
o
r
k
h
as
h
i
g
h
p
r
ec
is
io
n
an
d
e
f
f
ec
t
iv
e
n
es
s
.
I
n
th
i
s
f
r
a
m
e
w
o
r
k
,
in
s
talled
u
n
its
ar
e
u
t
ilized
to
s
p
ea
k
w
ith
d
if
f
er
en
t
v
e
h
icles.
T
h
e
clien
t
leav
es
h
i
s
v
eh
ic
le
in
an
y
o
f
t
h
e
f
e
w
b
a
y
o
u
s
ac
ce
s
s
ib
le
m
ec
h
an
ica
l
lif
t
l
if
ts
t
h
e
v
e
h
icle
o
u
t.
A
tic
k
et
k
e
y
an
d
id
ar
e
g
iv
en
to
th
e
clien
t
an
d
it
is
j
u
s
t
k
n
o
w
n
to
th
e
clien
t
w
h
ic
h
is
u
t
i
lized
to
r
ec
o
v
er
th
e
v
eh
icle.
T
h
e
clien
t
n
ee
d
n
o
t
co
n
v
e
y
an
y
p
ap
er
tick
e
t
s
i
n
ce
a
R
FID
ca
r
d
is
g
i
v
e
n
to
t
h
e
clien
t.
T
h
e
i
n
n
o
v
atio
n
u
ti
lize
d
h
er
e
is
e
f
f
icie
n
t.
Secu
r
it
y
h
i
g
h
li
g
h
t
s
m
u
s
t
b
e
i
m
p
r
o
v
ed
to
en
s
u
r
e
t
h
e
clien
t'
p
r
o
tectio
n
[
8
]
.
T
h
e
cr
ea
to
r
o
f
s
m
ar
t
p
ar
k
i
n
g
f
r
a
m
e
w
o
r
k
th
e
s
t
u
d
y
h
as
s
e
p
ar
ated
id
en
tif
ier
f
r
a
m
e
w
o
r
k
an
d
v
e
h
icle
s
en
s
o
r
s
in
to
tw
o
m
at
h
clas
s
es
a
s
m
ed
d
lin
g
s
en
s
o
r
s
an
d
n
o
n
-
n
o
s
y
s
e
n
s
o
r
s
.
Me
d
d
lin
g
s
en
s
o
r
s
ar
e
in
tr
o
d
u
ce
d
in
o
p
en
in
g
s
o
u
t
an
d
ab
o
u
t
th
e
s
u
r
f
ac
e
b
y
b
u
r
r
o
w
in
g
u
n
d
er
th
e
s
tr
ee
t.
No
n
-
m
ed
d
lin
g
s
en
s
o
r
s
d
o
n
'
t
i
n
f
lu
e
n
ce
t
h
e
o
u
t
s
id
e
o
f
th
e
s
tr
ee
t
an
d
it
v
er
y
w
ell
m
a
y
b
e
ef
f
o
r
tles
s
l
y
in
tr
o
d
u
ce
d
an
d
k
ep
t
u
p
.
S
m
a
r
t
p
ar
k
in
g
f
r
a
m
e
w
o
r
k
ca
u
s
e
s
u
s
to
d
eter
m
i
n
e
th
e
estab
lis
h
in
g
i
s
s
u
es
o
f
t
h
e
tr
a
f
f
ic
b
lo
ck
ag
e
a
n
d
it
li
k
e
w
i
s
e
d
e
cr
ea
s
es
t
h
e
o
u
t
f
lo
w
f
r
o
m
a
v
e
h
icle.
[
9
]
A
p
ap
er
p
r
o
p
o
s
es
an
ef
f
ec
ti
v
e
ap
p
r
o
a
ch
to
u
n
f
u
r
l
t
h
e
is
s
u
e
o
f
p
ar
k
in
g
ac
ce
s
s
ib
ilit
y
in
t
h
e
o
n
g
o
i
n
g
s
itu
at
io
n
an
d
to
d
ec
r
ea
s
e
th
e
ti
m
e
u
tili
za
t
io
n
.
I
n
th
i
s
,
t
h
e
i
n
f
o
r
m
atio
n
i
s
s
en
t
lo
ca
ll
y
w
i
t
h
g
ad
g
ets
w
h
ic
h
ch
a
n
n
el
t
h
e
in
f
o
r
m
atio
n
.
T
h
is
s
i
g
n
is
tr
an
s
m
i
tted
o
v
er
th
e
clo
u
d
f
o
r
th
e
p
r
o
ce
d
u
r
e
j
u
s
t
as
f
o
r
ass
ess
m
en
t
w
h
ic
h
u
s
es
A
I
ca
lcu
latio
n
s
.
T
h
is
p
ap
er
u
tili
z
es
a
ce
ll
p
h
o
n
e
ap
p
licatio
n
th
at
ass
o
ciate
s
t
h
e
clien
t
w
it
h
th
e
co
n
s
ta
n
t
tr
a
f
f
i
c
s
tatu
s
th
r
o
u
g
h
Go
o
g
le
A
P
I
.
I
n
th
i
s
w
a
y
,
tr
af
f
ic
b
lo
ck
a
g
e
i
s
k
ep
t
a
w
a
y
f
r
o
m
.
T
h
is
p
ap
e
r
d
o
esn
'
t
g
iv
e
t
h
e
b
o
o
k
in
g
o
f
f
ice
to
t
h
e
ca
r
p
ar
k
in
g
[
1
0
]
.
3.
P
RO
P
O
SE
D
SYS
T
E
M
T
h
e
f
o
llo
w
in
g
Fi
g
u
r
e
1
s
h
o
w
s
t
h
e
b
lo
ck
d
iag
r
a
m
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
te
m
.
T
h
e
en
tire
s
y
s
te
m
i
s
co
n
tr
o
lled
b
y
t
h
e
R
asp
b
er
r
y
P
i
4
d
ev
ice.
