Int
ern
at
i
onal
Journ
al of
R
obot
ic
s
and
Autom
ati
on (I
JRA)
Vo
l.
8
,
No.
3
,
S
eptem
ber
201
9
,
pp.
21
1
~
21
6
IS
S
N:
20
89
-
4856
,
DOI: 10
.11
591/
i
jra
.
v
8
i
3
.
pp
21
1
-
21
6
211
Journ
al h
om
e
page
:
http:
//
ia
escore.c
om/j
ourn
als/i
ndex.
ph
p/IJRA
A cruci
al stud
y focuses o
n deman
d based In
dian h
otel ind
ustry
energy
effici
ency
needs b
y comp
aring t
wo
model th
eory by
C
holesk
y decom
position
Pan
k
aj
A
sw
al
, Manis
h K
um
ar,
Pra
teek
N
egi
Graphi
c Era Uni
ver
sit
y
,
Indi
a
Art
ic
le
In
f
o
ABSTR
A
CT
Art
ic
le
history:
Re
cei
ved
Ma
y
25
, 201
9
Re
vised
Ju
l
26
,
201
9
Accepte
d
Aug
10
, 201
9
Hotel
s
op
erate
o
n
a
str
inge
nt
24
/
7
oper
ational
m
odel
,
eve
r
y
da
y
oper
ational
m
odel
.
They
off
er
both
top
not
c
h
facil
i
ties
and
var
ious
c
ivi
l
it
i
es,
in
cl
uding
nea
rb
y
workpla
ce
s,
world
-
cl
ass
well
ness
foc
us
es,
spas,
warm
e
d
sw
im
m
ing
pools,
24
-
ho
ur
ea
t
eri
es
,
and
th
en
som
e.
The
se
adv
antage
s
ad
d
to
v
isit
or
comforts
additio
nal
l
y
increm
ent
add
up
to
v
it
a
l
ity
cost.
W
hil
e
inn
vi
ta
l
ity
uti
lization
c
an
appe
ar
to
be
st
unning,
th
e
plent
y
of
administ
rat
ions
and
conve
ni
enc
es
of
fer
v
ari
ous
op
e
n
doors
for
vita
li
t
y
funds.
The
te
st
for
inn
proprie
tors
is
ch
oosing
the
id
eal
cour
se
to
v
it
a
lit
y
red
uc
ti
on
.
T
wo
m
et
hods
top
the
l
ist:
e
ner
g
y
audi
ts
a
nd
re
tro
-
comm
issioning
To
pi
ck
the
bes
t
game
-
pla
n
for
a
par
ticula
r
inn
prope
rt
y
,
p
ropri
et
ors
m
ust
surve
y
the
two
strat
eg
ie
s
and
re
cogni
z
e
whi
ch
a
rra
ngement
wou
ld
have
th
e
best
eff
e
ct
on
the
ir
bu
il
ding
.
T
he
two
proc
edu
r
es
handl
e
v
it
a
li
t
y
use
from
var
io
us
point
s,
so
her
e
'
s
a
m
anu
al
for
wha
t
e
ver
y
invol
ves
and
how
it
c
an
enha
nc
e
inn
oper
at
ions
.
Ke
yw
or
d
s
:
Energy a
ud
it
Ho
te
l i
nd
us
try
Re
new
a
ble
re
s
ources
Copyright
©
201
9
Instit
ut
e
o
f Ad
vanc
ed
Engi
n
ee
r
ing
and
S
cienc
e
.
Al
l
rights re
serv
ed
.
Corres
pond
in
g
Aut
h
or
:
Pankaj
A
swal
,
Gr
a
phic
Er
a
Unive
rsity
,
566/6, Bel
l R
oa
d,
So
ci
et
y A
r
ea, Cl
em
ent To
wn,
Dehra
dun, Utt
arakha
nd 24
8002, In
dia
.
Em
a
il
:
aswal_p
an
ka
j
@
red
i
ffm
ai
l.co
m
1.
INTROD
U
CTION
Energy
au
dit
is
the
capaci
ty
to
do
w
ork
a
nd
work
is
the
e
xc
hange
of
e
nergy
sta
rting
with
one
f
orm
to
an
oth
e
r
for
m
.
Ener
gy
a
ud
it
com
es
in
va
rio
us
str
uctu
re
s
-
(
Heat),
li
gh
t
(lum
inance)
,
m
echan
ic
al
,
el
ect
rical,
su
bst
ance,
a
nd
at
omi
c
aud
it
.
Coal
an
d
oth
e
r
fo
ssil
f
uels,
w
hich
hav
e
ta
ke
n
thre
e
m
il
li
on
ye
ars
to
sh
a
pe
,
are
pro
bab
ly
go
i
ng to drai
n
s
oon
[
1,
2]
.
In
t
he
la
st
tw
o
hundre
d
ye
a
rs
,
we
ha
ve
devoure
d
60%
of
al
l
asset
s
.
For
feasible
a
dv
a
nc
e
m
ent,
we
hav
e
t
o
em
br
ace
energy
au
di
t
prof
ic
ie
ncy
m
easur
es.
T
od
ay
,
85%
of
es
sentia
l
energy
or
i
gin
at
es
f
r
om
no
n
-
ren
e
wa
ble
an
d
f
os
sil
sou
rces
(c
oal,
oil,
a
nd
so
on)
.
T
hese
store
s
a
re
c
onti
nu
al
ly
decre
a
sing
with
ex
pa
nd
i
ng
util
iz
at
ion
and
won'
t exist
for
fu
t
ur
e ye
a
rs
[3]
.
