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t
o
s
y
s
t
e
m
s
c
o
n
n
e
c
t
e
d
t
o
t
h
e
n
e
t
w
o
r
k
i
n
a
d
d
i
t
i
o
n
t
o
a
l
e
r
ti
n
g
t
h
e
a
d
m
i
n
is
t
r
at
i
v
e
p
e
r
s
o
n
v
i
a
S
M
S
a
l
a
r
m
[
5
]
.
W
ir
eles
s
an
d
r
em
o
te
co
n
tr
o
l
o
f
m
u
lti
ele
ctr
ical
ap
p
lian
ce
s
b
y
u
s
in
g
ce
ll
p
h
o
n
e
b
ased
DT
MF
tech
n
iq
u
e,
s
o
th
at
ca
n
tu
r
n
o
n
o
r
o
f
f
ea
c
h
ap
p
lian
ce
s
ep
ar
ately
th
r
o
u
g
h
t
h
e
u
s
er
p
h
o
n
e
n
u
m
b
er
s
af
ter
m
ak
in
g
a
ca
ll [
6
,
7
]
.
R
em
o
te
co
n
tr
o
l sy
s
tem
f
o
r
an
g
u
lar
p
o
s
itio
n
o
f
s
tep
p
e
r
m
o
to
r
u
s
in
g
DT
MF
s
ig
n
al,
im
p
l
em
en
ted
b
y
u
s
in
g
8
0
5
1
m
icr
o
co
n
tr
o
ller
[
8
]
.
T
h
e
u
s
in
g
m
o
b
ile
co
n
tr
o
lled
r
o
b
o
ts
f
o
r
d
ir
ec
t
c
u
r
r
en
t
(
DC
)
m
o
to
r
s
r
eg
u
latin
g
a
n
d
t
h
eir
d
o
m
esti
c
co
m
m
u
n
icatio
n
f
o
r
r
em
o
tely
co
n
tr
o
l
m
u
lti
h
o
m
e
elec
tr
ic
ap
p
lian
ce
s
[
9
]
.
R
o
b
o
t
ca
r
is
r
em
o
tely
co
n
tr
o
lled
b
y
a
m
o
b
ile
p
h
o
n
e
u
s
in
g
DT
MF
m
eth
o
d
,
t
h
e
m
o
tio
n
o
f
th
e
ca
r
o
n
all
d
ir
ec
tio
n
ca
n
b
e
c
o
n
tr
o
lle
d
d
ep
en
d
o
n
th
e
b
u
tto
n
p
r
ess
ed
at
th
e
u
s
er
p
h
o
n
e
t
h
at
g
e
n
er
at
e
DT
MF
s
ig
n
al
th
is
s
ig
n
al
wi
ll
p
ass
th
r
o
u
g
h
t
h
e
m
u
lti
p
r
o
ce
s
s
in
g
to
r
esu
lt
a
m
o
tio
n
o
f
th
e
ca
r
[
1
0
]
.
Su
g
g
ests
m
eth
o
d
b
y
u
s
in
g
DT
MF
to
n
e
t
ec
h
n
o
lo
g
y
to
d
esig
n
a
co
n
tr
o
l
s
y
s
tem
d
e
p
en
d
o
n
th
e
to
n
e
g
en
e
r
ated
wh
e
n
th
e
u
s
e
r
m
o
b
ile
p
h
o
n
e
p
u
s
h
es
a
k
e
y
p
ad
b
u
tto
n
s
th
r
o
u
g
h
th
e
ca
ll
o
r
wh
e
n
c
o
n
n
ec
ted
to
a
r
e
m
o
te
m
o
b
ile
p
h
o
n
e
r
o
b
o
t
[
1
1
]
.
M
o
b
ile
p
h
o
n
e
u
s
ed
f
o
r
co
n
tr
o
l
o
f
to
y
ca
r
d
ep
en
d
s
o
n
th
e
r
ec
eiv
e
d
DT
MF
to
n
e
is
p
r
o
ce
s
s
ed
b
y
th
e
(
AT
m
eg
a1
6
)
m
icr
o
co
n
tr
o
ller
.
T
h
e
m
icr
o
co
n
tr
o
ller
r
ec
eiv
es
co
n
tr
o
l
s
ig
n
als
an
d
t
h
en
an
aly
ze
s
th
em
b
ased
o
n
th
e
s
p
ec
ial
alg
o
r
ith
m
ass
ig
n
ed
to
th
is
o
b
ject,
th
en
is
s
u
es o
r
d
er
s
to
co
n
tr
o
l t
h
e
d
ir
ec
tio
n
o
f
th
e
to
y
ca
r
in
th
e
r
eq
u
ir
ed
d
ir
ec
tio
n
s
[
1
2
]
.
