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I
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N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
4
,
No
.
2
,
J
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n
e
2
0
1
5
:
14
3
–
1
4
9
144
w
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h
e
d
esi
g
n
w
e
h
av
e
m
ad
e
tr
ies
to
d
em
o
n
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tr
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m
er
ci
all
y
a
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ailab
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ca
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e
i
n
teg
r
ated
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to
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n
e
p
ac
k
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n
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er
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tio
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h
e
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td
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av
i
g
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p
r
o
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le
m
.
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h
e
r
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b
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t
w
ill
th
er
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e
h
a
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s
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n
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p
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s
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a
s
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s
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n
l
y
m
ea
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s
o
f
lo
ca
lizatio
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.
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ac
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iev
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t
h
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ltra
s
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s
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to
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ter
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ith
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ir
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en
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te
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le
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to
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e
s
ti
n
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e
h
a
v
e
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s
ed
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ig
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ac
c
u
r
ate
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m
o
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le
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r
co
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tin
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o
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s
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it
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h
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b
o
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r
r
en
t
lo
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t
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tr
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r
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en
t
lo
ca
tio
n
w
it
h
r
esp
ec
t
to
i
t
s
d
esti
n
atio
n
.
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h
e
s
u
b
s
u
m
p
tio
n
m
o
d
el
th
a
t
w
e
h
a
v
e
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n
co
r
p
o
r
ated
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ea
ls
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h
th
r
ee
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ar
tic
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lar
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eh
a
v
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r
s
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h
ic
h
allo
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it
to
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ter
ac
t
w
it
h
its
s
u
r
r
o
u
n
d
in
g
s
.
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h
ese
b
eh
av
io
u
r
s
ar
e
u
n
o
b
s
tr
u
cted
n
a
v
i
g
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,
p
er
i
m
eter
f
o
llo
w
i
n
g
an
d
o
b
s
tacle
av
o
id
an
ce
.
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h
ese
ar
e
p
ar
t
o
f
th
e
b
eh
av
io
u
r
al
l
o
g
ic
o
f
th
e
r
o
b
o
t
w
h
ic
h
u
s
es
i
n
f
o
r
m
atio
n
f
r
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m
it
s
s
en
s
o
r
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to
r
esp
o
n
d
to
th
e
ch
an
g
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n
its
e
n
v
ir
o
n
m
e
n
t.
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h
is
m
ea
n
s
th
a
t
th
e
r
o
b
o
t
w
ill
n
o
t
h
av
e
to
b
e
p
r
o
v
id
ed
w
it
h
m
ap
p
in
g
o
r
lo
ca
lizatio
n
alg
o
r
ith
m
s
,
b
u
t
in
s
tead
o
n
l
y
u
s
es
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u
ltra
s
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ic
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itter
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d
r
ec
eiv
er
f
o
r
s
e
n
s
i
n
g
an
d
r
ea
ctin
g
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h
k
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o
f
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eh
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e
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to
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s
y
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te
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ich
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s
elf
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ld
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t
s
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u
td
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o
r
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av
i
g
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n
p
r
o
b
le
m
b
u
t
w
h
e
n
la
y
er
ed
w
it
h
o
th
er
b
eh
av
io
u
r
s
p
r
o
v
id
es a
f
ea
s
ib
l
e
s
o
lu
tio
n
.
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h
e
ap
p
lic
atio
n
le
v
el
d
e
v
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en
t
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h
e
u
s
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o
f
t
h
e
r
o
b
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t
o
n
ce
it
r
ea
c
h
ed
it
s
f
i
n
al
d
esti
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tio
n
.
As
s
o
o
n
as
it
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ea
ch
e
s
its
d
es
ti
n
atio
n
,
a
ca
ll
is
m
ad
e
to
th
e
R
asp
b
er
r
y
P
i
f
r
o
m
th
e
m
B
E
D
c
o
n
tr
o
ller
to
ca
p
tu
r
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m
a
g
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o
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t
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s
u
r
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s
a
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alo
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g
t
h
e
az
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m
u
th
a
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p
lan
e.
T
h
e
ca
p
tu
r
ed
i
m
a
g
es
ar
e
r
ela
y
ed
b
ac
k
to
th
e
o
w
n
er
u
s
in
g
h
is
Dr
o
p
b
o
x
ac
co
u
n
t f
o
r
w
h
ic
h
a
s
p
e
cif
ic
a
n
d
d
ev
elo
p
ed
A
P
I
w
as
u
s
ed
.