In
this
pa
per
we
thi
nk
a
bout
energy
prote
ct
ion
a
nd
e
nergy
pr
oductivit
y
by
ho
w
t
o
l
essen
e
ne
rg
y
request
t
o
sen
sible
le
ast
C
ost
,
rec
oup
a
nd
re
-
util
iz
e
warm
wh
ere
co
nc
ei
vab
le
an
d
f
urt
her
m
or
e
co
nsi
der
util
iz
at
ion
of
vi
ta
li
t
y
eff
ect
ive
gea
r
t
o
s
upply
rem
ai
nin
g
vital
it
y
req
uest,
an
d
giv
e
a
way
t
o
oversee
util
iz
at
ion
of
e
ne
rg
y
a
nd
furthe
rm
or
e
exam
ine
vital
i
ty
and
e
nviro
nm
ent
and
st
udy
ho
w
to
c
om
ple
te
energy
au
dit
rev
ie
w
[
4,
5]
.
Energy
Sce
na
r
io
an
d
e
ne
rg
y
source
s
:
Ene
r
gy
can
be
cl
as
sifie
d
int
o
vari
ou
s
ty
pes
bas
ed
upon
it
s
util
iz
at
ion
un
de
r
the
f
ollow
i
ng
crit
eria.
Prim
ary
(Essen
ti
al
)
an
d
Seco
ndary
(D
e
rive
d
Esse
ntial
)
en
erg
y
.
Com
m
ercial
(Busi
ness
)
an
d
Non
com
m
ercial
(D
e
rive
d
B
usi
ness)
ene
r
gy
.
Re
new
a
ble
an
d
Non
-
Re
ne
wab
l
e ene
rg
y.
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N
:
2089
-
4856
I
nt
J
R
ob
&
A
uto
m
,
Vo
l.
8
, No
.
3
,
Septem
ber
201
9
:
21
1
–
21
6
212
1
.
1.
Pri
mar
y ener
gy s
ou
rce
s
Essentia
l
(Prim
ary
)
energy
so
urces
a
re
th
os
e
that
a
re
ei
ther
fou
nd
or
pu
t
a
way
in
na
ture.
N
or
m
al
essenti
al
energ
y
so
urces
are
coal,
oil,
c
har
a
ct
erist
ic
gas,
a
nd
bio
m
ass,
(for
e
xam
ple,
w
ood).
Ot
her
e
s
sentia
l
energy
s
ources
acce
ss
ible
i
nc
orp
or
at
e
at
om
i
c
ene
rg
y
f
ro
m
rad
i
oacti
ve
s
ubsta
nces
,
warm
ener
gy
pu
t
away
in
earth'
s inside
, a
nd potenti
al
e
nergy
becau
se
of earth'
s
gr
a
vity
.
1
.
2.
Sec
on
d
ar
y
ener
gy s
ou
r
ces
Der
i
ved
esse
nt
ia
l
energy
res
ources
are
li
ke
ste
am
or
ste
a
m
vapo
rs,
E
l
ect
ric
it
y
are
de
rive
d
from
pr
im
ary
energ
y
sources
(
foss
il
fu
el
s)
li
ke
c
oal,
oil
&
gase
s
&
a
re
s
uitabl
e
f
or
ge
ner
at
i
on
a
nd
nu
cl
ea
r
energy
resou
rces like
ur
a
niu
m
an
d t
hori
um
,
transpo
rtat
ion
,
d
ist
ri
buti
on and c
ontr
ol.
1.3.
C
ommer
ci
al
e
nerg
y so
urces
Com
m
ercial
Ene
r
gy
s
ources
that
are
acce
ss
ible
in
the
m
ark
et
at
an
uneq
uivocal
co
st
ar
e
know
n
a
s
bu
si
ness
s
ourc
es
that
are
ac
cessi
ble
in
th
e
m
ark
et
at
a
cl
ear
cost
a
r
e
know
n
as
c
omm
ercial
ener
gy.
Com
m
ercial
energy
fr
am
es
the
prem
ise
of
m
echan
ic
al
,
ho
rtic
ultur
al
,
tra
nsport
a
nd
busi
ness
im
pr
ov
e
m
ent
in
the cu
tt
in
g
e
dg
e worl
d.
1.4.
N
on
-
c
om
merc
ial ener
gy s
ou
rces
Der
i
ved
busine
ss en
e
rg
y
resour
ces a
re
no
t a
vaila
ble in th
e
com
m
ercial
m
ark
et
for
a
pr
ic
e
or
a
ny ty
pe
of
c
os
t
occ
up
a
ncy
is
cl
assifi
e
d
a
s
N
on
-
com
m
ercial
energy
.
E
xam
ple:
Fir
ewoo
d,
ag
r
o
waste
i
n
rural
areas;
so
la
r
e
nergy,
a
nim
a
l
power
,
wind
en
er
gy.
These
res
ource
s
are
in
t
he
se
conda
ry
f
or
m
of
business
ge
ner
at
in
g
resou
rces
[
6
,
7]
.
1.5.
Re
new
abl
e
energ
y
These
ty
pe
of
r
eso
ur
ces
ar
e
ut
il
iz
able
re
s
ourc
es
are
t
ho
se
t
ha
t
are
esse
ntial
ly
inex
ha
us
ti
ble,
li
ke
w
in
d
powe
r,
so
la
r
powe
r,
ge
oth
e
rm
al
ener
gy,
ti
dal
po
wer
a
nd
hydroelect
ric
power
.
Th
ere
ge
ner
at
io
n
an
d
util
iz
at
ion
are
r
esp
on
si
ble for gr
ee
n
e
nergy g
ener
at
io
n,
i
n
ot
her
wor
ds
it
is also kn
own
as
gr
ee
n
e
nergy.
These
ty
pes
of
resou
r
ces are a
bunda
nt in natu
re a
nd m
us
t be
util
iz
e as r
e
ne
wed
again
a
nd a
gai
n
[
8
]
.
