T
E
L
KO
M
N
I
KA
T
e
lec
om
m
u
n
icat
ion
,
Com
p
u
t
i
n
g,
E
lec
t
r
on
ics
an
d
Cont
r
ol
Vol.
18
,
No.
4
,
Augus
t
2020
,
pp.
208
7
~
209
4
I
S
S
N:
1693
-
6930,
a
c
c
r
e
dit
e
d
F
ir
s
t
G
r
a
de
by
Ke
me
nr
is
tekdikti
,
De
c
r
e
e
No:
21/E
/KP
T
/2018
DO
I
:
10.
12928/
T
E
L
KO
M
NI
KA
.
v18i4.
14776
2087
Jou
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omepage
:
ht
tp:
//
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nal.
uad
.
ac
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id/
index
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o
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d
o
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a
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t
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AB
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CT
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tor
y
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e
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e
ived
De
c
4
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2019
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vis
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2020
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3
,
2020
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Reu
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e,
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d
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B
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r
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oa
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c
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ll
R
e
ve
r
s
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nding
mac
hine
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R
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Th
i
s
i
s
a
n
o
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en
a
c
ces
s
a
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l
e
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e
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e
CC
B
Y
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SA
l
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ce
n
s
e
.
C
or
r
e
s
pon
din
g
A
u
th
or
:
E
r
iks
on
F
e
r
r
y
S
inaga
,
M
e
c
ha
tr
onics
De
pa
r
tm
e
nt,
Fa
c
ult
y
of
E
nginee
r
ing
&
I
n
f
or
mation
T
e
c
hnology
,
S
wis
s
Ge
r
man
Unive
r
s
it
y
,
Ge
r
man
.
E
mail:
e
r
iks
on
.
s
inaga
@s
gu.
a
c
.
id
1.
I
NT
RODU
C
T
I
ON
M
a
ny
pr
oduc
ts
a
r
e
made
o
f
p
las
ti
c
s
,
s
ince
they
a
r
e
c
he
a
p,
li
ght
a
nd
long
-
las
ti
ng.
How
e
ve
r
they
a
r
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not
e
a
s
il
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de
c
ompos
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d
by
na
tur
e
,
s
o
to
r
e
duc
e
the
plas
ti
c
s
wa
s
te,
they
c
a
n
be
s
or
ti
ng
a
nd
r
e
c
yc
led.
B
e
ve
r
a
ge
indus
tr
ies
r
e
quir
e
c
ontaine
r
s
to
s
tor
e
the
be
ve
r
a
ge
a
nd
mos
t
of
them
a
r
e
not
r
e
us
a
ble
[1
-
9
]
.
One
of
the
methods
to
r
e
duc
e
be
ve
r
a
ge
c
ontaine
r
s
in
b
ins
is
the
im
pleme
ntation
o
f
r
e
ve
r
s
e
v
e
nding
m
a
c
hine
(
R
VM
)
.
I
t
is
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mac
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whic
h
s
or
ts
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c
oll
e
c
ts
be
ve
r
a
ge
c
ontaine
r
s
(
g
las
s
bott
les
,
plas
ti
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bott
les
a
nd
c
a
ns
)
a
nd
c
r
us
he
d
them
to
mi
ni
mi
z
e
the
s
ize
a
nd
gives
s
ome
money
to
the
us
e
r
in
r
e
tur
n.
S
wis
s
Ge
r
man
Unive
r
s
it
y
(
S
GU
)
ha
s
de
ve
loped
ba
r
c
ode
s
c
a
n
s
ys
tem
of
a
s
mall
-
s
c
a
le
d
r
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ve
r
s
e
ve
nding
mac
hine
to
a
c
c
e
pt
no
t
on
ly
plas
ti
c
bott
le
s
,
but
a
ls
o
c
a
ns
[
10
,
1
1
]
.
I
t
c
ons
is
ts
of
thr
e
e
s
tations
s
uc
h:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
1693
-
6930
T
E
L
KO
M
NI
KA
T
e
lec
omm
un
C
omput
E
l
C
ontr
o
l
,
Vol.
18
,
No
.
4
,
Augus
t
2020
:
2087
-
209
4
2088
a
we
ight
s
tation,
r
oll
e
r
s
tation
a
nd
s
or
ti
ng
s
tati
on
a
s
s
hown
in
F
igur
e
1
s
ys
tem
ove
r
vi
e
w
o
f
t
he
R
VM
.
A
da
taba
s
e
of
c
omm
e
r
c
ial
be
ve
r
a
ge
s
will
a
ls
o
be
i
mpl
e
mente
d
a
s
the
r
e
f
e
r
e
nc
e
.
I
t
may
a
ls
o
s
tor
e
the
a
c
ti
vit
y
log
of
the
da
y.
F
inally
,
a
L
C
D
a
nd
a
pus
h
bu
tt
on
w
il
l
a
ls
o
be
ins
talled.
F
igur
e
1
.
R
e
ve
r
s
e
ve
nding
mac
hine
(
R
VM
)
s
ys
tem
ove
r
v
iew
2.
RE
S
E
AR
CH
M
E
T
HO
D
2.
1.
M
at
h
e
m
at
ical
m
od
e
l
t
o
f
in
d
t
h
e
r
e
q
u
ire
d
s
lop
e
f
or
r
oll
e
r
s
t
a
t
ion
One
of
the
im
po
r
tant
pa
r
ts
in
de
s
igni
ng
the
R
V
M
s
ys
tem
is
the
de
s
ign
of
r
oll
e
r
s
tation’
s
s
lope.
A
mathe
matica
l
model
is
im
pleme
nted
to
f
ind
t
he
mi
nim
um
a
ngle
f
or
the
r
o
ll
e
r
a
nd
a
ls
o
to
d
e
ter
mi
ne
the
be
ha
viour
of
the
r
oll
e
r
s
tation
a
nd
wha
t
f
a
c
tor
s
a
f
f
e
c
t
its
pe
r
f
or
manc
e
.
W
e
would
li
ke
to
o
ve
r
c
ome
f
r
iction
by
the
he
lp
o
f
gr
a
vit
a
ti
ona
l
f
or
c
e
a
nd
a
t
th
e
s
a
me
ti
me
to
maintain
a
c
ons
tant
s
pe
e
d
going
down
the
r
oll
e
r
.
T
he
b
ott
le
goe
s
to
the
r
o
ll
e
r
s
tation
wi
th
a
s
pe
e
d
of
V
in
a
s
s
hown
in
F
igur
e
2
,
whic
h
is
dir
e
c
tl
y
pr
opor
ti
ona
l
to
the
s
pe
e
d
of
the
c
onve
yor
.