2
.
2
Vehicle
Descript
io
n
T
h
e
au
to
n
o
m
o
u
s
v
e
h
icle
’
s
n
a
v
ig
a
tio
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al
g
o
r
ith
m
is
b
ased
o
n
th
e
a
p
h
ilo
s
o
p
h
y
th
at
r
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b
o
ts
s
h
o
u
ld
b
e
lik
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i
n
s
ec
t
s
,
eq
u
ip
p
ed
w
it
h
s
i
m
p
le
co
n
tr
o
l
m
ec
h
an
i
s
m
s
t
u
n
ed
to
th
eir
e
n
v
ir
o
n
m
en
t
s
,
i
n
s
tead
o
f
co
m
p
le
x
ar
ch
itect
u
r
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t
h
at
r
eq
u
ir
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co
m
p
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t
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e
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n
v
ir
o
n
m
en
t
f
o
r
d
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is
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m
a
k
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g
.
T
h
e
f
i
g
u
r
e
s
h
o
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s
t
h
e
h
ar
d
w
ar
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s
tr
u
ct
u
r
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o
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t
h
e
r
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t
h
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u
s
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lectr
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s
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to
in
ter
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ac
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6
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(
d
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w
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m
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to
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s
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d
s
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s
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s
.
T
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o
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s
u
p
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a
h
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ac
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GP
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m
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a
d
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to
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m
o
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p
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r
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r
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b
le
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.
Fig
u
r
e
1
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Har
d
w
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u
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d
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.
T
h
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GSM
m
o
d
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in
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l
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IJ
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g
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n
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t to
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o
r
it
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m
th
at
w
a
s
d
ev
elo
p
ed
.
3
.
1
M
B
E
D
t
o
G
P
S a
nd
G
S
M
m
o
du
le
s
inte
rf
a
cing
t
hro
ug
h UA
RT
T
h
e
UA
R
T
s
er
ial
f
u
n
cti
o
n
u
s
es
t
w
o
eT
P
U
ch
an
n
el
s
to
p
r
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v
id
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a
3
-
w
ir
e
(
T
X,
R
X,
an
d
GND)
as
y
n
ch
r
o
n
o
u
s
s
er
ial
i
n
ter
f
ac
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as
Fi
g
u
r
e
2
.
I
t
ca
n
b
e
u
s
ed
to
ad
d
s
er
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ca
p
ab
ilit
y
to
a
d
e
v
i
ce
w
ith
o
u
t
a
s
er
ial
p
o
r
t,
o
r
t
o
ad
d
a
d
d
itio
n
al
s
er
ial
I
/O
to
a
d
ev
ice
w
h
ic
h
alr
ea
d
y
h
as
a
h
ar
d
w
ar
e
U
AR
T
.
T
h
e
f
u
n
ctio
n
r
eq
u
ir
e
s
n
o
h
o
s
t
C
P
U
in
ter
v
en
tio
n
d
u
r
in
g
d
ata
f
r
a
m
e
tr
an
s
m
i
s
s
io
n
o
r
r
ec
ep
tio
n
.
On
e
e
T
P
U
ch
an
n
el
is
co
n
f
i
g
u
r
ed
to
f
u
n
ctio
n
a
s
t
h
e
s
er
ial
tr
a
n
s
m
i
tter
(
T
X)
,
an
d
th
e
o
t
h
er
c
h
an
n
el
i
s
co
n
f
i
g
u
r
ed
to
f
u
n
ctio
n
as
a
s
er
ial
r
ec
ei
v
er
(
R
X)
.
Fig
u
r
e
2
.
T
h
e
UA
R
T
s
er
ial
f
u
n
ctio
n
B
o
th
th
e
tr
an
s
m
itter
an
d
r
ec
ei
v
er
ch
a
n
n
el
s
h
av
e
t
h
e
s
a
m
e
at
tr
ib
u
tes
i
n
ter
m
s
o
f
b
au
d
-
r
ate,
d
ata
-
s
ize,
p
ar
ity
etc.
I
n
th
i
s
r
eg
ar
d
,
th
e
GP
S
m
o
d
e
m
h
as
its
T
X
p
in
c
o
n
n
ec
ted
to
th
e
R
X
p
in
o
f
th
e
MB
E
D
w
h
ile
it
s
R
X
is
co
n
n
ec
ted
to
th
e
T
X
p
in
o
f
th
e
MB
E
D.