1.6.
N
on
-
rene
w
ab
le
ener
gy
Non
re
ne
wab
le
energy
res
our
ce
is
the
conve
ntion
al
f
os
sil
f
uels
su
c
h
as
c
oa
l,
oil
and
gas,
wh
ic
h
are
li
kely
to
no
n
c
on
sist
e
nt and
de
pleti
ng
nat
ur
e
[
6,
7
,
9
]
.
2.
ENERG
Y CO
NS
ER
V
ATIO
N AND EFF
I
CIENC
Y
2
.
1.
Ener
gy c
on
ser
vatio
n
Energy
is
de
fi
ned
as
abili
ty
and
the
ca
pab
i
li
ty
fo
r
w
ork
to
be
com
pete
in
the
giv
e
n
ti
m
e
and
f
or
com
pleti
on
of
work
is
t
ran
s
f
orm
ation
of
e
ne
rg
y
from
on
e
f
or
m
to
a
no
t
her
an
d
al
so
acco
r
ding
t
he
first
l
aw
of
therm
od
ynam
i
cs
the
e
nergy
can
neither
be
create
d
no
r
de
stroyed
.
It
in
cl
ud
es
any
be
hav
i
or
that
re
s
ults
in
the use
of
less
energy
[
5,
7
, 1
0
]
.
Exa
m
ple
:
Shu
t
down
the
li
gh
t
s
in
a
room
,
D
on
'
t
ke
pt
water
r
unning
unle
s
s
is
r
eq
uire
d
,
Re
cy
cl
e
(bottl
es,
ca
n,
pap
e
rs,
glass,
e
tc
.)
f
or
pro
vid
i
ng
gr
ee
n
e
nv
i
r
on
m
ent
,
W
al
k
or
ride
a
bik
e
f
or
kep
t
incli
ne
in
fossil
fu
el
s
,
Op
e
n
a w
in
dow
in
t
he
su
m
m
er in
ste
ad of
turnin
g o
n
the
air c
ondit
ion
in
g,
use
publ
ic
tran
spo
rtat
ion
facil
it
ie
s
[2]
.
2
.
2.
Ener
gy ef
fici
ency
It
in
vo
l
ves
the
us
e
of
te
ch
nolo
gy
that
requires
le
ss
ene
r
gy
or
m
or
e
e
nergy
ef
fici
ent
to
perform
the
sam
e
wo
rk
to
an
acc
om
pan
ist
.
A
c
om
pact
fluoresce
nt
li
gh
t
bu
l
b
that
use
s
le
ss
energy
to
pro
du
ce
t
he
sa
m
e
a
m
ou
nt
of
li
gh
t
as
a
n
i
ncand
escent
li
ght
bulb
is
a
n
exam
ple
of
ene
r
gy
eff
ic
ie
ncy.
T
he
decisi
on
to
r
eplace
an
inca
nd
e
sce
nt
li
gh
t
bulb
with
a
com
pact
fluoresce
nt
is
an
exam
ple
of
e
nergy
c
on
s
er
v
at
ion.
Dr
i
ving
a v
e
hicle
in
a
larg
e
d
ist
anc
e
with less c
ons
um
pt
ion
of fuel
is effici
ency i
n t
erm
s o
f uti
li
z
at
ion
of fossil
fuels.
2
.
3
.
Nee
d
of e
nerg
y
c
on
ser
vati
on
Fo
ssil
f
uels
li
ke
coal,
oil
t
hat
has
ta
ke
n
ye
a
rs
t
o
f
orm
is
on
t
he
verge
of
dep
le
ti
ng
s
oon.
I
n
la
st
20
0
ye
ars
we
ha
ve
co
nsum
ed
65
%
of
al
l
res
ources
.
F
or
s
ust
ai
nab
le
dev
el
op
m
ent
we
ne
ed
to
ad
opt
e
ner
gy
eff
ic
ie
ncy
m
easur
es
.
T
oday
80
%
of
pr
im
ary
ene
rg
y
sour
ce
s
com
e
f
r
om
non
-
re
new
a
ble
an
d
fossil
sources
.
These
reserves
increasi
ng
e
xpone
ntial
ly
con
su
m
ption
a
nd
will
no
t
e
ven
exist
for
fu
t
ure
gen
e
rati
ons
and
it
s
util
iz
at
ion
m
ay
be
i
napp
ropr
ia
te
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
nt
J
R
ob
&
A
uto
m
IS
S
N:
20
89
-
4856
A cru
ci
al stu
dy
focuses
on d
e
man
d ba
se
d I
ndia
n ho
te
l
i
ndust
ry ener
gy
ef
fi
ci
ency
…
(
Pa
nk
aj Asw
al
)
213
2.4
.
De
termin
ing
e
ff
ic
ie
nc
y ta
r
gets
Ther
e
a
re
num
erous
va
riables
that
nee
d
to
be
co
ns
i
der
e
d
wh
il
e
set
ti
ng
e
ff
ic
ie
ncy
ta
rg
e
ts
inclu
ding
occupa
ncy
rate
,
ope
rati
ng
ex
penses,
et
c
.
T
he
pro
fita
bili
ty
of
r
unning
a
hote
l
m
us
t
al
so
be
c
onside
red
wh
il
e
identify
in
g
the
appr
opriat
e
va
riables.
Op
e
rat
ing
e
xp
e
ns
es
i
s
on
e
of
the
si
gn
i
ficant
“co
n
sta
nt”
var
ia
ble
s
to
be
consi
der
e
d
whil
e
determ
ining
savi
ng
s
obj
e
ct
ives.
Othe
rs
li
ke
occupa
ncy
rate,
c
os
t
of
m
at
erial
s
and
su
ppli
e
s
will
fluctuate
base
d
on
e
xter
nal
facto
rs.