T
he
x
-
a
xis
is
the
ba
s
e
of
the
r
oll
e
r
,
while
the
y
-
a
xis
is
the
nor
mal
a
xis
towa
r
ds
the
ba
s
e
of
the
r
oll
e
r
.
T
he
a
r
r
ow
indi
c
a
tes
the
pos
it
ive
s
ign
f
or
the
a
xis
.
F
igur
e
3
s
hows
the
f
r
e
e
body
diagr
a
m
o
f
the
bo
tt
le
whe
n
a
bove
the
r
oll
e
r
s
t
a
ti
on.
F
igur
e
2.
R
oll
e
r
a
nd
c
onve
yor
s
tation
F
igur
e
3
.
F
B
D
o
f
bott
le
on
r
oll
e
r
s
tation
F
f
i
s
t
h
e
f
r
i
c
t
i
o
n
a
l
f
o
r
c
e
,
w
h
i
l
e
F
g
i
s
t
h
e
g
r
a
v
i
t
a
t
i
o
n
a
l
f
o
r
c
e
.
F
gx
i
s
t
h
e
g
r
a
v
i
t
a
t
i
o
n
a
l
f
o
r
c
e
i
n
x
-
a
x
i
s
,
w
h
i
l
e
F
gy
i
s
t
h
e
g
r
a
v
i
t
a
t
i
o
n
a
l
f
o
r
c
e
i
n
y
-
a
x
i
s
.
I
n
o
r
d
e
r
t
o
m
a
k
e
i
t
b
a
l
a
n
c
e
,
F
f
s
h
o
u
l
d
b
e
e
q
u
a
l
t
o
F
gx
.
F
gx
i
s
d
e
f
i
n
e
d
a
s
(
1
)
;
=
×
(
1)
while
the
F
f
is
de
f
ine
a
s
nor
m
a
l
f
or
c
e
(
e
quivale
nt
to
F
gy
)
mul
ti
pl
ied
by
the
f
r
iction
c
oe
f
f
icie
nt
(
µ
)
.
T
he
F
gy
is
de
f
ined
a
s
F
g
mul
ti
ply
with
c
os
θ
.
He
nc
e
F
f
is
de
f
in
e
d
a
s
(
2)
.
=
×
×
(
2)
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
M
NI
KA
T
e
lec
omm
un
C
omput
E
l
C
ontr
o
l
De
v
e
lopi
ng
bar
c
ode
s
c
an
s
y
s
tem
of
a
s
mall
-
s
c
aled
r
e
v
e
r
s
e
v
e
nding
mac
hine
…
(
E
r
iks
on
F
e
r
r
y
Sinaga
)
2089
s
ince
we
would
li
ke
to
make
it
ba
lanc
e
too,
F
gx
is
e
qua
l
to
F
f
.
T
he
F
g
c
a
n
f
inally
be
c
r
os
s
e
d
out
a
nd
lef
t
with
s
inθ
e
qua
ls
to
c
os
θ
mul
ti
p
li
e
d
by
µ
.
M
oving
c
os
θ
to
lef
t
ha
nd
s
ide
r
e
s
ult
in
tan
θ
.
S
o,
the
angle,
θ
c
a
n
be
de
f
ined
a
s
(
3)
;
=
ta
n
−
1
(
3)
W
e
do
not
know
the
va
lue
of
the
f
r
iction
c
oe
f
f
icie
nt
then
the
a
ngle
f
or
t
he
r
o
ll
e
r
s
tation
is
obtaine
d
by
tr
ial
a
nd
e
r
r
or
e
xpe
r
im
e
nt
.
T
he
f
r
iction
c
oe
f
f
i
c
ient
de
pe
nds
on
the
s
ur
f
a
c
e
of
the
r
oll
e
r
a
nd
s
u
r
f
a
c
e
of
the
c
ontaine
r
a
nd
the
s
pe
e
d
of
the
s
li
ding
c
a
n
a
ls
o
be
de
f
ined
a
s
(
4)
:
=
×
(
4)
T
he
e
quiva
lent
f
or
c
e
in
y
-
dir
e
c
ti
on
s
hould
be
z
e
r
o,
a
nd
in
the
e
quivale
nt
f
o
r
c
e
in
x
dir
e
c
ti
on
s
houl
d
a
ls
o
be
z
e
r
o
a
s
s
hown
in
(5
)
a
nd
(
6)
;
=
0
=
=
=
×
co
s
(
5)
=
0
=
=
×
µ
×
s
in
=
×
co
s
×
=
ta
n
−
1
µ
(
6)
I
n
or
de
r
to
ge
t
the
f
r
iction
c
oe
f
f
icie
nt,
s
o
we
do
it
e
mpi
r
ica
ll
y.
T
he
r
o
ll
e
r
is
s
uppli
e
d
with
9
V
volt
a
ge
s
our
c
e
,
t
he
n
the
e
nd
of
the
r
oll
e
r
is
li
f
ted
s
lowly
a
nd
the
he
ight
in
whic
h
the
be
ve
r
a
ge
c
ontaine
r
s
tar
ts
to
s
li
de
will
then
be
r
e
c
or
de
d.
T
e
n
s
a
mpl
e
s
we
r
e
us
e
d
a
nd
ten
e
xpe
r
im
e
nts
we
r
e
c
onduc
ted
pe
r
s
a
mpl
e
.
T
he
r
e
s
ult
s
a
r
e
s
hown
in
T
a
ble
1
.
T
a
ble
1
.
R
oll
e
r
a
ngle
t
e
s
t
ing
No
B
ot
tl
e
T
ype
A
ve
r
a
ge
E
le
va
te
d H
e
ig
ht
(
c
m)
R
ol
le
r
A
ngl
e
(
de
gr
e
e
)
1
R
oot
B
e
e
r
4.01 ± 0.19
6.77
2
B
ir
d N
e
s
t
3.91 ± 0.14
6.6
3
C
a
p K
a
ki
T
ig
a
4.01 ± 0.14
6.77
4
C
oc
a
C
ol
a
4.60 ± 0.12
7.78
5
F
lo
r
id
in
a
4.19 ± 0.14
7.08
6
S
pr
it
e
4.50 ± 0.18
7.61
7
M
iz
one
4.32 ± 0.15
7.3
8
A
qua
4.88 ± 0.15
8.25
9
L
e
M
in
e
r
a
le
4.85 ± 0.14
8.2
2.
2.
Re
q
u
ire
d
s
p
e
e
d
f
or
b
e
ve
r
age
c
on
t
a
in
e
r
T
he
r
e
a
r
e
two
c
a
lcula
ti
on
ne
e
de
d,
the
r
otatio
na
l
a
nd
t
r
a
ns
lational
s
pe
e
d.