S
u
g
g
ests
a
r
em
o
te
-
co
n
tr
o
l
tec
h
n
iq
u
e
b
ased
o
n
m
o
b
ile
to
co
n
tr
o
l
th
e
d
ir
ec
tio
n
o
f
th
e
DC
m
o
to
r
,
th
is
is
d
o
n
e
th
r
o
u
g
h
g
e
n
er
ate
a
co
n
tr
o
l
s
ig
n
al
t
o
d
r
iv
e
th
e
DC
m
o
to
r
m
o
v
em
en
t
b
ased
a
GSM
m
o
d
em
eith
er
b
y
SMS
o
r
DT
MF
tech
n
iq
u
es
[
1
3
]
.
GS
M
n
e
two
r
k
a
n
d
m
o
b
ile
p
h
o
n
es
r
ep
r
esen
t
o
n
e
o
f
th
e
m
o
r
e
ef
f
e
ctiv
e
an
d
im
p
o
r
tan
t
to
o
ls
th
at
ar
e
u
s
in
g
f
o
r
r
em
o
te
co
n
tr
o
l o
f
m
u
lti ap
p
licatio
n
s
i
n
d
if
f
er
e
n
t f
ield
s
[
1
4
-
1
6
]
.
I
m
p
o
r
tan
t a
n
d
civ
ilized
m
ea
n
s
o
f
ex
ch
a
n
g
in
g
in
f
o
r
m
at
io
n
is
ce
llu
lar
co
m
m
u
n
icatio
n
.
As
a
r
es
u
lt,
it
h
as
b
ec
o
m
e
im
p
o
s
s
ib
le
to
d
is
p
en
s
e
with
th
ese
n
etwo
r
k
s
i
n
all
c
o
u
n
tr
ies
o
f
th
e
wo
r
ld
.
B
ec
au
s
e
o
f
th
at
wid
esp
r
ea
d
,
it
h
as
b
ee
n
r
elied
o
n
f
o
r
tech
n
o
lo
g
ical
u
s
es
s
u
ch
as
r
e
m
o
te
co
n
tr
o
l
o
f
t
h
e
ON
a
n
d
O
FF
o
f
h
o
m
e
a
p
p
lian
ce
s
[
1
7
-
2
1
]
.
T
r
a
n
s
m
is
s
io
n
o
f
a
co
n
tr
o
l
s
ig
n
als
h
as
b
ee
n
ac
h
ie
v
e
b
y
d
e
p
en
d
in
g
o
f
telep
h
o
n
e
lin
e
f
o
r
two
s
ec
tio
n
s
lo
ca
l
an
d
r
em
o
te,
th
is
is
f
o
r
r
em
o
te
co
n
t
r
o
l o
f
s
witch
in
g
ap
p
licatio
n
s
b
y
tak
in
g
ad
v
a
n
tag
e
o
f
a
DT
MF
p
r
o
p
er
ty
[
2
2
]
.
I
n
th
is
p
a
p
er
,
a
wir
eless
r
em
o
te
-
co
n
tr
o
l
s
y
s
tem
h
as
b
ee
n
d
esi
g
n
ed
.
T
h
is
s
y
s
tem
h
as
th
e
ab
ilit
y
to
p
r
o
v
id
e
d
if
f
er
e
n
t o
p
er
atin
g
m
o
d
es.
T
h
ese
m
o
d
es d
iv
id
ed
in
t
o
n
in
e
ca
s
es,
s
o
th
at
ea
ch
ca
s
e
p
er
f
o
r
m
s
a
s
p
ec
if
ic
f
u
n
ctio
n
wh
ich
i
n
clu
d
es:
h
o
r
i
zo
n
tal
d
ir
ec
tio
n
co
n
tr
o
l
f
o
r
clo
ck
wis
e
an
d
an
ticlo
ck
wis
e
3
6
0
°
,
s
h
if
t
r
ig
h
t
9
0
°
,
s
h
if
t
r
ig
h
t
1
8
0
°
,
s
h
if
t
lef
t
9
0
°
,
v
er
tical
d
ir
ec
tio
n
co
n
tr
o
l
h
as
th
e
ab
ilit
y
to
m
o
v
e
th
e
ca
m
er
a
u
p
to
3
0
°
o
r
d
o
wn
to
3
0
°,
d
ef
au
lt
m
o
d
e
th
at
m
ak
es
th
e
ca
m
er
a
in
a
s
tead
y
p
o
s
i
tio
n
,
wh
eth
er
in
h
o
r
izo
n
tal
o
r
v
er
tical
d
ir
ec
tio
n
s
,
o
p
er
atio
n
al
co
n
tr
o
l
o
f
s
p
y
lis
t
en
in
g
d
ev
ice
to
ON/OFF
an
d
f
in
al
m
o
d
e
th
at’
s
co
n
tr
o
l
o
f
all
th
e
s
p
y
d
ev
ices
to
b
e
tu
r
n
ON/OFF.