I
n
th
i
s
p
r
o
p
o
s
ed
s
y
s
te
m
m
ai
n
l
y
R
FID
R
ea
d
er
,
u
ltra
s
o
n
ic
s
en
s
o
r
s
,
GSM
m
o
d
u
le,
GP
S
u
n
i
t,
L
E
D
d
is
p
la
y
,
a
n
d
th
e
s
p
ea
k
er
i
s
u
s
ed
.
Fro
m
Fi
g
u
r
e
1
,
w
e
s
ee
t
h
a
t
R
asp
b
er
r
y
p
i
4
i
s
attac
h
ed
w
it
h
a
p
o
w
er
s
u
p
p
l
y
f
o
r
r
u
n
n
i
n
g
.
W
h
en
t
h
e
s
y
s
te
m
n
ee
d
s
to
r
u
n
,
tr
ig
g
er
t
h
e
p
o
w
e
r
s
u
p
p
l
y
s
w
itc
h
o
n
.
W
h
en
t
h
e
s
y
s
te
m
f
ac
e
s
d
if
f
i
cu
lt
y
r
e
s
et
th
e
s
y
s
te
m
u
s
in
g
th
e
r
eset
b
u
tto
n
w
h
ich
i
s
a
g
r
ea
t
f
ea
t
u
r
e
in
t
h
e
p
r
o
p
o
s
ed
s
y
s
te
m
.
E
ac
h
co
m
p
o
n
en
t
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
t
e
m
is
ex
p
lai
n
ed
in
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2586
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I
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2586
I
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ticated
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als
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iti
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e
r
ec
o
g
n
iz
ab
le
p
r
o
o
f
o
f
cr
ea
tu
r
es
[
1
6
]
.
Fig
u
r
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4
d
is
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y
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a
R
FID
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r
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u
r
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4
.
R
FID
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d
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
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J
R
o
b
&
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to
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I
SS
N:
2722
-
2586
R
a
d
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fr
eq
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cy
id
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tio
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atile
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r
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r
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g
at
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it
a
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r
r
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ter
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USB
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d
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o
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r
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o
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Ser
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S)
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at
e
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g
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n
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io
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ate.
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e
ac
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n
b
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p
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f
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r
m
ed
b
y
G
SM
m
o
d
u
le
is
as p
er
th
e
f
o
llo
w
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g
:
-
R
ec
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r
ej
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t a
n
d
m
a
k
e
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v
o
i
ce
ca
ll.
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ec
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n
d
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ase
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o
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te
m
f
o
r
m
o
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ile
co
m
m
u
n
icatio
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s
(
GSM)
m
o
d
e
m
s
ar
e
s
p
ec
if
ic
k
i
n
d
s
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f
m
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m
s
th
at
w
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k
o
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m
e
m
b
er
s
h
ip
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ased
r
e
m
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y
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te
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s
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k
e
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ce
ll
p
h
o
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e.
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e
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ac
k
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a
s
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b
s
cr
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m
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d
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ess
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n
tial
l
y
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ts
li
k
e
a
ce
l
l
p
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o
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e
f
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h
a
m
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e
v
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n
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a
co
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tted
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t
h
at
t
h
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C
u
tili
z
e
s
f
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r
GSM
o
r
g
a
n
i
ze
ab
ilit
ies
[
1
7
]
.
Fig
u
r
e
5
s
h
o
w
s
a
t
y
p
ica
l
GSM
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d
u
le.
Fro
m
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g
u
r
e
5
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e
s
e
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th
at
a
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il
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h
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d
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le
s
,
a
s
h
o
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ess
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g
e
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s
s
e
n
t to
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e
p
r
o
p
r
ieto
r
.
Fig
u
r
e
5
.
T
y
p
ical
GSM
m
o
d
u
l
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3
.
5
.
G
lo
ba
l po
s
it
io
nin
g
s
y
s
t
em
T
h
e
g
lo
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al
p
o
s
itio
n
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g
s
y
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m
(
GP
S)
is
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U.
S.
s
p
ac
e
-
b
ased
w
o
r
ld
w
id
e
r
o
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te
s
atellite
f
r
a
m
e
w
o
r
k
.
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t
g
iv
e
s
s
o
lid
s
it
u
ati
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g
,
r
o
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te,
a
n
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ti
m
i
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g
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m
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atio
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t
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ate,
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ay
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n
d
n
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y
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lace
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o
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clo
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E
ar
th
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g
ets
t
h
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it
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atio
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d
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f
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3
.
6
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ea
k
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k
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g
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et,
w
h
ich
m
ig
h
t
b
e
m
ec
h
an
ical,
elec
tr
o
m
ec
h
an
ica
l,
o
r
p
iezo
elec
tr
ic.
C
o
m
m
o
n
e
m
p
lo
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m
e
n
t
o
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s
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k
er
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d
b
ee
p
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in
co
r
p
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t
g
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g
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cl
o
ck
s
.
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ar
l
y
g
ad
g
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d
ep
en
d
ed
o
n
an
elec
tr
o
m
ec
h
an
ical
f
r
a
m
e
w
o
r
k
in
d
is
tin
g
u
is
h
ab
le
f
r
o
m
an
elec
tr
ic
r
in
g
er
w
it
h
o
u
t
th
e
m
etal
g
o
n
g
.
A
s
p
ea
k
er
ass
o
ciate
d
with
r
asp
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er
r
y
p
i
4
g
ad
g
et
i
s
ac
tu
ated
w
h
e
n
t
h
e
p
ar
k
in
g
g
ar
a
g
e
is
f
u
l
l.
I
t
s
h
o
w
s
th
e
ac
ce
s
s
ib
le
s
p
ac
e
in
t
h
e
p
ar
k
in
g
g
ar
a
g
e
o
n
L
E
D.