T
he
s
c
a
nning
r
a
te
of
the
ba
r
c
ode
s
c
a
nne
r
(
M
otor
o
la
L
S
9208
)
is
4
0
ms
,
the
e
f
f
e
c
ti
v
e
s
c
a
nning
a
r
e
a
is
10
c
m
in
d
iame
ter
,
a
nd
the
a
ve
r
a
ge
diame
ter
of
bott
le
is
6.
5
c
m,
whil
e
the
diam
e
ter
of
the
r
oll
e
r
is
4
c
m.
T
he
s
malles
t
ba
r
c
ode
he
ight
is
7
mm
a
nd
the
length
is
20
m
m
.
T
he
li
n
e
a
r
s
pe
e
d
in
r
oll
e
r
a
nd
be
ve
r
a
ge
c
ontaine
r
is
the
s
a
me,
a
s
il
lus
tr
a
ted
in
F
igur
e
4
,
howe
ve
r
they
a
r
e
oppos
it
e
dir
e
c
ti
on
.
T
he
maximum
r
otational
s
pe
e
d
is
the
ba
r
c
ode
he
ight
(
7
mm
)
divi
de
d
by
the
ba
r
c
ode
s
c
a
nning
r
a
te
(
40ms
)
whic
h
e
qua
ls
to
17
.
5
c
m/
s
.
T
he
p
e
r
iod
o
f
the
r
oll
e
r
is
60
mi
n
d
ivi
de
d
by
84
r
pm
,
whic
h
is
e
qu
a
l
to
0.
71
s
.
T
he
ve
locity
o
f
the
r
oll
e
r
is
c
i
r
c
ums
tanc
e
of
the
r
oll
e
r
divi
de
d
by
the
pe
r
iod
o
f
the
r
oll
e
r
(
0
.
71
s
)
whic
h
e
qua
ls
to
17
.
59
c
m/
s
.
He
nc
e
the
r
e
quir
e
d
s
pe
e
d
of
the
be
ve
r
a
ge
c
ontaine
r
is
e
qua
l
to
17
.
59
c
m/
s
.
T
he
s
pe
e
d
is
higher
a
bit
but
i
t
is
f
ine
s
ince
ther
e
a
r
e
s
ome
s
li
ps
on
the
r
oll
e
r
.
T
he
pe
r
iod
f
or
one
r
o
tation
o
f
th
e
be
ve
r
a
ge
c
ontaine
r
is
de
f
ined
a
s
the
c
i
r
c
ums
tanc
e
of
the
be
ve
r
a
ge
c
ontaine
r
divi
de
d
by
the
r
oll
e
r
s
pe
e
d
(
17.
59
c
m/
s
)
whic
h
is
1.
16
s
.
T
he
pe
r
iod
will
then
be
us
e
d
in
tr
a
ns
lat
ional
s
pe
e
d
c
a
lcula
ti
on.
T
he
maximum
t
he
or
e
ti
c
a
l
tr
a
ns
lational
s
pe
e
d
is
de
f
ined
a
s
ba
r
c
od
e
length
(
20
mm
)
divi
de
d
by
the
pe
r
iod
(
1.
16
s
)
whic
h
e
qua
ls
to
1.
72
c
m/
s
.
W
hil
e
the
r
e
a
l
ve
locity
ba
s
e
d
on
c
a
lcula
ti
on
is
a
ppr
oxim
a
tely
14
c
m/
s
,
ba
s
e
d
o
n
c
onve
yor
mot
or
s
pe
c
s
.
How
e
ve
r
,
we
do
no
t
model
the
hous
ing
of
the
r
oll
e
r
,
s
ince
in
r
e
a
li
ty
it
da
mps
t
h
e
be
ve
r
a
ge
c
ontaine
r
ini
ti
a
l
ve
locity.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
1693
-
6930
T
E
L
KO
M
NI
KA
T
e
lec
omm
un
C
omput
E
l
C
ontr
o
l
,
Vol.
18
,
No
.
4
,
Augus
t
2020
:
2087
-
209
4
2090
2.
3.
S
t
e
p
p
e
r
m
o
t
or
t
or
q
u
e
r
e
q
u
ire
m
e
n
t
T
his
is
the
c
a
lcula
ti
on
done
f
or
the
s
teppe
r
mot
o
r
us
e
d
in
the
r
oll
e
r
s
tation
.
I
t
may
r
otate
c
lockw
is
e
(
bott
le
a
c
c
e
pted)
or
c
ounter
-
c
lockw
is
e
(
bott
le
r
e
jec
ted)
.
T
he
bott
le
loca
ted
on
the
mi
ddle
of
the
kicke
r
.
F
igur
e
5
s
hows
the
il
lus
tr
a
ti
on.
T
he
s
teppe
r
m
oto
r
s
hould
ove
r
c
ome
the
tor
que
pr
oduc
e
d
by
the
kicke
r
a
nd
the
bott
le
it
s
e
lf
.
W
hil
e
t
o
r
que
is
de
f
ined
a
s
f
or
c
e
mul
ti
ply
with
pe
r
pe
ndicula
r
dis
tanc
e
be
twe
e
n
the
f
or
c
e
a
nd
the
pivot
point
(
r
)
.
F
or
thi
s
c
a
s
e
the
f
or
c
e
is
c
omi
n
g
f
r
om
the
f
r
iction
a
nd
the
f
r
ict
ion
is
r
e
s
ult
e
d
f
r
o
m
nor
mal
f
or
c
e
mul
ti
ply
with
the
f
r
iction
c
oe
f
f
icie
nt
(
µ
)
.
L
e
t
us
jus
t
us
e
s
tatic
be
c
a
u
s
e
it
is
bigger
than
s
li
ding.
E
ve
ntually
no
r
mal
f
or
c
e
is
c
omi
ng
f
r
om
the
we
igh
t
of
the
objec
t.
He
nc
e
to
r
que
e
qua
ti
on
f
o
r
kicke
r
a
nd
b
ott
le
c
a
n
be
de
f
i
ne
d
a
s
;
=
+
(7
)
=
×
×
µ
×
(8
)
F
or
s
im
pli
c
it
y
,
let
us
a
s
s
ume
the
f
r
iction
c
oe
f
f
icie
nt
of
kicke
r
a
nd
bott
le
is
the
s
a
me.
F
u
r
ther
mo
r
e
,
let
a
ls
o
a
s
s
ume
that
r
is
the
s
a
me,
we
wil
l
take
the
maximum
,
whic
h
is
the
length
of
the
kicke
r
.
He
nc
e
the
tor
que
o
f
the
mot
or
c
a
n
be
s
im
pli
f
ied
to
(
9)
.
=
×
µ
×
×
(
+
)
(
9)
L
e
t
us
a
s
s
ume
that:
g
=
9.