O
pe
rati
ng
e
xpe
nse
s
are
la
r
gely
influ
e
nce
d
by
act
ion
s
yo
u
ca
n
ta
ke
and
on
a
ver
a
ge
,
t
he
c
os
t
of
energy
acc
ount
s
f
or
3%
to
5%
of
t
he
t
otal
operati
ng
ex
pe
ns
e
1.
Th
rou
gh
t
his
gu
i
de,
y
our h
otel ca
n
ai
m
to
r
edu
ce
en
e
r
gy c
os
ts
by up t
o 2
0%.
Figure
1
.
Fact
ors in
volve
d
in
est
ablishin
g prof
it
abili
ty
f
or
hote
l
3.
UTILIT
Y FU
NC
TI
ON
We
ass
um
e
by
inducti
on
that
we
ca
n
c
onstr
uct
a
Ch
oles
ky
Dec
om
po
sit
ion
f
or
any
posit
ive
de
finite
n
-
1
×
n
-
1
m
at
ri
x
an
d
s
how
how
to
c
on
st
ru
ct
the
Ch
olesky
Deco
m
po
sit
io
n
of
a
n
n
×
n
po
sit
ive
def
init
e
m
at
rix
X.
Since
A
is
posit
ive
def
i
nite i
t i
s sy
m
m
et
ri
c an
d
s
o we ca
n rep
r
ese
nt A a
s foll
ow
s
1
1
2
1
2
1
2
2
T
xX
X
XX
=
Since
X
is
posit
ive d
e
finite
x
11
>0
,
and
so we
can de
fine
1
1
1
1
lx
=
2
1
1
1
2
1
(
1
/
)
L
l
X
=
Let
Z b
e
a
ny n
-
1 x
1 col
um
n
vecto
r wit
h
Z
≠
0
a
nd let
11
21
(
1
/
)
T
V
x
X
Z
=−
It no
w
f
ollo
ws t
hat
11
1
1
2
1
1
1
2
1
2
1
2
2
2
1
2
2
2
2
0
0
TT
T
l
x
X
l
L
X
LL
X
X
L
==
3.1.
Ener
gy
manage
men
t pa
y
Estim
at
ed
Cost co
nsum
ption
in Hotel
Ind
us
tr
y
as sho
wn in T
able
1.
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N
:
2089
-
4856
I
nt
J
R
ob
&
A
uto
m
,
Vo
l.
8
, No
.
3
,
Septem
ber
201
9
:
21
1
–
21
6
214
Table
1.
E
stim
at
ed
co
st co
nsu
m
pt
ion
in
hotel
industry
Facility T
y
p
e
If
Ann
u
al
Energy
Co
sts
is
Esti
m
at
ed
Ann
u
al Savin
g
s
f
o
r
Red
u
ct
io
n
s
Ligh
tin
g
by
2
0
%
HVAC b
y
20
%
W
ate
r
h
eatin
g
b
y
2
0
%
5
0
,00
0
sq
.
f
t.
INR 3,5
2
5
,00
0
INR 37
5
,00
0
INR 16
4
,50
0
INR 16
4
,50
0
1
0
0
,000 sq
.
f
t.
INR 7,0
5
0
,00
0
INR 75
0
,00
0
INR 32
9
,00
0
INR 32
9
,00
0
1
5
0
,000 sq
.
f
t.
INR 10
,57
5
,00
0
INR 1,1
2
5
,00
0
INR
4
8
8
,80
0
INR 47
0
,00
0
3.2.
Op
timi
z
e
d
o
ut
p
ut
The
fo
ll
owin
g
outp
ut
grap
h
base
d
upon
t
he
An
al
ysi
s
de
picte
d
in
the
data
set
s
of
the
possi
ble
com
bin
at
ion
is
Ma
xim
iz
a
ti
on
an
d
th
e
Mi
ni
m
iz
at
ion
of
A
nnual
C
os
t
as
s
how
n
i
n
Ta
ble
1.
T
he
m
ai
n
obje
ct
ive
of
the
stu
dy
is
to
reduce
the
operati
ng
C
ost
of
H
ospit
al
it
y
Indu
st
ry
by
ta
king
t
he
c
orrecti
ve
m
easur
es
of
energy
ef
fici
ent
H
otels.
T
he
cost
de
ns
it
y
has
t
o
op
ti
m
ized
base
d
upon
the
needs
ge
ner
at
e
d
a
nd
th
e
unit
s
consum
ed
as s
how
n
in
the
F
igure
1.
Figure
1
.
Cost
densi
ty
The
generati
ng
Cost
s
hows
t
he
cum
m
ulativ
e
gro
wth
acc
or
ding
to
ye
ars
of
s
pan
t
he
e
nergy
util
iz
ed
and the
wastag
e due to
t
he
la
ggin
g power
f
ac
tor
,
a
s
well
as the unnessasa
ry
u
sel
ess c
ons
um
pt
ion
of
elec
t
rici
ty
dip
ic
te
d
i
n
t
he
F
igure
2
.
Figure
2. O
ptim
iz
ed
v
al
ue
The
inte
rr
el
at
e
d
val
ue
is
wel
l
exp
la
ine
d
i
n
the
F
ig
ur
e
3,
how
does
(
Lig
htn
in
g,
wate
r
heati
ng
an
d
HVAC)
util
iz
at
ion
of
e
nrgy
consum
es
the
el
ect
rici
ty
.
Figu
re
3
relat
es
t
he
co
nsum
ption
an
d
it
s
effe
c
ts
on
the cost
s of
util
iz
at
ion
of e
ne
r
gy.