T
h
u
s
th
e
ti
m
e
tak
e
n
to
ch
ec
k
th
e
ac
ce
s
s
ib
le
s
p
ac
e
i
s
d
i
m
in
is
h
ed
.
T
h
e
f
r
a
m
e
w
o
r
k
ca
n
b
e
in
tr
o
d
u
ce
d
at
p
ass
ag
e
w
a
y
an
d
ex
it.
3
.
7
.
L
ig
ht
em
it
t
ing
dio
de
dis
pla
y
A
L
E
D
s
h
o
w
is
a
le
v
el
b
o
ar
d
s
h
o
w
th
a
t
u
ti
lizes
a
v
ar
iet
y
o
f
li
g
h
t
-
p
r
o
d
u
cin
g
d
io
d
es
as
p
ix
els
f
o
r
a
v
id
eo
s
h
o
w
.
T
h
eir
b
r
illi
an
ce
p
er
m
its
th
e
m
to
b
e
u
t
ilized
o
u
t
s
id
e
w
h
er
e
t
h
e
y
ar
e
n
o
ticea
b
le
in
t
h
e
s
u
n
f
o
r
s
to
r
e
s
ig
n
s
a
n
d
b
u
lletin
s
.
As
o
f
late,
th
e
y
h
a
v
e
ad
d
itio
n
all
y
g
o
tten
o
r
d
in
ar
il
y
u
til
ized
in
g
o
al
s
ig
n
s
o
n
o
p
en
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
:
4
1
–
50
46
tr
an
s
p
o
r
t
v
e
h
icle
s
,
j
u
s
t
a
s
f
ac
t
o
r
m
e
s
s
a
g
e
s
ig
n
s
o
n
p
ar
k
w
a
y
s
.
Dr
iv
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n
p
r
ese
n
tatio
n
s
ar
e
f
it
f
o
r
g
i
v
i
n
g
g
e
n
er
al
en
li
g
h
te
n
m
e
n
t
n
o
t
w
it
h
s
tan
d
i
n
g
v
i
s
u
al
s
h
o
w
ca
s
es,
as
w
h
en
u
tili
ze
d
f
o
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s
ta
g
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lig
h
ti
n
g
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tify
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in
s
tead
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f
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p
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r
p
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es.
L
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s
h
o
w
ca
s
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ca
n
o
f
f
e
r
h
ig
h
er
co
m
p
lex
i
t
y
p
r
o
p
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tio
n
s
t
h
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a
p
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j
ec
to
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an
d
ar
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th
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a
y
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tio
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co
n
tr
ast
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tio
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al
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cr
ee
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th
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y
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n
b
e
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tili
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d
f
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h
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g
e,
co
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o
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s
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ith
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t
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o
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tler
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t
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b
o
ar
d
o
f
L
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a
s
th
e
li
g
h
t
s
o
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i
g
h
t
n
o
w
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o
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s
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u
m
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o
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47
4.
RE
SU
L
T
S
Fro
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F
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r
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7
w
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ca
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s
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[
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.
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s
.
Fro
m
t
h
e
f
i
g
u
r
e
w
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ee
t
h
at
m
y
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ec
o
m
m
e
n
d
ed
s
y
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ta
k
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l
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g
ti
m
e
w
h
e
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m
p
ar
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o
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e
x
is
tin
g
s
y
s
te
m
s
.
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h
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y
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llo
w
li
n
e
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m
y
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ec
o
m
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ed
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te
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r
ch
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m
e
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r
e
m
e
n
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n
d
it is
clea
r
th
at
m
y
s
y
s
te
m
is
t
h
e
b
est o
n
e.
Fig
u
r
e
8
.
S
m
ar
t p
ar
k
i
n
g
m
i
n
i
m
izi
n
g
s
ea
r
ch
i
n
g
ti
m
e
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
:
4
1
–
50
48
4
.
1
.
3
.
Ca
pita
l c
o
s
t
T
h
e
r
eg
u
lar
th
o
u
g
h
t
th
a
t
th
e
a
u
to
m
ated
p
ar
k
i
n
g
f
r
a
m
e
w
o
r
k
s
co
n
s
is
te
n
tl
y
co
s
t
m
o
r
e
t
h
an
m
u
lti
-
s
to
r
y
p
ar
k
in
g
s
tr
u
ctu
r
e
s
is
e
x
ce
s
s
i
v
el
y
o
v
er
s
i
m
p
li
f
ied
an
d
as
o
f
te
n
as
p
o
s
s
ib
le
er
r
o
n
eo
u
s
.
Au
to
m
a
ted
p
ar
k
in
g
f
r
a
m
e
w
o
r
k
s
ca
n
b
e
s
u
b
s
tit
u
ti
o
n
s
f
o
r
r
eg
u
lar
v
e
h
icle
p
ar
k
i
n
g
.
Au
to
m
ated
p
ar
k
in
g
f
r
a
m
e
w
o
r
k
s
'
co
n
s
id
er
ab
l
y
s
m
al
ler
s
ize
an
d
s
tr
u
ctu
r
e
ad
ap
tab
ilit
y
ca
n
ess
e
n
tiall
y
m
o
v
e
ca
p
ital
ex
p
en
s
e
an
d
task
p
r
o
d
u
ctiv
i
t
y
f
o
r
if
t
h
e
en
g
i
n
ee
r
s
j
o
in
th
e
m
i
n
to
s
tar
te
r
p
lan
s
.
4
.
1
.
4
.
Reduced
f
uel a
nd
m
a
i
nta
ini
ng
co
s
t
s
A
cti
v
it
y
an
d
u
p
k
ee
p
co
s
ts
a
r
e
ex
ce
p
tio
n
all
y
ex
p
lici
t
to
ev
er
y
ap
p
licatio
n
.