81
m/
s
2,
µ
=
1
a
nd
r
=
0
.
2
m,
mas
s
of
k
icke
r
is
200
gr
,
a
nd
mas
s
of
bott
le
is
50
g
r
.
T
he
f
r
iction
c
oe
f
f
icie
nt
is
take
n
f
r
om
the
a
ve
r
a
ge
v
a
lue
in
pa
r
ti
c
ular
we
bs
it
e
.
T
he
r
is
the
length
of
th
e
kicke
r
,
we
obtain
the
r
e
qui
r
e
d
to
r
que
is
0.
4905
Nm.
F
igur
e
4.
R
otational
mot
i
on
model
of
r
oll
e
r
s
tation
F
igur
e
5
.
De
s
ign
of
s
teppe
r
mot
o
r
in
r
oll
e
r
2.
4.
M
e
c
h
an
ical
d
e
s
ign
u
s
in
g
S
o
li
d
wor
k
s
B
a
s
e
d
on
the
mec
ha
nica
l
de
s
ign
point
of
view
,
t
he
R
VM
c
ons
is
t
of
s
e
ve
r
a
l
mac
hine
s
ub
s
ys
t
e
ms
,
mate
r
ial,
dim
e
ns
ion,
a
nd
the
r
e
late
d
c
r
it
ica
l
a
s
pe
c
ts
[
12
,
13]
.
T
he
3D
model
o
f
R
VM
c
a
n
be
s
e
e
n
in
F
igur
e
6
a
nd
F
igur
e
7.
C
onve
yor
s
tation
c
ons
is
ts
of
li
ne
a
r
c
onve
yor
,
two
in
f
r
a
r
e
d
obs
tac
le
s
e
ns
or
s
a
nd
a
2
4
V
DC
mot
or
.
T
he
we
ight
mea
s
ur
e
ment
s
ys
tem
is
plac
e
d
be
low
the
li
ne
a
r
c
onve
yor
.
I
t
is
made
up
of
t
wo
meta
l
plate
s
whic
h
ha
ve
a
thi
c
kne
s
s
of
2
mm
.
T
he
r
oll
e
r
s
tation
c
ons
is
ts
of
the
r
oll
e
r
a
nd
the
Omni
ba
r
c
ode
s
c
a
nne
r
.
T
he
r
oll
e
r
s
tation
ha
s
a
dim
e
ns
ion
of
100x70x30
0
mm
.
T
he
s
or
ti
ng
s
tation
c
ons
is
ts
of
s
teppe
r
mo
tor
,
two
s
e
r
v
o
mot
or
s
,
a
nd
a
s
uppor
t
s
tr
uc
tur
e
.
T
he
s
uppor
t
s
tr
uc
tur
e
is
a
ls
o
us
e
d
by
the
r
oll
e
r
s
t
a
ti
on
[
14
-
17]
.
T
he
dim
e
ns
ion
of
the
s
uppor
t
s
tr
uc
tu
r
e
is
110x3
20x340
mm
.
T
hr
e
e
s
tor
a
ge
-
c
ontaine
r
s
we
r
e
made
to
s
tor
e
the
s
or
ted
be
ve
r
a
ge
c
ontaine
r
;
they
a
r
e
c
lea
r
plas
t
ic
bott
le,
c
olor
plas
ti
c
bott
le,
a
nd
c
a
ns
.
T
he
r
e
jec
t
p
lane
ha
s
a
dim
e
ns
ion
of
150x250
x50
mm
.
F
igur
e
6
.
M
a
in
f
r
a
me
mec
ha
nica
l
de
s
ign
F
igur
e
7
.
S
or
ti
ng
s
tation
de
s
ign
us
ing
S
oli
dwor
ks
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
M
NI
KA
T
e
lec
omm
un
C
omput
E
l
C
ontr
o
l
De
v
e
lopi
ng
bar
c
ode
s
c
an
s
y
s
tem
of
a
s
mall
-
s
c
aled
r
e
v
e
r
s
e
v
e
nding
mac
hine
…
(
E
r
iks
on
F
e
r
r
y
Sinaga
)
2091
2.
5.
P
r
ogr
am
d
e
s
ign
o
f
r
e
ve
r
s
e
ve
n
d
in
g
m
ac
h
in
e
I
n
or
de
r
to
r
un
the
R
VM
,
a
f
lowc
ha
r
t
wa
s
de
s
ign
a
nd
then
we
de
ve
lop
ed
the
p
r
ogr
a
m
us
ing
Ar
duino
I
DE
s
of
twa
r
e
.
T
he
whole
logi
c
a
l
pr
oc
e
s
s
e
s
f
r
om
the
ini
ti
a
li
z
a
ti
on,
s
or
ti
ng
s
ys
tem
a
nd
da
ta
r
e
c
or
din
g
of
tot
a
l
plas
ti
c
bott
le
s
a
nd
c
a
n
s
pr
oc
e
s
s
e
d
c
a
n
be
s
e
e
n
in
F
igur
e
8.
F
igur
e
8
.
F
lowc
ha
r
t
of
R
VM
pr
ogr
a
m
de
s
ign
3.
RE
S
UL
T
S
A
ND
AN
AL
YSI
S
3.
1.
Om
n
id
ire
c
t
ion
al
b
ar
c
od
e
s
c
an
n
e
r
p
e
r
f
or
m
an
c
e
t
e
s
t
in
g
an
d
an
alys
is
B
a
r
c
ode
S
c
a
nne
r
,
M
otor
ola
L
S
9208
is
the
omni
dir
e
c
ti
ona
l
ba
r
c
ode
s
c
a
nne
r
is
us
e
d
in
thi
s
r
e
s
e
a
r
c
h
pr
ojec
t
[
1
8
,
1
9
]
.
F
ir
s
tl
y
,
we
ne
e
d
to
tes
t
the
s
c
a
nning
dis
tanc
e
a
nd
the
ba
r
c
ode
s
c
a
nne
r
or
ienta
ti
on
.
T
his
tes
t
wa
s
c
r
uc
ial
a
s
the
ba
r
c
ode
s
c
a
nne
r
c
ould
be
s
a
id
the
main
s
e
ns
or
us
e
in
thi
s
r
e
s
e
a
r
c
h.
I
t
wa
s
us
e
d
to
s
c
a
n
the
e
nti
r
e
incoming
c
ontaine
r
’
s
ba
r
c
ode
.
E
ve
r
y
b
e
ve
r
a
ge
c
ontaine
r
ha
s
dif
f
e
r
e
nt
s
ize
,
ba
r
c
ode
loca
ti
on,
a
nd
ba
r
c
ode
qua
li
ty.