T
h
e
GND
an
d
VC
C
co
n
n
ec
tio
n
s
ar
e
m
ad
e
ap
p
r
o
p
r
iately
.
T
h
e
MB
E
D
h
o
u
s
es
3
U
AR
T
m
o
d
u
les,
w
h
ic
h
allo
w
i
t
to
in
ter
ac
t
w
it
h
t
h
r
ee
d
if
f
er
en
t
d
ev
ice
s
s
er
iall
y
.
T
h
e
GSM
m
o
d
e
m
r
e
s
p
o
n
d
s
to
s
p
ec
ial
p
r
o
m
p
ts
ca
lled
A
T
(
Atten
tio
n
)
co
m
m
a
n
d
s
.
T
h
e
m
ic
r
o
co
n
tr
o
ller
f
o
r
ce
s
t
h
es
e
co
m
m
a
n
d
s
to
th
e
GSM
t
h
r
o
u
g
h
a
p
r
o
g
r
am
w
r
itte
n
in
t
h
e
s
o
f
t
w
ar
e
d
eb
u
g
g
i
n
g
e
n
v
ir
o
n
m
e
n
t
to
w
h
ic
h
th
e
GS
M
r
esp
o
n
d
s
.
T
h
e
A
T
co
m
m
an
d
s
u
s
ed
h
er
e
ar
e
A
T
+CMGS
(
s
en
d
in
g
m
e
s
s
a
g
es
to
a
k
n
o
w
n
en
d
-
u
s
er
)
an
d
A
T
+CMG
R
(
r
ea
d
in
g
t
h
e
SMS
s
en
t
b
y
t
h
e
e
n
d
u
s
er
an
d
p
ar
s
i
n
g
t
h
e
f
in
a
l
latit
u
d
e
an
d
lo
n
g
it
u
d
e
n
ee
d
ed
f
o
r
th
e
p
u
r
p
o
s
e)
.
I
n
th
is
r
eg
ar
d
,
th
e
GSM
m
o
d
e
m
s
en
d
s
a
n
d
r
ec
eiv
es
c
h
ar
ac
ter
s
as
p
ac
k
et
s
b
ased
o
n
th
e
U
AR
T
p
r
o
to
co
l
s
u
ch
th
at
t
h
e
R
X
p
in
o
f
th
e
m
B
E
D
is
co
n
n
ec
ted
to
th
e
T
X
p
in
o
f
th
e
G
SM
m
o
d
e
m
t
h
r
o
u
g
h
a
Ma
x
-
2
3
2
b
o
ar
d
.
T
h
e
ad
d
itio
n
al
p
u
r
p
o
s
e
o
f
th
is
b
o
ar
d
is
to
r
ed
u
ce
th
e
1
2
V
ad
ap
ter
DC
o
p
er
a
tin
g
v
o
lta
g
e
o
f
th
e
GSM
to
th
e
m
icr
o
co
n
tr
o
ller
w
o
r
k
in
g
v
o
lta
g
e
o
f
3
.
3
V.
3
.
2
M
B
E
D
t
o
Dig
it
a
l C
o
m
pa
s
s
i
nte
rf
a
ce
–
I
2
C
I
²C
(
I
n
ter
-
I
n
teg
r
ated
C
ir
cu
it),
a
m
u
lti
-
m
aster
s
er
ial
s
in
g
le
-
en
d
ed
co
m
p
u
ter
b
u
s
f
o
r
atta
ch
in
g
lo
w
-
s
p
ee
d
p
er
ip
h
er
als
to
e
m
b
ed
d
ed
s
y
s
te
m
s
,
d
ef
i
n
e
s
b
asic
t
y
p
es
o
f
m
es
s
ag
e
s
,
ea
ch
o
f
wh
ich
b
eg
i
n
s
w
it
h
a
ST
A
R
T
an
d
en
d
s
w
it
h
a
ST
OP
m
ess
a
g
e:
s
i
n
g
le
m
e
s
s
a
g
e
w
h
er
e
a
m
aster
w
r
i
tes
d
ata
to
a
s
la
v
e;
s
i
n
g
le
m
es
s
ag
e
w
h
er
e
a
m
aster
r
ea
d
s
d
ata
f
r
o
m
a
s
la
v
e;
co
m
b
i
n
e
d
m
ess
a
g
es,
w
h
er
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a
m
aster
i
s
s
u
es
at
lea
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t
t
w
o
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/o
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i
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r
m
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r
e
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la
v
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,
a
s
s
h
o
w
n
i
n
F
ig
u
r
e
3
.