Sim
ulate
d ou
t
pu
t
(
op
ti
m
i
zed
values
)
as
sh
ow
n
in
Fi
gur
e 4
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
nt
J
R
ob
&
A
uto
m
IS
S
N:
20
89
-
4856
A cru
ci
al stu
dy
focuses
on d
e
man
d ba
se
d I
ndia
n ho
te
l
i
ndust
ry ener
gy
ef
fi
ci
ency
…
(
Pa
nk
aj Asw
al
)
215
Figure
3
.
I
nterrel
at
ed
val
ue of cost
of
c
ons
umpti
on
Figure
4
.
Sim
ulate
d
outp
ut (o
pti
m
iz
ed
value
s)
D
e
s
i
g
n
-
E
x
p
e
r
t
®
S
o
f
t
w
a
r
e
F
a
c
t
o
r
C
o
d
i
n
g
:
A
c
t
u
a
l
S
t
d
E
r
r
o
r
o
f
D
e
s
i
g
n
S
t
d
E
r
r
o
r
S
h
a
d
i
n
g
1
.
5
0
0
0
.
5
0
0
S
t
d
E
r
r
o
r
o
f
D
e
s
i
g
n
=
0
.
4
0
8
S
t
d
#
2
5
R
u
n
#
2
9
X
1
=
A
:
A
n
n
u
a
l
C
o
s
t
s
=
1
.
8
E
+
0
0
6
X
2
=
B
:
L
i
g
h
t
i
n
g
b
y
2
0
%
=
2
.
7
E
+
0
0
5
A
c
t
u
a
l
F
a
c
t
o
r
s
C
:
H
V
A
C
b
y
2
0
%
=
2
.
6
E
+
0
0
5
D
:
W
a
t
e
r
H
e
a
t
i
n
g
b
y
2
0
%
=
2
.
7
E
+
0
0
5
1
.
6
E
+
0
0
5
1
.
9
E
+
0
0
5
2
.
2
E
+
0
0
5
2
.
5
E
+
0
0
5
2
.
8
E
+
0
0
5
3
.
1
E
+
0
0
5
3
.
4
E
+
0
0
5
3
.
8
E
+
0
0
5
1.
6
E
+
0
0
5
1E
+
0
0
6
1.
8
E
+
0
0
6
2.
7
E
+
0
0
6
3.
5
E
+
0
0
6
0.000
0.200
0.400
0.600
0.800
1.000
S
t
d
E
r
r
o
r
o
f
D
e
s
i
g
n
A
:
A
n
n
u
a
l
C
o
s
t
s
(
R
s
/
y
e
a
r
)
B
:
L
i
g
h
t
i
n
g
b
y
2
0
%
(
R
s
/
y
e
a
r
)
D
e
s
i
g
n
-
E
x
p
e
r
t
®
S
o
f
t
w
a
r
e
F
a
c
t
o
r
C
o
d
i
n
g
:
A
c
t
u
a
l
S
t
d
E
r
r
o
r
o
f
D
e
s
i
g
n
D
e
s
i
g
n
P
o
i
n
t
s
S
t
d
E
r
r
o
r
S
h
a
d
i
n
g
1
.
5
0
0
0
.
5
0
0
S
t
d
E
r
r
o
r
o
f
D
e
s
i
g
n
=
0
.
4
0
8
S
t
d
#
2
5
R
u
n
#
2
9
X
1
=
A
:
A
n
n
u
a
l
C
o
s
t
s
=
1
.
8
E
+
0
0
6
X
2
=
B
:
L
i
g
h
t
i
n
g
b
y
2
0
%
=
2
.
7
E
+
0
0
5
A
c
t
u
a
l
F
a
c
t
o
r
s
C
:
H
V
A
C
b
y
2
0
%
=
2
.
6
E
+
0
0
5
D
:
W
a
t
e
r
H
e
a
t
i
n
g
b
y
2
0
%
=
2
.
7
E
+
0
0
5
1
.
6
E
+
0
0
5
1
E+
0
0
6
1
.
8
E
+
0
0
6
2
.
7
E
+
0
0
6
3
.
5
E
+
0
0
6
1
.
6
E
+
0
0
5
1
.
9
E
+
0
0
5
2
.
2
E
+
0
0
5
2
.
5
E
+
0
0
5
2
.
8
E
+
0
0
5
3
.
1
E
+
0
0
5
3
.
4
E
+
0
0
5
3
.
8
E
+
0
0
5
S
t
d
E
r
r
o
r
o
f
D
e
s
i
g
n
A
:
A
n
n
u
a
l
C
o
s
t
s
(
R
s
/
y
e
a
r
)
B
:
L
i
g
h
t
in
g
b
y
2
0
%
(
R
s
/
y
e
a
r
)
0
.
4
0
.
4
0
.
4
2
0
.
4
2
0
.
4
2
0
.
4
2
0
.
4
4
0
.
4
4
0
.
4
4
0
.
4
4
0
.
4
6
0
.
4
6
6
D
e
s
i
g
n
-
E
x
p
e
r
t
®
S
o
f
t
w
a
r
e
F
a
c
t
o
r
C
o
d
i
n
g
:
A
c
t
u
a
l
S
t
d
E
r
r
o
r
o
f
D
e
s
i
g
n
S
t
d
E
r
r
o
r
o
f
D
e
s
i
g
n
=
0
.
4
0
8
2
4
8
A
c
t
u
a
l
F
a
c
t
o
r
s
A
:
A
n
n
u
a
l
C
o
s
t
s
=
1
.
8
E
+
0
0
6
B
:
L
i
g
h
t
i
n
g
b
y
2
0
%
=
2
.
7
E
+
0
0
5
C
:
H
V
A
C
b
y
2
0
%
=
2
.
6
E
+
0
0
5
D
:
W
a
t
e
r
H
e
a
t
i
n
g
b
y
2
0
%
=
2
.