He
nc
e
thes
e
tes
ts
we
r
e
r
e
qui
r
e
d.
T
he
r
e
s
ult
is
s
hown
in
T
a
ble
2
.
F
r
om
the
r
e
s
ult
s
hown
in
T
a
ble
2
,
we
c
a
n
s
e
e
th
a
t
the
op
ti
mum
s
e
ns
ing
dis
tanc
e
is
unti
l
10
c
m.
T
he
ba
r
c
ode
dim
e
ns
ion
r
e
a
ll
y
a
f
f
e
c
ts
the
pe
r
f
o
r
manc
e
of
the
s
c
a
nning
pr
oc
e
s
s
.
M
or
e
ove
r
,
the
ba
r
c
ode
or
ienta
ti
on
is
e
f
f
e
c
t
too.
B
a
r
c
ode
R
e
a
de
r
s
c
a
ns
hor
izonta
l
ba
r
c
ode
or
ienta
ti
on
howe
ve
r
it
ha
s
s
ome
dif
f
iculty
to
s
c
a
n
ve
r
ti
c
a
l
ba
r
c
ode
.
He
nc
e
to
s
olve
thi
s
p
r
oble
m
the
ba
r
c
ode
s
hould
be
ti
lt
e
d
45
de
gr
e
e
.
3.
2
.
L
oad
c
e
ll
t
e
s
t
in
g
an
d
a
n
alys
is
T
he
tes
t
s
w
e
r
e
c
onduc
ted
b
y
us
ing
s
a
mpl
e
c
oppe
r
mas
s
e
s
.
T
he
c
oppe
r
mas
s
e
s
a
r
e
10
g
,
20
g,
50
g
,
100
g,
a
nd
200
g
.
T
he
c
ontaine
r
we
ight
les
s
than
5
0
g,
he
nc
e
thi
s
we
ight
r
a
nge
is
c
hos
e
n.
T
he
we
ight
c
e
ll
will
late
r
be
us
e
d
to
de
tec
t
f
il
led
c
ontaine
r
a
nd
r
e
jec
t
them.
T
his
tes
t
a
ls
o
c
a
r
r
ied
to
s
e
t
the
s
c
a
le
of
the
we
ight
to
ge
t
a
c
c
ur
a
te
we
ight
mea
s
ur
e
ment.
T
he
r
e
s
ult
o
f
the
loa
d
c
e
ll
pe
r
f
or
manc
e
is
s
hown
in
T
a
ble
3
[
20
,
21]
.
Anothe
r
tes
t
a
s
s
hown
in
T
a
ble
4
wa
s
c
onduc
ted
by
us
ing
twe
lve
(
12)
types
of
be
ve
r
a
ge
c
o
ntaine
r
s
.
T
he
a
c
tual
mas
s
is
mea
s
ur
e
d
us
ing
de
vice
with
a
0.
1
-
gr
a
m
pr
e
c
is
ion.
T
he
a
ve
r
a
ge
mas
s
wa
s
tak
e
n
f
r
om
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
1693
-
6930
T
E
L
KO
M
NI
KA
T
e
lec
omm
un
C
omput
E
l
C
ontr
o
l
,
Vol.
18
,
No
.
4
,
Augus
t
2020
:
2087
-
209
4
2092
3
0
s
a
mpl
e
s
.
T
he
r
e
s
ult
s
hows
that
the
de
viation
e
r
r
or
is
va
r
r
ying
in
be
twe
e
n
0.
87
%
unti
l
26.
67%
.
E
ve
nthough
the
e
r
r
o
r
is
quit
e
big,
but
it
is
s
ti
ll
a
c
c
e
ptable
due
to
the
s
mall
mas
s
of
be
ve
r
a
ge
c
ontaine
r
s
a
nd
the
s
e
t
point
(
e
mpt
y
c
ontaine
r
)
of
c
ontaine
r
’
s
m
a
s
s
wa
s
a
djus
ted
to
30
gr
.
T
a
ble
2
.
B
a
r
c
ode
s
c
a
nne
r
tes
ti
ng
No
B
e
ve
r
a
ge
C
ont
a
in
e
r
T
ype
S
e
ns
or
D
is
ta
nc
e
D
e
te
c
ti
on
B
a
r
c
ode
D
im
e
ns
io
n mm
xmm
5
cm
10
cm
15
cm
20
cm
1
L
e
M
in
e
r
a
le
C
le
a
r
B
ot
tl
e
Y
e
s
Y
e
s
No
No
25
x
10
2
S
te
e
C
le
a
r
B
ot
tl
e
Y
e
s
Y
e
s
No
No
20
x
11
3
I
ndoma
r
e
t
W
a
te
r
C
le
a
r
B
ot
tl
e
Y
e
s
Y
e
s
Y
e
s
No
24
x
11
4
F
lo
r
id
in
a
C
le
a
r
B
ot
tl
e
Y
e
s
Y
e
s
No
No
24
x
8
5
K
opi
ko
C
le
a
r
B
ot
tl
e
Y
e
s
Y
e
s
Y
e
s
No
24
x
10
6
C
oc
a
C
ol
a
C
le
a
r
B
ot
tl
e
Y
es
Y
e
s
Y
e
s
No
19
x
8
7
S
pr
it
e
C
ol
or
B
ot
tl
e
Y
e
s
Y
e
s
Y
e
s
No
21
x
9
8
M
iz
one
C
ol
or
B
ot
tl
e
Y
e
s
Y
e
s
Y
e
s
Y
e
s
30
x
10
9
B
ir
d N
e
s
t
C
a
n
Y
e
s
Y
e
s
Y
e
s
Y
e
s
25
x
13
10
G
r
e
e
n S
a
nds
C
a
n
Y
e
s
Y
e
s
Y
e
s
No
20
x
11
11
C
a
p K
a
ki
T
ig
a
C
a
n
Y
e
s
Y
e
s
Y
e
s
No
22
x
11
12
R
oot
B
e
e
r
C
a
n
Y
e
s
Y
e
s
Y
e
s
No
25
x
7
T
a
ble
3
.
Ge
ne
r
a
l
load
c
e
ll
tes
ti
ng
N
o. of
T
r
ia
l
L
oa
d
-
M
a
s
s
(
gr
a
m)
10
20
50
100
200
1
10.71
19.78
49.24
99.13
200.03
2
10.53
20.2
49.03
99.21
199.03
3
11.22
19.45
48.89
99.34
198.36
4
10.35
19.73
49.22
98.78
198.66
5
9.22
19.8
49.11
10.
66
198.67
A
vg.
10.41 ± 0.74
19.79 ± 0.27
49.10 ± 0.14
99.42 ± 0.72
198.95 ± 0.65
T
a
ble
4
.