Me
ch
an
iz
ed
leav
in
g
f
r
a
m
e
w
o
r
k
s
h
a
v
e
th
e
u
p
s
id
e
o
f
r
eq
u
ir
in
g
n
o
o
r
in
s
ig
n
if
ica
n
t
lig
h
ti
n
g
,
v
e
n
tilat
io
n
,
f
ir
e
co
n
c
ea
l
m
e
n
t,
o
b
s
er
v
in
g
,
tid
y
u
p
,
s
taf
f
an
d
s
af
et
y
ef
f
o
r
ts
in
th
e
e
m
p
t
y
leav
i
n
g
ter
r
ito
r
y
n
o
t
at
all
lik
e
th
e
r
eg
u
lar
v
eh
icle
p
ar
k
.
T
h
e
f
o
llo
w
in
g
f
i
g
u
r
e
g
r
ap
h
icall
y
s
h
o
w
s
h
o
w
f
u
el
co
n
s
u
m
p
ti
o
n
s
a
r
e
en
s
u
r
ed
[
2
0
]
.
Fig
u
r
e
9
s
h
o
w
s
th
e
f
u
el
co
n
s
u
m
p
tio
n
v
is
u
aliza
t
io
n
o
f
m
y
r
ec
o
m
m
e
n
d
ed
s
y
s
te
m
.
Fro
m
t
h
e
f
ig
u
r
e
w
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ee
t
h
at
d
is
ta
n
ce
is
m
ea
s
u
r
ed
in
m
eter
s
an
d
it
is
p
lace
d
in
th
e
h
o
r
izo
n
tal
ax
i
s
as
w
ell
as
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e
f
u
el
r
ate
is
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lace
d
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th
e
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er
tical
ax
is
.
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h
e
r
ed
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in
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h
e
f
ig
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r
e
is
m
y
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p
o
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ed
s
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te
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s
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-
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ate.
Fig
u
r
e
9
.
Sh
o
w
s
t
h
e
f
u
el
co
n
s
u
m
p
tio
n
s
4
.
1
.
5
.
Su
s
t
a
ina
ble buil
din
g
Au
to
m
a
ted
p
ar
k
in
g
s
y
s
te
m
s
o
f
f
er
v
ar
io
u
s
f
a
v
o
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ab
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cir
cu
m
s
tan
ce
s
o
v
er
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eg
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lar
p
ar
k
i
n
g
w
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th
r
eg
ar
d
s
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r
ee
n
s
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tio
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s
a
n
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r
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im
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ea
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e,
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t
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ased
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m
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er
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g
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Gr
e
en
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o
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e
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ase
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VO
C
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,
C
O,
NO,
an
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o
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th
.
)
ca
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6
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5
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r
s
.
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er
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it
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s
i
n
g
l
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r
ee
n
s
p
ac
e
b
y
less
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n
in
g
lan
d
n
ec
e
s
s
itie
s
.
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to
m
ated
p
ar
k
in
g
f
r
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w
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k
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ca
n
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co
n
s
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er
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ly
m
o
r
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v
ita
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d
u
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th
a
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ar
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ar
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n
t
s
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ar
ticu
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er
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u
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d
o
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en
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ed
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k
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g
ap
p
licatio
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s
.
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ess
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x
h
u
m
i
n
g
p
r
o
f
u
n
d
it
y
o
f
a
u
to
m
ated
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ar
k
in
g
f
r
a
m
e
w
o
r
k
s
li
m
i
ts
t
h
e
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o
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tial
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u
n
d
w
ater
s
w
a
y
.
Un
li
k
e
t
h
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lar
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ic
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p
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k
in
g
A
u
to
m
ated
p
ar
k
in
g
f
r
a
m
e
w
o
r
k
s
r
eq
u
ir
e
s
u
b
s
ta
n
tial
l
y
les
s
s
tr
u
c
tu
r
e
m
ater
ial.
A
u
to
m
ated
p
ar
k
in
g
f
r
a
m
e
w
o
r
k
s
ca
n
li
m
it
th
e
i
m
p
ed
i
m
e
n
t
o
f
p
er
s
p
ec
tiv
e
s
an
d
d
ay
li
g
h
t.
R
ec
y
cli
n
g
o
f
h
ig
h
w
o
r
th
s
tr
u
ctu
r
e
m
ater
ials
,
f
o
r
ex
a
m
p
le,
s
teel.
4
.
1
.
6
.
I
nh
er
ent
s
ec
urit
ies
T
h
e
au
to
m
ated
p
ar
k
i
n
g
s
y
s
te
m
s
id
ea
in
a
lien
ab
l
y
g
i
v
es
a
lo
t
m
o
r
e
s
ig
n
i
f
ica
n
t
le
v
els
o
f
a
s
s
u
r
a
n
ce
an
d
s
ec
u
r
it
y
f
o
r
v
eh
ic
les,
th
eir
s
u
b
s
tan
ce
an
d
th
eir
d
r
iv
er
s
.
Van
d
alis
m
a
n
d
r
o
b
b
e
r
y
ar
e
f
o
r
all
i
n
ten
ts
an
d
p
u
r
p
o
s
es
u
n
i
m
a
g
i
n
ab
le
i
n
a
n
Au
to
m
a
te
d
p
ar
k
in
g
f
r
a
m
e
w
o
r
k
s
.
I
n
d
i
v
i
d
u
al
s
ec
u
r
it
y
i
s
a
lo
t
h
i
g
h
er
th
an
i
n
v
eh
icle
lea
v
es
s
in
ce
d
r
iv
er
s
an
d
tr
av
eler
s
ar
e
co
n
s
is
te
n
tl
y
i
n
w
ell
-
lit,
p
r
o
f
o
u
n
d
l
y
n
o
ticea
b
le/o
p
en
s
ec
tio
n
s
an
d
leav
e
r
eg
io
n
s
at
r
o
ad
lev
el.