W
ith
o
n
l
y
a
f
e
w
e
x
ce
p
tio
n
s
,
I
²
C
d
o
es
n
o
t
d
ef
in
e
m
e
s
s
a
g
e
s
e
m
a
n
tics
,
s
u
ch
as
th
e
m
ea
n
i
n
g
o
f
d
ata
b
y
t
es
in
m
e
s
s
a
g
es.
Me
s
s
a
g
e
s
e
m
an
tics
ar
e
p
r
o
d
u
ct
-
s
p
ec
if
ic,
i
n
th
i
s
ca
s
e,
th
e
HM
C
5
8
8
3
L
d
ig
ital
co
m
p
as
s
m
o
d
u
le.
T
h
ese
ex
ce
p
tio
n
s
i
n
cl
u
d
e
m
es
s
ag
e
s
ad
d
r
ess
ed
to
th
e
I
²
C
g
e
n
er
al
ca
ll
ad
d
r
ess
(
0
x
0
0
)
o
r
to
th
e
SMB
u
s
A
ler
t
R
esp
o
n
s
e
A
d
d
r
ess
; a
n
d
m
es
s
a
g
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in
v
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lv
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n
th
e
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u
s
A
d
d
r
ess
R
eso
lu
tio
n
P
r
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to
co
l
(
A
R
P
)
f
o
r
d
y
n
a
m
ic
ad
d
r
ess
allo
ca
tio
n
a
n
d
m
a
n
ag
e
m
e
n
t.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
4
,
No
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2
,
J
u
n
e
2
0
1
5
:
14
3
–
1
4
9
146
Fig
u
r
e
3
.
I
²C
(
I
n
ter
-
I
n
te
g
r
ated
C
ir
cu
it)
W
e
h
av
e
m
ad
e
th
e
co
m
p
as
s
a
d
o
p
t
th
e
r
eq
u
est/
r
esp
o
n
s
e
co
n
tr
o
l
m
o
d
els,
w
h
er
ei
n
o
n
e
o
r
m
o
r
e
b
y
tes
f
o
llo
w
in
g
a
w
r
ite
co
m
m
a
n
d
ar
e
tr
ea
ted
as
a
co
m
m
a
n
d
o
r
a
n
ad
d
r
ess
.
T
h
o
s
e
b
y
te
s
d
eter
m
i
n
e
h
o
w
s
u
b
s
eq
u
en
t
w
r
itte
n
b
y
tes
ar
e
tr
ea
ted
a
n
d
/o
r
h
o
w
t
h
e
co
m
p
as
s
r
esp
o
n
d
s
o
n
s
u
b
s
eq
u
e
n
t
r
ea
d
s
.
Mo
s
t
o
f
t
h
ese
o
p
er
atio
n
s
in
v
o
l
v
e
s
i
n
g
le
b
y
te
co
m
m
a
n
d
s
.
T
h
u
s
,
t
h
e
d
i
g
ital
co
m
p
ass
e
x
ch
a
n
g
es
d
ata
o
f
t
h
e
m
a
g
n
eti
c
f
ie
ld
m
a
g
n
it
u
d
es
alo
n
g
all
t
h
r
ee
d
i
m
en
s
io
n
s
w
i
th
th
e
m
icr
o
co
n
tr
o
ller
.
T
h
e
m
ag
n
et
ic
f
ield
s
ar
e
d
if
f
er
en
t
at
d
if
f
er
e
n
t
p
o
in
ts
on
th
e
ea
r
t
h
a
n
d
t
h
is
p
o
i
n
t
i
s
e
x
p
lo
ited
in
t
h
e
co
n
s
tr
u
ctio
n
o
f
t
h
e
d
ig
ital
co
m
p
a
s
s
.
T
h
e
m
a
g
n
etic
f
ield
s
alo
n
g
th
e
az
i
m
u
th
a
l
p
lan
e
ar
e
n
ec
ess
ar
y
f
o
r
th
e
ca
lcu
latio
n
o
f
th
e
o
r
ien
tatio
n
an
d
th
u
s
h
elp
f
u
l
in
t
h
e
n
av
ig
a
tio
n
p
r
o
ce
s
s
.