L
oa
d
c
e
ll
tes
ti
ng
of
c
ontaine
r
s
N
o.
B
e
ve
r
a
ge
C
ont
a
in
e
r
A
c
tu
a
l
M
a
s
s
* (
gr
a
m)
L
oa
d C
e
ll
M
a
s
s
, 30 s
a
mpl
e
s
(
gr
a
m)
E
r
r
or
(
%
)
1
L
e
M
in
e
r
a
le
19.80
20.83
5.20
2
S
te
e
24.
40
24.64
0.98
3
M
iz
one
25.70
26.72
3.93
4
F
lo
r
id
in
a
22.90
22.70
0.87
5
K
opi
ko
21.30
20.74
2.63
6
C
oc
a
C
ol
a
22.40
21.85
2.46
7
G
r
e
e
n S
a
nds
12.60
9.24
26.67
8
C
a
p K
a
ki
T
ig
a
12.70
9.83
22.60
9
B
ir
d N
e
s
t
14.90
13.15
11.74
10
I
ndoma
r
e
t
W
a
te
r
16.30
17.35
6.44
11
S
pr
it
e
22.00
22.60
2.73
12
R
oot
B
e
e
r
13.70
14.47
5.62
3.
3
.
DC
-
m
o
t
or
t
e
s
t
in
g
an
d
an
alys
is
T
he
r
e
a
r
e
two
DC
mot
or
s
us
e
d
in
thi
s
r
e
s
e
a
r
c
h
p
r
ojec
t,
both
a
r
e
24V
r
a
ted.
B
oth
ha
ve
c
ome
with
a
ge
a
r
box.
DC
mot
or
s
tes
ti
ng
ne
e
d
to
be
c
a
r
r
ied
out
to
c
he
c
k
the
pe
r
f
or
manc
e
o
f
the
DC
mot
or
s
.
T
his
tes
t
wa
s
c
onduc
ted
by
giv
ing
va
r
ious
volt
a
ge
s
to
the
DC
mot
o
r
.
T
he
tes
t
wa
s
c
onduc
ted
with
input
vol
t
a
ge
r
a
nge
f
r
om
0V
to
24
V
with
a
n
incr
e
ment
of
2
V
.
T
he
input
volt
a
ge
wa
s
c
ontr
oll
e
d
by
DC
-
DC
c
onve
r
ter
,
L
M
2596
[
22
-
2
6]
.
T
he
f
lowing
c
ur
r
e
nt
a
nd
r
otatio
na
l
s
pe
e
ds
we
r
e
then
mea
s
ur
e
d.
T
he
c
ur
r
e
nt
wa
s
mea
s
ur
e
d
with
F
L
UK
E
87,
while
the
r
otational
s
pe
e
d
wa
s
m
e
a
s
ur
e
d
with
a
digi
tal
tac
homete
r
DT
-
2234C
+
.
T
o
mea
s
ur
e
the
a
ngular
s
pe
e
d,
a
r
e
f
lec
ti
ve
s
tr
a
p
is
a
tt
a
c
he
d
to
r
ot
a
ti
ng
pa
r
t.
T
he
f
ir
s
t
DC
mot
or
tes
ted
wa
s
the
li
ne
a
r
c
onve
yor
mot
or
,
T
a
ble
5
(
a
)
.
T
he
r
e
f
lec
ti
ve
s
tr
a
p
wa
s
a
tt
a
c
he
d
to
the
c
onve
yor
be
lt
.
T
he
r
otational
s
pe
e
d
s
hown
in
T
a
ble
5
wa
s
the
a
ve
r
a
ge
of
thr
e
e
r
e
a
dings
.
T
he
s
tar
tup
volt
a
ge
of
the
mot
or
is
f
ound
o
ut
to
be
5.
8
V
with
a
c
ur
r
e
nt
of
0.
244
.
A.
P
lea
s
e
take
note
that
the
c
ur
r
e
nt
be
f
or
e
the
s
tar
tup
is
high
(
2V
a
nd
4V)
.
A
f
ter
the
mot
or
s
r
un,
the
c
ur
r
e
nt
wa
s
mor
e
or
les
s
c
ons
tant.
T
he
s
e
c
ond
DC
mo
tor
tes
ted
wa
s
the
li
n
e
a
r
c
onve
yor
mot
or
,
T
a
ble
5
(
b)
.
T
he
r
e
f
l
e
c
ti
ve
s
t
r
a
p
wa
s
a
tt
a
c
he
d
to
the
r
oll
e
r
.
How
e
ve
r
,
a
blac
k
tape
wa
s
a
tt
a
c
he
d
be
f
or
e
the
r
e
f
lec
ti
ve
s
tr
a
p.
T
his
is
due
the
s
ur
f
a
c
e
of
the
r
oll
e
r
is
r
e
f
lec
ti
ve
(
a
t
r
a
ns
pa
r
e
nt
tape
c
ove
r
s
it
)
.
3.
4
.
RV
M
f
u
ll
s
ys
t
e
m
t
e
s
t
in
g
an
d
an
alys
is
T
his
pr
e
li
mi
na
r
y
f
ul
l
s
ys
tem
tes
ti
ng
wa
s
done
a
f
ter
a
ll
the
mec
ha
nica
l
a
nd
e
lec
tr
ica
l
pa
r
ts
a
s
s
e
mbl
e
d;
the
mac
hine
r
uns
f
u
ll
s
ys
tem
tes
ti
ng.
Va
r
ious
c
ontaine
r
types
we
r
e
ins
e
r
ted
(
c
lea
r
bott
l
e
,
c
olor
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
M
NI
KA
T
e
lec
omm
un
C
omput
E
l
C
ontr
o
l
De
v
e
lopi
ng
bar
c
ode
s
c
an
s
y
s
tem
of
a
s
mall
-
s
c
aled
r
e
v
e
r
s
e
v
e
nding
mac
hine
…
(
E
r
iks
on
F
e
r
r
y
Sinaga
)
2093
bott
le,
a
nd
c
a
ns
)
.
Va
r
ious
c
ondit
ions
a
ls
o
tes
ted
(
e
mpt
y
or
f
il
led
c
ontaine
r
)
.
T
he
tes
t
wa
s
c
a
r
r
ied
out
with
12
be
ve
r
a
ge
c
ont
a
iner
s
.
T
he
r
e
s
ult
is
s
hown
in
T
a
bl
e
6.