R
o
b
o
tized
s
to
p
p
in
g
f
r
a
m
e
w
o
r
k
s
ar
e
li
k
e
w
is
e
a
p
er
f
ec
t
an
s
w
er
f
o
r
th
e
i
m
p
air
ed
s
in
ce
p
ass
a
g
e
an
d
leav
e
co
v
er
s
ca
n
p
r
o
m
p
tl
y
o
b
lig
e
ex
p
licit p
r
er
eq
u
is
ite
s
an
d
co
n
s
tr
u
ctio
n
s
tan
d
ar
d
s
.
4
.
1
.
7
.
L
o
w
er
risk
a
n
d lia
bil
i
t
y
P
r
o
tectio
n
p
r
em
i
u
m
s
ar
e
r
eg
u
lar
l
y
i
n
te
n
s
e
l
y
i
m
p
ac
ted
b
y
th
e
li
k
eli
h
o
o
d
o
f
m
is
h
ap
s
o
r
d
if
f
er
en
t
o
cc
asio
n
s
h
ap
p
en
in
g
;
h
er
e
au
t
o
m
a
ted
p
ar
k
in
g
f
r
a
m
e
w
o
r
k
s
m
a
y
h
elp
as
a
u
to
m
a
ted
p
ar
k
in
g
f
r
a
m
e
w
o
r
k
s
li
m
it
th
e
p
o
ten
tia
l
f
o
r
p
r
o
p
er
ty
h
ar
m
,
b
u
r
g
lar
y
,
i
n
d
i
v
id
u
al
in
j
u
r
y
o
r
d
em
i
s
e.
T
h
e
ch
a
n
ce
o
f
m
a
r
k
s
,
s
cr
atc
h
es,
o
t
h
er
h
ar
m
a
n
d
v
a
n
d
alis
m
to
v
e
h
icl
es,
b
u
r
g
lar
y
o
f
p
r
o
p
er
ty
f
r
o
m
v
eh
ic
les,
v
e
h
icle
b
u
r
g
lar
y
,
t
h
e
f
t,
p
y
r
o
m
a
n
ia,
f
ir
e,
a
m
b
u
s
h
,
as
s
au
l
t,
f
alls
a
n
d
s
elf
-
d
estru
c
tio
n
ca
n
b
e
d
ec
r
ea
s
ed
s
ig
n
i
f
ica
n
tl
y
b
y
u
tili
z
in
g
th
e
i
n
tr
in
s
ic
w
ell
-
b
ein
g
an
d
s
ec
u
r
it
y
o
f
a
u
to
m
a
ted
p
ar
k
in
g
f
r
a
m
e
w
o
r
k
s
.
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
R
a
d
io
fr
eq
u
e
n
cy
id
en
tifi
ca
tio
n
b
a
s
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s
ma
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t p
a
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I
n
tern
et
o
f Th
in
g
s
(
R
a
h
m
a
n
A
tiq
u
r
)
49
4
.
1
.
8
.
T
a
x
a
dv
a
nta
g
es
T
h
e
p
r
o
p
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ty
d
esi
g
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s
m
a
y
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e
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ass
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s
m
en
t
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ab
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s
ta
n
ce
s
as
q
u
ick
e
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ev
alu
atio
n
co
n
tr
asted
w
it
h
v
eh
icle
p
ar
k
s
o
r
p
ar
k
in
g
s
tr
u
ct
u
r
es
b
y
u
t
ilizi
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g
Au
to
m
ated
p
ar
k
in
g
f
r
a
m
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w
o
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.
A
f
e
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a
tio
n
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r
an
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q
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ic
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,
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ick
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p
ar
k
in
g
s
y
s
te
m
s
m
i
g
h
t
b
e
q
u
alif
ied
f
o
r
a
lo
t
h
ig
h
er
d
ev
alu
a
tio
n
r
ates,
ex
p
an
d
i
n
g
b
en
ef
it
s
co
n
tr
asted
w
ith
t
h
e
2
5
to
m
u
lt
i
y
ea
r
d
eter
io
r
atio
n
o
f
s
tr
u
ct
u
r
es,
f
o
r
ex
a
m
p
le,
a
n
d
ca
r
p
ar
k
s
.
4
.
1
.
9
.
F
a
s
t
er
c
o
ns
t
ruct
io
ns
Au
to
m
a
ted
p
ar
k
in
g
s
y
s
te
m
s
ar
e
n
o
r
m
all
y
q
u
ick
er
a
n
d
s
i
m
p
le
r
to
in
tr
o
d
u
ce
i
n
v
ie
w
o
f
a
lo
t
f
e
w
er
a
n
d
p
r
o
f
o
u
n
d
l
y
p
r
e
-
m
a
n
u
f
ac
tu
r
ed
s
tr
u
ct
u
r
es,
t
h
an
b
i
g
g
er
s
o
lid
v
eh
icle
lea
v
es.
T
h
er
e
is
s
ig
n
i
f
i
ca
n
tl
y
les
s
v
o
l
u
m
e
to
ex
h
u
m
e
a
n
d
m
o
v
e,
th
i
s
p
r
o
m
p
ts
d
ec
r
ea
s
ed
d
ev
elo
p
m
e
n
t
co
s
ts
,
less
e
n
t
h
u
s
ias
m
d
u
r
i
n
g
d
ev
elo
p
m
en
t
a
n
d
a
q
u
ick
er
b
eg
i
n
n
in
g
o
f
i
n
co
m
e
a
g
e.
4
.
1
.
1
0
.
I
m
pro
v
ed
pro
f
it
a
bil
i
t
y
a
nd
o
t
her
f
a
ct
o
rs
L
es
s
q
u
a
n
ti
f
iab
le
ad
v
an
ta
g
e
s
o
f
a
u
to
m
ated
p
ar
k
in
g
s
y
s
t
e
m
t
h
at
ca
n
i
m
p
r
o
v
e
p
r
o
d
u
ctiv
it
y
f
o
r
en
g
i
n
ee
r
s
i
n
cl
u
d
e
[
2
0
]
:
-
L
o
ca
tio
n
:
Au
to
m
ated
p
ar
k
i
n
g
f
r
a
m
e
w
o
r
k
s
ca
n
ad
d
to
th
e
esti
m
atio
n
o
f
th
e
ar
ea
a
s
it
ca
n
p
ick
u
p
in
d
iv
id
u
als
'
co
n
s
id
er
atio
n
.