W
e
h
av
e
test
ed
t
h
e
r
o
b
o
t
o
n
a
f
lat
a
n
d
le
v
elled
s
u
r
f
ac
e,
h
e
n
ce
,
th
er
e
is
n
o
n
ee
d
f
o
r
t
h
e
m
ag
n
i
tu
d
e
alo
n
g
th
e
d
ir
ec
tio
n
o
f
elev
atio
n
,
s
i
n
ce
th
e
r
o
b
o
t
d
o
es n
o
t tr
av
er
s
e
alo
n
g
th
e
t
h
ir
d
d
i
m
e
n
s
io
n
.
3
.
3
M
B
E
D
t
o
L
CD
pa
nel (
Ver
if
ica
t
io
n a
nd
Debug
g
ing
)
a
nd
Ult
ra
s
o
nic Sens
o
r
I
nte
rf
a
ce
–
G
P
I
O
Gen
er
al
-
p
u
r
p
o
s
e
in
p
u
t/o
u
tp
u
t
(
GP
I
O)
a
r
e
g
en
er
ic
p
in
s
o
n
a
m
icr
o
co
n
tr
o
ller
w
h
o
s
e
b
eh
a
v
i
o
u
r
ca
n
b
e
co
n
tr
o
lled
(
p
r
o
g
r
am
m
ed
)
b
y
t
h
e
u
s
er
a
t
r
u
n
ti
m
e.
GP
I
O
p
in
s
h
av
e
n
o
s
p
ec
ial
p
u
r
p
o
s
e
d
ef
i
n
ed
,
an
d
g
o
u
n
u
s
ed
b
y
d
e
f
au
l
t.
T
h
e
id
ea
is
th
at
s
o
m
e
ti
m
es
t
h
e
s
y
s
te
m
i
n
te
g
r
ato
r
b
u
ild
in
g
a
f
u
ll
s
y
s
te
m
t
h
at
u
s
es
t
h
e
co
n
tr
o
ller
m
i
g
h
t
f
in
d
it
u
s
e
f
u
l
to
h
a
v
e
a
h
an
d
f
u
l
o
f
ad
d
itio
n
al
d
i
g
ital
c
o
n
tr
o
l
lin
e
s
,
a
n
d
h
a
v
i
n
g
t
h
ese
av
ailab
le
f
r
o
m
th
e
co
n
tr
o
ller
ca
n
s
a
v
e
t
h
e
h
as
s
le
o
f
h
a
v
i
n
g
to
ar
r
an
g
e
ad
d
itio
n
a
l
cir
cu
itr
y
to
p
r
o
v
id
e
th
e
m
.
So
,
th
e
d
ata
p
i
n
s
D4
-
D7
,
R
eg
i
s
ter
Se
lect
p
in
an
d
t
h
e
co
n
tr
o
l
p
i
n
o
f
t
h
e
L
C
D
a
r
e
co
n
n
ec
ted
to
s
ix
w
ell
co
n
f
ig
u
r
ed
p
i
n
s
o
f
t
h
e
MB
E
D
b
o
ar
d
.
T
h
e
o
th
er
p
in
s
o
f
t
h
e
L
C
D
th
a
t
n
ee
d
eith
er
d
ig
ital
h
ig
h
o
r
lo
w
v
o
ltag
e
ar
e
s
o
ld
er
ed
ac
co
r
d
in
g
l
y
.
A
l
s
o
,
th
e
t
h
r
ee
u
ltra
s
o
n
ic
s
e
n
s
o
r
s
u
s
ed
f
o
r
o
b
s
tacle
av
o
id
an
ce
h
a
v
e
t
h
eir
tr
i
g
g
er
a
n
d
ec
h
o
p
in
s
co
n
n
ec
ted
to
co
n
f
i
g
u
r
ed
p
in
s
o
f
th
e
MB
E
D
th
r
o
u
g
h
th
e
GP
I
O
p
r
o
to
c
o
l.
A
s
is
ev
id
en
t
f
r
o
m
th
e
p
in
d
iag
r
a
m
o
f
th
e
MB
E
D,
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th
at
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g
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ated
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Fig
u
r
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Deb
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if
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CO
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Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
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B.
Ha
m
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(
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.
[4
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Co
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Ro
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Co
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[5
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P
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URL
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Y
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:
h
tt
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in
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to
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s
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p
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k
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sig
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tec
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.
He
w
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to
p
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rsu
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a
n
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d
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re
e
in
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m
p
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r
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rd
w
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re
En
g
in
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rin
g
in
a
n
i
n
st
it
u
te o
f
h
ig
h
lea
rn
in
g
.
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