F
r
om
the
pr
e
li
mi
na
r
y
f
ull
tes
ti
ng,
the
“
W
e
ight
r
e
a
d
<
30
gr
a
ms
”
c
olum
n
s
hows
we
a
ther
the
we
ight
me
a
s
ur
e
d
is
s
maller
than
30
gr
a
ms
o
r
not,
while
the
“
B
a
r
c
ode
s
c
a
nne
d:”
c
o
lum
n
tells
whe
ther
the
ba
r
c
ode
s
c
a
n
ne
r
s
uc
c
e
s
s
f
ull
y
r
e
a
d
the
ba
r
c
ode
or
not.
F
r
om
2
0
tr
ials
,
the
ove
r
a
ll
s
uc
c
e
s
s
f
ul
r
a
te
the
R
VM
mac
hine
wa
s
±
80%
.
T
he
f
a
il
ur
e
s
c
a
me
s
ometim
e
s
f
r
om
the
ba
r
c
ode
mi
s
s
the
s
c
a
nning
a
r
e
a
a
nd
the
S
D
c
a
r
d
r
e
a
de
r
.
T
he
s
e
c
ond
f
ull
s
ys
tem
tes
ti
ng
us
ing
Ar
du
ino
Uno
a
tt
a
c
he
d
to
the
ba
r
c
ode
s
c
a
nne
r
.
T
he
r
e
s
ult
is
mor
e
r
e
li
a
ble.
T
we
lve
types
of
be
ve
r
a
ge
c
ontaine
r
s
we
r
e
us
e
d
a
nd
ten
s
a
mpl
e
s
will
be
tes
ted
p
e
r
type.
F
r
om
thi
s
f
inal
tes
ti
ng,
the
a
ve
r
a
ge
s
uc
c
e
s
s
f
ul
r
a
te
wa
s
94.
17%
.
T
he
r
e
we
r
e
thr
e
e
kinds
of
p
r
oblems
oc
c
ur
dur
ing
the
tes
t,
they
a
r
e
:
load
c
e
ll
f
a
il
s
to
de
tec
t,
ba
r
c
ode
not
r
e
c
ognize
d,
a
nd
mec
ha
nica
l
pr
oblem.
T
he
ti
me
c
yc
le
of
the
mac
hine
is
s
hown
in
T
a
ble
7.
F
r
om
T
a
ble
8
pr
oc
e
s
s
ing
ti
me
wa
s
va
r
ying
be
twe
e
n
8
to
10
s
e
c
onds
.
R
e
j
e
c
ted
due
to
the
ove
r
we
ight
wa
s
only
4
-
5
s
e
c
onds
.
I
t
took
longer
ti
me
whe
n
the
bot
tl
e
r
e
jec
te
d
due
to
the
unr
e
c
ognize
d
ba
r
c
ode
c
ode
.
T
a
ble
5
.
C
onve
yor
m
oto
r
tes
ti
ng
f
or
bo
th
DC
mot
o
r
s
;
(
a
)
li
ne
a
r
c
onve
yor
,
(
b)
r
oll
e
r
c
onve
yor
(
a
)
L
inea
r
c
onve
yor
C
ur
r
e
nt
(
A
)
S
pe
e
d (
r
pm)
(
b)
R
oll
e
r
c
onve
yor
C
ur
r
e
nt
(
A
)
S
pe
e
d (
r
pm)
V
ol
ta
ge
(
V
)
C
ur
r
e
nt
(
A
)
S
pe
e
d (
r
pm)
V
ol
ta
ge
(
V
)
C
ur
r
e
nt
(
A
)
S
pe
e
d (
r
pm)
0
0.000
0.0
0
0.000
0.0
2
0.071
0.0
2
0.135
15.1
4
0.151
0.0
4
0.159
34.3
6
0.111
8.2
6
0.173
57.4
8
0.113
12.0
8
0.175
73.6
10
0.115
15.8
10
0.186
94.3
12
0.116
19.4
12
0.207
113.8
14
0.111
23.1
14
0.205
132.2
16
0.112
27.3
16
0.227
148.3
18
0.113
30.8
18
0.232
169.6
20
0.116
34.1
20
0.244
189.2
22
0.114
37.5
22
0.267
206.9
24
0.115
42.9
24
0.279
224.5
T
a
ble
6
.
P
r
e
li
mi
na
r
y
f
u
ll
tes
ti
ng
R
VM
T
r
ia
l
N
o.
C
ont
a
in
e
r
I
ns
e
r
te
d
R
e
a
l
C
ondi
ti
on
W
e
ig
ht
R
e
a
d
<
30gr
a
m
W
e
ig
ht
R
e
ma
r
k
B
a
r
c
ode
S
c
a
nne
d
T
ype
D
e
te
r
mi
ne
d
T
ype
R
e
ma
r
ks
1
I
ndoma
r
e
t
W
a
te
r
C
le
a
r
,
E
mpt
y
Y
e
s
S
uc
c
e
s
s
S
uc
c
e
s
s
C
le
a
r
S
uc
c
e
s
s
2
C
a
p
K
a
ki
T
ig
a
Ca
n,
E
mpt
y
Y
e
s
S
uc
c
e
s
s
S
uc
c
e
s
s
C
a
n
S
uc
c
e
s
s
3
S
pr
it
e
C
ol
or
,
E
mpt
y
Y
e
s
S
uc
c
e
s
s
S
uc
c
e
s
s
C
ol
or
S
uc
c
e
s
s
4
M
iz
one
C
ol
or
,
E
mpt
y
Y
e
s
S
uc
c
e
s
s
S
uc
c
e
s
s
C
ol
or
S
uc
c
e
s
s
5
A
qua
C
le
a
r
,
E
mpt
y
Y
e
s
S
uc
c
e
s
s
S
uc
c
e
s
s
C
le
a
r
S
uc
c
e
s
s
6
L
e
M
in
e
r
a
le
C
le
a
r
,
F
il
le
d
No
S
uc
c
e
s
s
x
x
x
7
I
ndoma
r
e
t
W
a
te
r
C
le
a
r
,
E
mpt
y
Y
e
s
S
uc
c
e
s
s
S
uc
c
e
s
s
C
le
a
r
S
uc
c
e
s
s
8
L
e
M
in
e
r
a
le
C
le
a
r
,
E
mpt
y
Y
e
s
S
uc
c
e
s
s
S
uc
c
e
s
s
C
le
a
r
S
uc
c
e
s
s
9
B
ir
d
N
e
s
t
C
a
n,
E
mpt
y
Y
e
s
S
uc
c
e
s
s
S
uc
c
e
s
s
C
a
n
S
uc
c
e
s
s
10
F
lo
r
id
i
na
C
le
a
r
,
E
mpt
y
Y
e
s
S
uc
c
e
s
s
F
a
il
x
x
11
F
lo
r
id
i
na
C
le
a
r
,
E
mp
ty
Y
e
s
S
uc
c
e
s
s
S
uc
c
e
s
s
C
le
a
r
S
uc
c
e
s
s
12
A
qua
C
le
a
r
,
F
il
le
d
No
S
uc
c
e
s
s
x
x
x
T
a
ble
7.