T
h
e
tech
n
o
lo
g
y
ad
o
p
ted
in
th
is
d
esig
n
is
DT
MF
an
d
GSM
n
etwo
r
k
.
T
h
e
r
e
q
u
ir
ed
co
m
p
o
n
en
ts
to
im
p
lem
en
ted
th
e
p
r
o
p
o
s
ed
d
esig
n
co
n
s
is
ts
o
f
Ar
d
u
in
o
b
o
ar
d
,
two
m
o
b
ile
p
h
o
n
es,
DT
MF
d
ec
o
d
er
,
L
2
9
3
m
o
to
r
d
r
iv
e
r
,
two
SP
DT
(
s
in
g
le
p
o
le
d
o
u
b
le
th
r
o
u
g
h
)
latc
h
r
elay
s
'
,
UL
N2
0
0
3
i
n
teg
r
ate
d
cir
cu
it,
two
D.
C
m
o
to
r
s
,
p
o
we
r
s
u
p
p
ly
,
s
p
y
ca
m
er
a
an
d
lis
ten
in
g
d
ev
ice.
2.
SYST
E
M
CO
M
P
O
N
E
N
T
S
AND
M
E
T
H
O
DO
L
O
G
Y
T
h
e
cu
r
r
en
t
s
y
s
tem
c
o
m
p
o
n
e
n
ts
as
s
h
o
wn
in
th
e
b
lo
ck
d
i
ag
r
am
in
Fig
u
r
e
1
ca
n
b
e
g
i
v
en
a
b
r
ief
ex
p
lan
atio
n
as
f
o
llo
ws:
Ar
d
u
i
n
o
as
a
ce
n
tr
al
p
r
o
ce
s
s
in
g
c
o
m
p
o
n
e
n
t
to
im
p
lem
e
n
t
th
e
s
y
s
tem
alg
o
r
ith
m
.
T
wo
m
o
b
ile
p
h
o
n
es
ar
e
u
s
ed
,
o
n
e
o
f
wh
ich
is
in
ten
d
ed
f
o
r
th
e
u
s
er
to
g
en
e
r
ate
DT
MF
to
n
es,
an
d
th
en
th
ese
to
n
es
ar
e
s
en
t
v
ia
GSM
n
etwo
r
k
to
a
r
em
o
te
p
h
o
n
e
f
o
r
tr
a
n
s
f
er
to
th
e
d
ec
o
d
er
.
Use
th
e
DT
MF
C
M
8
8
7
0
I
C
(
in
teg
r
ate
d
cir
cu
it
)
d
ec
o
d
er
th
at
d
ec
o
d
es
t
h
e
r
ec
eiv
ed
DT
MF
an
al
o
g
to
n
e
p
air
s
an
d
c
o
n
v
er
ts
th
em
to
4
b
its
d
ig
ital
to
n
es
f
o
r
ea
s
e
o
f
h
an
d
lin
g
with
o
t
h
er
d
ig
ital
d
ev
ices
[
2
3
]
.
T
h
e
d
ec
o
d
er
will
r
ec
o
g
n
ize
th
e
to
n
e
f
r
eq
u
en
cy
o
f
th
e
ce
ll
p
h
o
n
e
k
ey
an
d
ch
a
n
g
e
to
its
eq
u
iv
alen
t
d
ig
ital
c
o
d
e
w
h
ich
is
t
h
en
f
e
d
to
f
o
u
r
in
p
u
ts
o
f
Ar
d
u
i
n
o
p
i
n
s
(
PD
5
,
PD
4
,
PD3
,
PD
2
)
.
T
h
e
Ar
d
u
in
o
b
o
ar
d
will
p
r
o
ce
s
s
all
th
e
s
y
s
tem
f
u
n
ctio
n
s
d
e
p
en
d
o
n
th
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
.
T
h
e
s
k
etch
is
th
e
n
am
e
o
f
alg
o
r
ith
m
co
d
e
wr
itten
.