7
E
+
0
0
5
-
1
.
0
0
0
-
0
.
5
0
0
0
.
0
0
0
0
.
5
0
0
1
.
0
0
0
0
.
0
0
0
0
.
2
0
0
0
.
4
0
0
0
.
6
0
0
0
.
8
0
0
1
.
0
0
0
A
A
B
B
C
C
D
D
P
e
r
t
u
r
b
a
t
i
o
n
D
e
v
i
a
t
io
n
f
r
o
m
R
e
f
e
r
e
n
c
e
P
o
in
t
(
C
o
d
e
d
U
n
it
s
)
S
t
d
E
r
r
o
r
o
f
D
e
s
i
g
n
D
e
s
i
g
n
-
E
x
p
e
r
t
®
S
o
f
t
w
a
r
e
E
s
t
i
m
a
t
e
d
C
o
s
t
s
E
r
r
o
r
e
s
t
i
m
a
t
e
s
S
h
a
p
i
r
o
-
W
i
l
k
t
e
s
t
W
-
v
a
l
u
e
=
0
.
2
8
4
p
-
v
a
l
u
e
=
0
.
0
0
0
A
:
A
n
n
u
a
l
C
o
s
t
s
B
:
L
i
g
h
t
i
n
g
b
y
2
0
%
C
:
H
V
A
C
b
y
2
0
%
D
:
W
a
t
e
r
H
e
a
t
i
n
g
b
y
2
0
%
P
o
s
i
t
i
v
e
E
f
f
e
c
t
s
N
e
g
a
t
i
v
e
E
f
f
e
c
t
s
0
.
0
0
5
2
6
2
5
.
0
0
1
0
5
2
5
0
.
0
0
1
5
7
8
7
5
.
0
0
2
1
0
5
0
0
.
0
0
0
10
20
30
50
70
80
90
95
99
H
a
l
f
-
N
o
r
m
a
l
P
l
o
t
|
S
t
a
n
d
a
r
d
iz
e
d
E
f
f
e
c
t
|
H
a
lf
-
N
o
r
m
a
l
%
P
r
o
b
a
b
i
li
t
y
S
e
l
e
c
t
s
ig
n
i
f
ic
a
n
t
t
e
r
m
s
-
s
e
e
T
i
p
s
L
i
n
e
d
e
f
a
u
l
t
s
t
o
f
i
t
s
m
a
l
l
e
s
t
5
0
%
o
f
e
f
f
e
c
t
s
D
e
s
i
g
n
-
E
x
p
e
r
t
®
S
o
f
t
w
a
r
e
F
a
c
t
o
r
C
o
d
i
n
g
:
A
c
t
u
a
l
E
s
t
i
m
a
t
e
d
C
o
s
t
s
(
R
s
/
y
e
a
r
)
E
s
t
i
m
a
t
e
d
C
o
s
t
s
(
R
s
/
y
e
a
r
)
=
2
.
7
E
+
0
0
5
S
t
d
#
2
5
R
u
n
#
2
9
X
1
=
A
:
A
n
n
u
a
l
C
o
s
t
s
X
2
=
B
:
L
i
g
h
t
i
n
g
b
y
2
0
%
X
3
=
C
:
H
V
A
C
b
y
2
0
%
A
c
t
u
a
l
F
a
c
t
o
r
D
:
W
a
t
e
r
H
e
a
t
i
n
g
b
y
2
0
%
=
2
.
7
E
+
0
0
5
C
u
b
e
E
s
t
im
a
t
e
d
C
o
s
t
s
(
R
s
/
y
e
a
r
)
A
:
A
n
n
u
a
l
C
o
s
t
s
(
R
s
/
y
e
a
r
)
B
:
L
i
g
h
t
in
g
b
y
2
0
%
(
R
s
/
y
e
a
r
)
C
:
H
V
A
C
b
y
2
0
%
(
R
s
/
y
e
a
r
)
A
-
:
1
.
6
E
+
0
0
5
A
+
:
3
.
5
E
+
0
0
6
B
-
:
1
.
6
E
+
0
0
5
B
+
:
3
.
8
E
+
0
0
5
C
-
:
1
.
6
E
+
0
0
5
C
+
:
3
.
7
E
+
0
0
5
2
.
7
E
+
0
0
5
2
.
7
E
+
0
0
5
2
.
7
E
+
0
0
5
2
.
7
E
+
0
0
5
2
.
7
E
+
0
0
5
2
.
7
E
+
0
0
5
2
.
7
E
+
0
0
5
2
.
7
E
+
0
0
5
6
D
e
s
i
g
n
-
E
x
p
e
r
t
®
S
o
f
t
w
a
r
e
F
a
c
t
o
r
C
o
d
i
n
g
:
A
c
t
u
a
l
E
s
t
i
m
a
t
e
d
C
o
s
t
s
(
R
s
/
y
e
a
r
)
D
e
s
i
g
n
P
o
i
n
t
s
4
.
8
E
+
0
0
5
5
.
9
E
+
0
0
4
E
s
t
i
m
a
t
e
d
C
o
s
t
s
(
R
s
/
y
e
a
r
)
=
2
.
7
E
+
0
0
5
S
t
d
#
2
5
R
u
n
#
2
9
X
1
=
A
:
A
n
n
u
a
l
C
o
s
t
s
=
1
.
8
E
+
0
0
6
X
2
=
B
:
L
i
g
h
t
i
n
g
b
y
2
0
%
=
2
.
7
E
+
0
0
5
A
c
t
u
a
l
F
a
c
t
o
r
s
C
:
H
V
A
C
b
y
2
0
%
=
2
.
6
E
+
0
0
5
D
:
W
a
t
e
r
H
e
a
t
i
n
g
b
y
2
0
%
=
2
.