R
e
s
ult
of
f
inal
f
u
ll
s
ys
tem
tes
ti
ng
No
B
e
ve
r
a
ge
C
ont
a
in
e
r
P
e
r
c
e
nt
a
ge
of
S
uc
c
e
s
s
(
10
s
a
mpl
e
s
)
R
e
ma
r
k of
I
ns
e
r
t
P
os
it
io
n
1
L
e
M
in
e
r
a
le
, C
le
a
r
75
B
ot
to
m
2
S
te
e
, C
le
ar
90
B
ot
to
m
3
M
iz
one
, C
ol
or
90
B
ot
to
m
4
F
lo
r
id
in
a
, C
le
a
r
90
B
ot
to
m
5
K
opi
ko, C
le
a
r
100
B
ot
to
m
6
C
oc
a
C
ol
a
,
C
le
a
r
100
T
op
7
G
r
e
e
n S
a
nds
, C
a
n
100
T
op
8
C
a
p K
a
ki
T
I
ga
,
C
a
n
100
T
op
9
B
ir
d N
e
s
t,
C
a
n
100
B
ot
to
m
10
I
ndoma
r
e
t
W
a
te
r
,
C
le
a
r
100
T
op
11
S
pr
i
te
, C
ol
or
90
T
op
12
R
oot
B
e
e
r
, C
a
n
100
B
ot
to
m
T
a
ble
8.
R
e
s
ult
of
mac
hine’
s
p
r
oc
e
s
s
ing
ti
me
No
P
r
oc
e
s
s
in
g C
yc
le
P
r
oc
e
s
s
in
g
T
im
e
(
S
e
c
)
1
A
c
c
e
pt
e
d B
e
ve
r
a
ge
C
ont
a
in
e
r
(
C
le
a
r
or
C
ol
or
B
ot
tl
e
a
nd
C
a
ns
)
8
-
10
2
R
e
je
c
te
d B
oot
le
g du
e
t
o
O
ve
r
w
e
ig
ht
4
-
5
3
R
e
je
c
te
d B
ot
tl
e
du
e
t
o
B
a
r
c
ode
U
nr
e
c
ogni
z
e
d
12
-
13
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
1693
-
6930
T
E
L
KO
M
NI
KA
T
e
lec
omm
un
C
omput
E
l
C
ontr
o
l
,
Vol.
18
,
No
.
4
,
Augus
t
2020
:
2087
-
209
4
2094
4.
CONC
L
USI
ON
T
he
s
mall
-
s
c
a
led
R
VM
mac
hine
wa
s
s
uc
c
e
s
s
f
ull
y
de
ve
loped
a
nd
a
ble
to
de
tec
t
a
nd
to
dif
f
e
r
e
nti
a
te
c
lea
r
bott
le,
c
olo
r
bott
le
,
a
nd
c
a
ns
.
M
or
e
ove
r
the
mac
hine
is
a
ls
o
e
xpe
c
ted
to
dif
f
e
r
e
nti
a
te
e
mpt
y
a
nd
f
il
led
c
ontaine
r
,
t
his
is
a
c
hieve
d
thr
ough
load
c
e
ll
.
T
he
pr
ogr
a
m
de
ve
lopm
e
nt
wa
s
a
ls
o
s
uc
c
e
s
s
f
ull
y
de
s
igned
to
make
the
s
ys
tem
wor
ks
togethe
r
ha
r
moni
ous
ly.
I
t
is
a
ble
to
make
the
ba
r
c
ode
s
c
a
nne
r
wor
ks
,
a
c
c
ur
a
te
we
ight
mea
s
ur
e
ment
f
r
om
the
load
c
e
ll
,
c
o
r
r
e
c
t
s
e
ns
or
s
r
e
a
ding,
a
nd
make
a
c
tuator
s
wor
king
.
M
or
e
ove
r
the
da
ta
loggi
ng
a
nd
us
e
r
int
e
r
f
a
c
e
is
a
ls
o
wor
k
ing
c
or
r
e
c
tl
y
a
c
c
or
ding
to
the
f
lowc
ha
r
t
.
T
he
ove
r
a
ll
s
u
c
c
e
s
s
f
ul
r
a
te
ba
s
e
d
on
the
f
ull
tes
ti
ng
wa
s
94.
17
%
a
nd
the
pr
oc
e
s
s
ing
ti
me
wa
s
in
be
twe
e
n
8
to
13
s
e
c
onds
,
thi
s
r
e
s
ult
is
f
ulf
il
l
t
he
e
xpe
c
tation.
I
n
the
f
utu
r
e
the
R
VM
pr
otot
yp
e
c
a
n
be
im
pleme
nted
in
our
da
il
y
li
f
e
,
to
r
e
duc
e
the
wa
s
te
of
plas
ti
c
bott
le
a
nd
c
a
ns
.
F
ur
ther
r
e
c
omm
e
nd
a
ti
on
to
im
pr
ove
the
mac
hine
by
c
ombi
ning
the
we
igh
t
s
tati
on
a
nd
r
oll
e
r
s
tation
int
o
one
s
tation,
to
r
e
duc
e
the
pr
oc
e
s
s
ing
ti
me,
a
nd
pos
s
ibi
li
ty
to
us
e
c
a
mer
a
vis
ion
with
mi
ni
P
C
to
the
r
e
plac
e
the
ba
r
c
ode
r
e
a
de
r
a
nd
mi
c
r
oc
ontr
ol
ler
boa
r
d.
AC
KNOWL
E
DGE
M
E
NT
T
his
r
e
s
e
a
r
c
h
pr
ojec
t
wa
s
f
inanc
ially
s
uppor
ted
by
T
e
c
h
nology
a
nd
I
nnova
ti
on
R
e
s
e
a
r
c
h
C
e
ntr
e
,
Ac
a
de
mi
c
R
e
s
e
a
r
c
h
a
nd
C
omm
unit
y
S
e
r
vice
,
S
wis
s
Ge
r
man
Unive
r
s
it
y.
RE
F
E
RE
NC
E
S
[1
]
Rad
er,
Ch
arl
e
s
P.
,
“Pl
a
s
t
i
cs
,
R
u
b
b
er
an
d
Pap
er
Recy
c
l
i
n
g
:
A
Pra
g
mat
i
c
A
p
p
ro
ac
h
,
”
A
m
er
i
ca
n
Ch
e
m
i
c
a
l
S
o
c
i
et
y
M
eet
i
n
g
,
W
as
h
i
n
g
t
o
n
D
.
C.
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6
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,
2
0
1
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.
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