T
h
e
s
o
f
t
war
e
u
s
ed
f
o
r
d
ev
elo
p
i
n
g
s
u
ch
s
k
etch
is
k
n
o
wn
as
th
e
I
n
teg
r
ate
d
Dev
elo
p
m
en
t E
n
v
ir
o
n
m
en
t
(
I
DE
)
[
2
4
-
2
6
]
.
A
s
et
o
f
c
o
n
tr
o
l
s
ig
n
als,
r
esu
lt
f
r
o
m
r
ea
d
in
g
an
d
a
n
aly
s
is
p
r
o
c
ess
th
at
o
cc
u
r
d
u
r
i
n
g
t
h
e
im
p
le
m
en
tatio
n
o
f
th
e
alg
o
r
ith
m
co
d
e.
T
h
ese
s
ig
n
als
ar
e
in
ten
d
ed
f
o
r
m
u
ltip
le
f
u
n
ctio
n
s
,
n
a
m
ely
to
r
o
tate
th
e
h
o
r
izo
n
tal
d
ir
ec
tio
n
al
m
o
to
r
(
HDM
)
an
d
v
er
tical
d
ir
ec
tio
n
al
m
o
to
r
(
VD
M
)
o
f
th
e
s
p
y
ca
m
er
a
at
t
h
e
d
esire
d
d
ir
ec
tio
n
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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6
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18
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6
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:
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1
5
3112
T
h
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ac
tiv
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im
p
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by
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Ca
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A
360°
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ay
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m
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e
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er
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e
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n
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m
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er
1,
wh
ich
lead
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u
tp
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t
b
in
ar
y
to
n
e
eq
u
al
to
(
Q3
Q2
Q1
Q0
=
0
0
0
1
)
.
If
th
e
s
y
s
tem
alg
o
r
ith
m
r
ea
d
t
h
is
v
alu
e,
th
e
c
o
m
m
an
d
n
a
m
e
HDM
ASM
will
ex
ec
u
ted
,
r
esu
lt
to
g
en
er
ate
a
p
air
of
co
n
t
r
o
l
s
ig
n
als
at
p
in
s
(6
a
n
d
7)
wh
ich
lead
s
to
r
o
tate
th
e
HDM
in
two
way
s
.
T
h
e
f
ir
s
t
way
,
th
e
clo
c
k
wis
e
s
ea
r
ch
th
at
is
o
cc
u
r
s
wh
en
t
h
e
s
tate
of
p
in
(
6
)
at
lo
g
ic
one
an
d
p
in
(
7
)
at
lo
g
ic
ze
r
o
.
T
h
e
s
ec
o
n
d
way
,
th
e
a
n
ticlo
ck
wis
e
s
ea
r
ch
,
o
cc
u
r
e
wh
en
p
i
n
(
6
)
at
lo
g
ic
ze
r
o
a
n
d
p
in
(
7
)
at
lo
g
ic
o
n
e.
4
.2
.
Ca
s
e
t
w
o
:
9
0
°
s
hift
rig
ht
Pre
s
s
k
ey
n
u
m
b
er
2
at
ac
tiv
a
te
th
is
ca
s
e.
B
in
ar
y
to
n
e
r
ea
d
in
g
eq
u
al
to
(
Q3
Q2
Q1
Q0
=
0
0
1
0
)
will
g
en
er
ated
an
d
r
esu
lt
to
ex
ec
u
te
HDM
S
R
9
0
co
m
m
an
d
wh
ich
lead
s
to
g
en
er
ate
a
p
air
o
f
co
n
tr
o
l
s
ig
n
al
at
p
in
s
(
6
an
d
7
)
so
th
at
p
in
(
6
)
at
lo
g
i
c
one
a
n
d
p
in
(
7
)
at
lo
g
ic
ze
r
o
.
At
th
is
ca
s
e
th
e
HDM
m
o
v
e
to
s
h
if
t
r
ig
h
t
to
90
°
.
Fig
u
r
e
4
s
h
o
ws
d
if
f
er
en
t
h
o
r
iz
o
n
tal
an
g
les
of
HDM
.
Fig
u
r
e
4.
Dif
f
e
r
en
t
h
o
r
izo
n
tal
p
o
s
itio
n
s
of
HDM
;
(
a)
d
ef
a
u
lt
0
d
e
g
r
ee
,
(
b
)
s
h
if
t
r
ig
h
t
90
d
eg
r
ee
,
(
c)
s
h
if
t
r
ig
h
t
1
8
0
d
eg
r
ee
,
(
d
)
s
h
if
t
lef
t
90
d
e
g
r
ee
4
.3
.