7
E
+
0
0
5
1
.
6
E
+
0
0
5
1
E+
0
0
6
1
.
8
E
+
0
0
6
2
.
7
E
+
0
0
6
3
.
5
E
+
0
0
6
1
.
6
E
+
0
0
5
1
.
9
E
+
0
0
5
2
.
2
E
+
0
0
5
2
.
5
E
+
0
0
5
2
.
8
E
+
0
0
5
3
.
1
E
+
0
0
5
3
.
4
E
+
0
0
5
3
.
8
E
+
0
0
5
E
s
t
i
m
a
t
e
d
C
o
s
t
s
(
R
s
/
y
e
a
r
)
A
:
A
n
n
u
a
l
C
o
s
t
s
(
R
s
/
y
e
a
r
)
B
:
L
i
g
h
t
in
g
b
y
2
0
%
(
R
s
/
y
e
a
r
)
6
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N
:
2089
-
4856
I
nt
J
R
ob
&
A
uto
m
,
Vo
l.
8
, No
.
3
,
Septem
ber
201
9
:
21
1
–
21
6
216
Table
2
.
Ca
lc
ulate
d
co
st i
n
hote
l i
ndus
try
A:An
n
u
al Co
sts
B:Lig
h
tin
g
by
2
0
%
C:HVAC
by
20
%
D:W
at
er
Heatin
g
by
2
0
%
Esti
m
at
ed
Co
sts
Rs
/y
ear
Rs
/y
ear
Rs
/y
ear
Rs
/y
ear
Rs
/y
ear
1
8
4
4
7
5
0
2
6
9
7
5
0
2
6
4
7
5
0
2
7
4
7
5
0
2
6
9
7
5
0
5
2
0
5
2
5
0
2
6
9
7
5
0
2
6
4
7
5
0
2
7
4
7
5
0
2
6
9
7
5
0
1
8
4
4
7
5
0
2
6
9
7
5
0
2
6
4
7
5
0
2
7
4
7
5
0
2
6
9
7
5
0
1
8
4
4
7
5
0
2
6
9
7
5
0
2
6
4
7
5
0
2
7
4
7
5
0
2
6
9
7
5
0
1
6
4
5
0
0
3
7
5
0
0
0
1
6
4
5
0
0
1
6
4
5
0
0
3
7
5
0
0
0
3
5
2
5
0
0
0
1
6
4
5
0
0
1
6
4
5
0
0
1
6
4
5
0
0
1
6
4
5
0
0
1
8
4
4
7
5
0
4
8
0
2
5
0
2
6
4
7
5
0
2
7
4
7
5
0
4
8
0
2
5
0
1
8
4
4
7
5
0
2
6
9
7
5
0
2
6
4
7
5
0
4
9
5
2
5
0
2
6
9
7
5
0
1
8
4
4
7
5
0
2
6
9
7
5
0
4
6
5
2
5
0
2
7
4
7
5
0
2
6
9
7
5
0
3
5
2
5
0
0
0
3
7
5
0
0
0
3
6
5
0
0
0
3
8
5
0
0
0
3
7
5
0
0
0
1
8
4
4
7
5
0
2
6
9
7
5
0
2
6
4
7
5
0
2
7
4
7
5
0
2
6
9
7
5
0
1
8
4
4
7
5
0
2
6
9
7
5
0
2
6
4
7
5
0
5
4
2
5
0
2
6
9
7
5
0
1
6
4
5
0
0
3
7
5
0
0
0
1
6
4
5
0
0
3
8
5
0
0
0
3
7
5
0
0
0
1
6
4
5
0
0
3
7
5
0
0
0
3
6
5
0
0
0
3
8
5
0
0
0
3
7
5
0
0
0
3
5
2
5
0
0
0
1
6
4
5
0
0
3
6
5
0
0
0
3
8
5
0
0
0
1
6
4
5
0
0
1
6
4
5
0
0
1
6
4
5
0
0
1
6
4
5
0
0
1
6
4
5
0
0
1
6
4
5
0
0
1
8
4
4
7
5
0
5
9
2
5
0
2
6
4
7
5
0
2
7
4
7
5
0
5
9
2
5
0
1
8
4
4
7
5
0
2
6
9
7
5
0
6
4
2
5
0
2
7
4
7
5
0
2
6
9
7
5
0
1
6
4
5
0
0
1
6
4
5
0
0
1
6
4
5
0
0
3
8
5
0
0
0
1
6
4
5
0
0
3
5
2
5
0
0
0
1
6
4
5
0
0
1
6
4
5
0
0
3
8
5
0
0
0
1
6
4
5
0
0
3
5
2
5
0
0
0
1
6
4
5
0
0
3
6
5
0
0
0
1
6
4
5
0
0
1
6
4
5
0
0
3
5
2
5
0
0
0
3
7
5
0
0
0
1
6
4
5
0
0
1
6
4
5
0
0
3
7
5
0
0
0
1
8
4
4
7
5
0
2
6
9
7
5
0
2
6
4
7
5
0
2
7
4
7
5
0
2
6
9
7
5
0
1
6
4
5
0
0
3
7
5
0
0
0
3
6
5
0
0
0
1
6
4
5
0
0
3
7
5
0
0
0
3
5
2
5
0
0
0
3
7
5
0
0
0
1
6
4
5
0
0
3
8
5
0
0
0
3
7
5
0
0
0
3
5
2
5
0
0
0
3
7
5
0
0
0
3
6
5
0
0
0
1
6
4
5
0
0
3
7
5
0
0
0
1
6
4
5
0
0
1
6
4
5
0
0
3
6
5
0
0
0
3
8
5
0
0
0
1
6
4
5
0
0
1
8
4
4
7
5
0
2
6
9
7
5
0
2
6
4
7
5
0
2
7
4
7
5
0
2
6
9
7
5
0
1
6
4
5
0
0
1
6
4
5
0
0
3
6
5
0
0
0
1
6
4
5
0
0
1
6
4
5
0
0
4.