-
R
ed
u
ce
d
v
is
u
al
ef
f
ec
t:
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y
u
t
il
izin
g
au
to
m
a
ted
p
ar
k
in
g
s
y
s
te
m
s
w
e
ca
n
less
e
n
th
e
s
p
ac
e
p
ar
k
in
g
s
lo
t
th
at
ca
n
d
ec
r
ea
s
e
r
en
t/re
n
tal
r
ates
th
e
lo
w
er
s
tat
u
tes
an
d
litt
ler
v
o
lu
m
es
o
f
au
to
m
ated
p
ar
k
in
g
s
y
s
te
m
li
m
it
ch
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k
o
f
p
er
s
p
ec
tiv
es a
n
d
d
a
y
l
ig
h
t.
-
A
e
s
th
e
tics
:
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u
to
m
ated
p
ar
k
i
n
g
s
y
s
te
m
to
m
ix
in
to
th
e
en
v
ir
o
n
m
e
n
tal
f
ac
to
r
s
a
s
it
h
a
s
ad
j
u
s
tab
le
o
u
t
s
id
e
m
ed
icin
e
s
.
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to
m
ated
p
ar
k
i
n
g
s
y
s
te
m
s
g
iv
e
p
r
o
p
er
t
y
d
esi
g
n
er
s
v
ar
io
u
s
ad
v
a
n
ta
g
es
a
n
d
o
p
p
o
r
tu
n
itie
s
f
o
r
v
eh
ic
le
leav
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n
g
,
s
o
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ad
j
u
s
t
m
e
n
t i
n
b
eliev
in
g
is
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x
p
ec
te
d
to
ex
p
lo
it a
u
to
m
ated
p
ar
k
in
g
s
y
s
te
m
s
.
5.
C
O
N
C
L
U
SIO
N
T
h
e
h
ea
d
w
a
y
o
f
t
h
e
I
o
T
an
d
clo
u
d
in
n
o
v
atio
n
s
h
a
s
o
f
f
er
ed
ascen
d
to
t
h
e
ad
d
itio
n
al
o
p
p
o
r
tu
n
i
ties
a
s
f
ar
as
b
r
illi
an
t
u
r
b
an
ar
ea
s
.
Sh
r
e
w
d
p
ar
k
i
n
g
o
f
f
ices
h
a
v
e
c
o
n
s
is
ten
tl
y
b
ee
n
t
h
e
ce
n
ter
o
f
d
ev
elo
p
in
g
s
m
ar
t
u
r
b
an
co
m
m
u
n
it
ies.
T
h
e
f
r
a
m
e
w
o
r
k
g
iv
e
s
a
co
n
s
ta
n
t
p
r
o
ce
d
u
r
e
an
d
d
ata
o
f
th
e
p
ar
k
in
g
s
p
ac
es.
T
h
is
p
ap
er
i
m
p
r
o
v
es
th
e
p
r
esen
tatio
n
o
f
s
p
ar
in
g
clie
n
ts
ti
m
e
to
f
in
d
a
p
r
o
p
er
p
ar
k
in
g
s
p
o
t.
I
t
ass
is
t
s
w
it
h
s
ettl
in
g
th
e
d
ev
elo
p
in
g
is
s
u
e
o
f
tr
af
f
ic
clo
g
s
.
W
ith
r
esp
ec
t
to
th
e
f
u
t
u
r
e
w
o
r
k
t
h
e
clien
t
s
ca
n
b
o
o
k
a
p
ar
k
in
g
s
p
o
t
f
r
o
m
a
r
e
m
o
te
ar
ea
.
ACK
NO
WL
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D
G
E
M
E
NT
S
I
w
o
u
ld
lik
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to
co
n
v
e
y
m
y
h
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r
tf
el
t
g
r
atit
u
d
e
to
w
ar
d
s
m
y
g
u
id
e,
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r
o
f
ess
o
r
Dr
.
Yu
n
L
i
f
o
r
h
is
co
n
s
ta
n
t
g
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,
en
co
u
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d
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s
p
ir
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w
o
r
d
s
.
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am
th
a
n
k
f
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l
to
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Sch
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l
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n
f
o
r
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d
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m
m
u
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s
E
n
g
in
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r
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f
o
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th
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s
u
p
p
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r
t.
RE
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R
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NC
E
S
[
1
]
A
.
O
.
K
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t
b
,
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.
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h
e
n
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n
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.
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u
a
n
g
,
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m
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.
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.
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]
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.
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h
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n
d
e
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A
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ti
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Ch
a
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.
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sh
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In
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2
0
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.
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]
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Ch
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h
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,
P
.
Ba
n
sa
l
a
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d
B.
V
a
larm
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th
i,
“
A
d
v
a
n
c
e
d
CA
R
p
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rk
in
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ste
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sin
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rd
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0
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t
h
In
ter
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t
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ste
ms
(
ICACCS
)
,
2
0
1
7
,
p
p
.
1
-
5.
[4
]
N.
R.
N.
Zad
e
h
a
n
d
J.
C.
De
la
Cru
z
,
"
S
m
a
rt
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a
n
p
a
rk
in
g
d
e
tec
ti
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sy
ste
m
,
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2
0
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6
th
IEE
E
In
ter
n
a
ti
o
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a
l
Co
n
fer
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e
o
n
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tro
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m,
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ICCS
CE)
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CE.
2
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0
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.
[5
]
P
.
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h
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lara
n
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S
.
P
.
A
n
a
n
d
,
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.
S
h
a
m
il
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n
d
K.