CONCL
US
I
O
N
The
f
ollo
wing
researc
h
arti
cl
e
sh
ows
th
e
va
riat
ion
of
co
ns
e
r
vation
el
ect
rici
ty
,
the
e
m
ph
asi
s
has
been
paid
on
t
he
util
iz
at
ion
of
el
ect
rici
ty
gen
erati
on
an
d
the
us
e
of
al
te
rn
at
e
ene
r
gy
res
ources.
“
More
we
m
ake
us
e
of
Re
ne
wab
le
energy
re
sour
c
es
m
or
e
the
e
ner
gy
c
on
se
r
ve
s”.
T
he
sta
te
m
ent
gove
rns
op
ti
m
al
util
iz
a
ti
on
of
resou
rces
w
hich
m
ay
be
e
xt
inct
in
the
ne
ar
fu
t
ur
e
.
T
he
net
co
st
gen
e
rati
ng
ou
t
pu
t
as
s
how
n
i
n
T
able
2
represe
nts the op
ti
m
iz
ed
ou
t
put.
REFERE
NCE
S
[1]
Rene
wabl
e ene
r
g
y
source
s
&
co
nserva
ti
on
techn
olo
gy
-
N.
K.
Ban
sal.
[2]
Ene
rg
y
conse
rv
at
ion
in
el
e
ct
r
ical
s
y
st
em
na
ti
o
nal
conf
ere
nc
e
on
re
ce
n
t
tre
nd
s
in
eng
ine
er
in
g
&
t
ec
hno
log
y
orga
nised
b
y
ag
nel
po
l
y
techni
c,
vashi
in
associ
ation
with
iie
ze
ni
t
h
–
2009.
[3]
Financ
i
al
and
e
conomic
aspe
cts
of
ene
rg
y
sa
ving
withi
n
the
fra
m
ework
of
the
csr
c
appr
oac
h
,
works
hop:
"tra
nsnati
on
al e
n
erg
y
saving
ne
t
works
,
"
14
dece
m
ber
2005
vil
n
i
us,
Lithuania.
[4]
P.
Le
sl
ie,
J.
Pear
c
e,
R.
Harrap,
S.
Dani
el
,
“
The
appl
i
cation
of
sm
art
phone
technolog
y
to
ec
onom
ic
an
d
envi
ronm
ent
a
l
a
naly
s
is
of
buil
d
i
ng
ene
rg
y
conse
rva
t
ion
strategi
es
,
”
In
te
rna
ti
on
a
l
Journal
of
Sus
ta
in
abl
e
Ene
rg
y
31(5),
pp
.
295
-
3
11
(2012).
[5]
Inte
rna
ti
ona
l
Co
nfe
der
a
ti
on
of
E
ner
g
y
Regulator
s,
ICER
(2010).
A
Descri
pti
on
of
Curre
nt
Regu
la
t
or
y
Pra
ct
i
ce
s
for
the
Prom
oti
on
of
Ene
rg
y
Eff
ic
i
en
c
y
,
June
21,
Ref
.
l10
-
CC
-
02
-
04
1
-
1
76.
[6]
Bibo,
A.,
Masan
a,
R.
,
King
,
A.
,
Li
,
G.
,
D
aqa
q,
M.
F.
,
"E
lectr
om
agne
t
ic
fer
rof
luid
-
base
d
ene
rg
y
har
veste
r
,
"
Ph
y
si
cs
Le
tters A.
376
(
32):
2163
–
2166
,
(June
2012)
.
[7]
K.
Mac
V
it
tie,
J
.
Ha
la
m
ek,
L.
Hala
m
akova,
M
.
South
cot
t
,
W
.
Jem
ison,
E.
K
at
z
,
"F
rom
'
C
yborg'
L
obst
ers
t
o
a
Pac
emake
r
Pow
ere
d
b
y
Im
pla
n
ta
bl
e
Biofu
el Cells
,
" E
n
erg
y
& E
nvironmenta
l
Sc
ie
nc
e, 6, 81
-
86
,
2013
.
[8]
Le
e
,
Fel
ix
Y.;
N
avi
d,
As
hcon;
Pi
lon,
L
aur
en
t
,
"P
y
roe
lectr
i
c
wast
e
heat
en
erg
y
ha
rve
sting
using
h
ea
t
conduction
,
"
Applie
d
The
rm
a
l
Eng
ine
er
ing
,
3
7:
30
–
37
,
(2012)
.
[9]
Ngu
y
en
,
Hi
ep;
Navid
,
As
h
con;
Pi
lon,
L
aur
ent
,
"P
y
roe
l
ec
tr
ic
energ
y
conver
te
r
us
ing
co
-
po
l
y
m
er
P(V
DF
-
TrFE)
and
Olsen
c
ycl
e
for
waste
he
at
en
erg
y
har
v
esti
ng
,
"
Applie
d
The
r
m
al
Eng
ine
er
i
ng
,
30:
2127
–
2137
,
(2010).
[10]
McGarr
y
,
Sco
tt
;
Knight
,
Chr
is
(
28
Septe
m
ber
2
011)
,
"Th
e
Pote
nti
al
for
Harv
esti
ng
En
erg
y
from
the
Movem
ent
of
Tre
es
,
"
Sensors
,
11
(10):
9275
–
9
299
,
doi
:
10.
339
0
/s111009275
,
Re
tri
ev
ed
30
Nove
m
ber
2012
.
Evaluation Warning : The document was created with Spire.PDF for Python.