S
ru
t
h
i,
“
Ef
fe
c
ti
v
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a
r
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rk
in
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v
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ti
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tern
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t
o
f
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in
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tec
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n
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lo
g
ies
,
”
2
0
1
6
W
o
rld
Co
n
fer
e
n
c
e
o
n
Fu
tu
ristic
T
re
n
d
s
in
Res
e
a
rc
h
a
n
d
In
n
o
v
a
ti
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fo
r
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o
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ia
l
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lf
a
re
(
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ta
rtu
p
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n
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im
b
a
to
re
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p
p
.
1
-
4
,
2
0
1
6
.
[6
]
P
ro
f
.
Ya
sh
o
m
a
ti
R.
Dh
u
m
a
l,
Ha
rsh
a
la
A
.
Wag
h
m
a
re
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ish
w
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.
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o
le
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w
a
ti
R.
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h
il
im
k
a
r,
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n
d
ro
id
Ba
se
d
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m
a
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a
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a
rk
in
g
S
y
ste
m
,
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I
n
ter
n
a
ti
o
n
a
l
J
o
u
rn
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l
o
f
A
d
v
a
n
c
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d
Res
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rc
h
in
El
e
c
trica
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e
c
tro
n
ics
a
n
d
In
stru
me
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ta
ti
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[7
]
F
a
iz
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ra
h
im
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ra
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ma
rt
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e
d
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l.
1
4
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p
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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1
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Ma
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ch
2021
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4
1
–
50
50
[8
]
R.
G
a
rra
,
S
.
M
a
rtí
n
e
z
a
n
d
F
.
S
e
b
é
,
“
A
P
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y
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p
re
se
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v
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by
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p
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p
a
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in
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s
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ste
m
,
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IEE
E
T
ra
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c
ti
o
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o
n
Veh
icu
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r
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e
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h
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v
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l.
6
6
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5
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-
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6
,
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l
2
0
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7
.
[9
]
F
.
W
a
n
g
,
L
.
Ya
n
g
,
J.
Ya
n
g
,
Y.
Z
h
a
n
g
,
S
.
Ha
n
a
n
d
K.
Zh
a
o
,
“
Urb
a
n
in
telli
g
e
n
t
p
a
rk
in
g
sy
ste
m
b
a
se
d
o
n
t
h
e
p
a
ra
ll
e
l
th
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ry
,
”
2
0
1
6
In
ter
n
a
ti
o
n
a
l
C
o
n
f
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re
n
c
e
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n
Co
mp
u
ti
n
g
,
Ne
two
rk
in
g
a
n
d
C
o
mm
u
n
ica
ti
o
n
s
,
2
0
1
6
.
[1
0
]
Am
a
la,
Ch
,
G
.
N
a
g
a
Lak
sh
m
i,
Ks
ri
De
v
i,
G
.
M
e
g
h
a
n
a
,
a
n
d
G
.
T
h
a
b
it
h
a
.
“
Io
t
b
a
se
d
sm
a
rt
p
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rk
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m
u
sin
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RF
ID
tec
h
n
o
l
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g
y
,
”
In
ter
n
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t
io
n
a
l
J
o
u
rn
a
l
f
o
r
Rec
e
n
t
De
v
e
lo
p
me
n
ts
in
S
c
ien
c
e
&
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c
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o
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g
y
,
v
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l.
4
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n
o
.
6
,
p
p
.
1
4
2
-
1
4
7
,
J
u
n
e
2
0
2
0
.
[1
1
]
A
ti
q
u
r,
Ra
h
m
a
n
,
a
n
d
A
li
M
d
L
it
o
n
,
“
A
u
to
m
a
ted
s
m
a
rt
c
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r
p
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rk
in
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ste
m
u
sin
g
in
tern
e
t
o
f
th
in
g
s
(Io
T
)
tec
h
n
o
lo
g
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f
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r
s
m
a
rt
c
it
ies
d
e
m
a
n
d
,
”
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rth
A
me
ric
a
n
Aca
d
e
m
ic R
e
se
a
rc
h
,
v
o
l.
3
,
n
o
.
8
,
p
p
.
7
-
19
.
[1
2
]
Ra
sp
b
e
rry
P
i
4
D
o
c
u
m
e
n
tatio
n
,
[On
li
n
e
]
.
A
v
a
il
a
b
le:
h
tt
p
s://
ww
w
.
ra
sp
b
e
rry
p
i.
o
rg
/
.
[1
3
]
Ra
sp
b
e
rry
P
i4
C
o
n
fi
g
u
ra
ti
o
n
,
[
On
li
n
e
]
.
A
v
a
il
a
b
le:
h
tt
p
:
//
ww
w
.
d
a
tab
o
o
k
.
b
z
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a
t=5
6
"
.
[1
4
]
A
.
Di
m
it
ro
v
a
n
d
D.
M
i
n
c
h
e
v
,
“
Ultras
o
n
ic
se
n
so
r
e
x
p
lo
re
r,
”
2
0
1
6
1
9
t
h
I
n
ter
n
a
t
io
n
a
l
S
y
mp
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siu
m
o
n
El
e
c
trica
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Ap
p
a
ra
t
u
s a
n
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T
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c
h
n
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lo
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ies
(
S
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A)
,
2
0
1
6
.
[1
5
]
P
a
rk
in
g
S
e
n
so
rs,
[
O
n
li
n
e
]
.
A
v
a
il
a
b
le:
h
tt
p
s://
w
ww
.
p
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rk
in
g
s
e
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rs.co
.
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k
/p
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g
e
/t
e
c
h
n
ica
l
-
sp
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if
ica
ti
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n
s
.
[1
6
]
Ra
h
m
a
n
A
ti
q
u
r,
Y
u
n
L
i,
“
A
u
t
o
m
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ted
s
m
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sin
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ra
sp
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ter
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t
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o
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rn
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Rec
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n
fi
g
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ra
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le
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n
d
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b
e
d
d
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d
S
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IJ
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S
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v
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l.
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,
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o
.
3
,
p
p
.
2
2
9
-
2
3
4
,
2
0
2
0
.
[1
7
]
Ra
h
m
a
n
A
ti
q
u
r,
G
u
a
n
g
f
u
W
u
,
A
li
M
d
L
it
o
n
,
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M
o
b
il
e
e
d
g
e
c
o
m
p
u
ti
n
g
f
o
r
in
tern
e
t
o
f
th
i
n
g
s
(Io
T
):
se
c
u
rit
y
a
n
d
p
riv
a
c
y
issu
e
s,”
In
d
o
n
e
si
a
n
J
o
u
rn
a
l
o
f
E
lec
trica
l
En
g
in
e
e
rin
g
a
n
d
C
o
mp
u
ter
S
c
ien
c
e
IJ
EE
CS
,
v
o
l.
1
8
n
o
.
3
,
p
p
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1
4
8
6
-
1
4
9
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2
0
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0
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d
o
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:
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t
tp
:
1
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5
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i
3
.
p
p
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.
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8
]
Ra
h
m
a
n
A
ti
q
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r,
A
li
M
d
L
it
o
n
,
“
Co
n
ten
t
Ca
c
h
in
g
S
trate
g
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a
t
S
m
a
ll
Ba
se
S
tatio
n
i
n
5
G
Ne
tw
o
rk
s
w
it
h
M
o
b
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e
Ed
g
e
Co
m
p
u
ti
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g
,
”
In
ter
n
a
t
io
n
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l
J
o
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rn
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l
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f
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c
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c
e
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n
d
Bu
si
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l.
4
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4
,
p
p
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1
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,
2
0
2
0
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d
o
i
:
1
0
.
5
2
8
1
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n
o
d
o
.
3
7
4
6
2
3
3
.
[1
9
]
Ya
c
in
e
A
ti
f
,
Jia
n
g
u
o
Din
g
,
M
a
n
f
re
d
A
.
Je
u
sfe
ld
“
In
tern
e
t
o
f
th
in
g
s
a
p
p
ro
a
c
h
t
o
c
lo
u
d
-
b
a
se
d
sm
a
r
t
c
a
r
p
a
rk
in
g
,
”
Pro
c
e
d
ia
C
o
mp
u
ter
S
c
ien
c
e
,
v
o
l.
9
8
,
p
p
.
1
9
3
-
1
9
8
,
2
0
1
6
.
[2
0
]
Ch
a
n
d
i
P
a
tel,
M
o
n
a
li
sa
S
w
a
rn
i,
P
riy
a
S
a
x
e
n
a
,
S
e
jal
S
h
a
h
,
“
Ro
tary
a
u
to
m
a
t
e
d
c
a
r
p
a
rk
in
g
s
y
ste
m
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
E
n
g
i
n
e
e
rin
g
S
c
ien
c
e
a
n
d
I
n
n
o
v
a
ti
v
e
T
e
c
h
n
o
l
o
g
y
IJ
E
S
IT
,
v
o
l.
4
,
n
o
.
2
,
p
p
.
4
0
8
-
4
1
5
,
2
0
1
5
.
B
I
O
G
RAP
H
Y
O
F
AUTHO
R
M
r
.
Ra
h
m
a
n
Atiq
u
r
r
e
c
e
i
v
e
d
h
is
Ba
c
h
e
lo
r
o
f
S
c
ien
c
e
(B.
S
c
)
a
n
d
M
a
ste
r
o
f
En
g
in
e
e
rin
g
(M
.
En
g
.
)
d
e
g
re
e
f
ro
m
th
e
De
p
a
rtm
e
n
t
o
f
Co
m
p
u
ter
S
c
ien
c
e
a
n
d
En
g
in
e
e
rin
g
a
t
th
e
Un
iv
e
rsity
o
f
Ch
it
tag
o
n
g
,
C
h
it
tag
o
n
g
,
Ba
n
g
lad
e
sh
.
In
p
r
o
f
e
ss
io
n
,
h
e
w
o
rk
e
d
i
n
th
e
De
p
a
rtm
e
n
t
o
f
Co
m
p
u
ter
S
c
ien
c
e
a
n
d
En
g
in
e
e
rin
g
,
Un
iv
e
r
sity
o
f
Ch
it
tag
o
n
g
,
Ba
n
g
lad
e
sh
a
s
a
n
A
s
sista
n
t
P
r
o
f
e
ss
o
r
f
ro
m
A
p
ril
2
0
1
6
.
F
o
rm
e
rl
y
h
e
w
a
s
a
le
c
tu
re
r
in
t
h
e
De
p
a
rtm
e
n
t
o
f
Co
m
p
u
ter
S
c
ien
c
e
a
n
d
En
g
in
e
e
ri
n
g
,
Un
iv
e
rsit
y
o
f
Ch
it
tag
o
n
g
,
Ba
n
g
la
d
e
sh
.
He
is
n
o
w
c
o
n
d
u
c
ti
n
g
h
is
P
h
.
D.
re
se
a
rc
h
w
o
rk
s
u
n
d
e
r
th
e
Ch
in
e
se
G
o
v
e
rn
m
e
n
t
S
c
h
o
lars
h
i
p
s
(CG
S
)
P
r
o
g
ra
m
a
t
C
h
o
n
g
q
i
n
g
Un
iv
e
rsity
o
f
P
o
sts
a
n
d
T
e
le
c
o
m
m
u
n
ica
ti
o
n
s,
Ch
o
n
g
q
i
n
g
,
Ch
in
a
.
His
c
u
rre
n
t
re
se
a
rc
h
i
n
t
e
re
st
li
e
s
in
th
e
f
ield
o
f
e
d
g
e
c
o
m
p
u
ti
n
g
-
b
a
se
d
Io
T
sy
ste
m
s.
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