Ca
s
e
t
hree
:
1
8
0
°
s
hift
rig
ht
W
h
en
to
n
e
r
ea
d
in
g
eq
u
al
to
(
Q3
Q2
Q1
Q0
=
0011)
m
atc
h
ed
with
p
r
ess
k
ey
3,
T
h
e
th
er
e'
d
ca
s
e
wi
ll
im
p
lem
en
ted
to
m
ak
e
th
e
HD
MSR
1
8
0
co
m
m
an
d
to
ex
ec
u
ted
f
o
r
ch
an
g
e
th
e
s
tate
of
p
in
(
6
)
to
lo
g
ic
one
an
d
p
in
(
7
)
to
lo
g
ic
ze
r
o
,
t
h
is
m
ak
e
th
e
HDM
move
to
s
h
if
t
r
ig
h
t
to
180
°
.
4
.4
.
Ca
s
e
f
o
ur:
9
0
°
s
hift
lef
t
T
h
e
HDM
s
h
if
t
lef
t
to
90
°
,
t
h
is
is
th
e
f
u
n
ctio
n
of
f
o
u
r
th
ca
s
e
th
at
im
p
lem
e
n
ted
w
h
en
t
h
e
k
ey
n
u
m
b
e
r
4
is
p
r
ess
ed
.
T
h
is
lead
s
to
th
e
im
p
lem
en
tatio
n
of
th
e
HDM
SL9
0
co
m
m
an
d
,
wh
ich
ch
an
g
es
th
e
s
tate
of
p
in
(
6
)
to
lo
g
i
c
ze
r
o
an
d
p
in
(
7
)
to
l
o
g
ic
o
n
e.
T
h
is
ca
s
e
ex
ec
u
te
w
h
e
n
th
e
to
n
e
r
ea
d
in
g
eq
u
al
to
(
Q
3
Q2
Q1
Q0
=
0
1
0
0
)
.
4
.
5
.
Ca
s
e
f
i
v
e
:
def
a
ult
c
a
s
e
At
th
is
ca
s
e
th
e
two
m
o
to
r
s
HDM
an
d
VDM
f
i
x
ed
at
a
d
e
f
au
lt
d
ir
ec
tio
n
,
so
th
at
th
e
H
DM
f
ix
ed
at
d
ir
ec
tio
n
ze
r
o
of
x
-
ax
is
an
d
V
DM
s
to
p
p
ed
at
d
ir
ec
tio
n
ze
r
o
of
y
-
ax
is
as
s
h
o
wn
in
Fig
u
r
es
4
an
d
5
r
esp
ec
tf
u
lly
.
T
h
is
ca
s
e
im
p
lem
en
ted
wh
en
th
e
k
ey
n
u
m
b
er
5
is
p
r
e
s
s
ed
th
at
lead
to
g
e
n
er
ate
a
b
in
ar
y
to
n
e
r
ea
d
in
g
v
alu
e
eq
u
al
to
(
Q3
Q2
Q1
Q0
=
0
1
0
1
)
th
en
ex
ec
u
te
th
e
co
m
m
an
d
DHAVDM
,
as
a
r
esu
lt
to
g
en
er
ate
a
co
n
tr
o
l
s
ig
n
als
at
p
in
s
(
6
,
7,
8,
a
n
d
9
)
so
th
at
all
th
ese
s
ig
n
al
at
lo
g
ic
ze
r
o
.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
Wir
ele
s
s
co
n
tr
o
l
s
yste
m
fo
r
s
p
y
d
ev
ices b
a
s
ed
d
u
a
l to
n
e
mu
lti fr
eq
u
en
cy
tech
n
o
l
o
g
y
(
J
a
b
b
a
r
S
h
a
tti Ja
h
lo
o
l
)
3113
(
a)
(
b
)
(
c)
Fig
u
r
e
5.
Dif
f
e
r
en
t
v
e
r
tical
p
o
s
itio
n
s
of
VDM
of
s
p
y
ca
m
e
r
a
;
(
a)
d
ef
a
u
lt c
ase,
(
b
)
u
p
3
0
d
e
g
r
ee
,
an
d
(
c)
d
o
wn
3
0
d
e
g
r
ee
4
.6
.
Ca
s
e
s
ix
:
v
er
t
ica
l
up
3
0
°
T
h
e
f
u
n
ctio
n
of
th
is
ca
s
e:
m
o
v
e
th
e
VDM
in
v
e
r
tical
d
ir
ec
ti
o
n
up
to
30
°
.
T
h
is
ca
s
e
en
ab
le
wh
en
k
e
y
6
is
p
r
ess
ed
,
th
at
lead
to
g
en
er
ate
a
b
in
ar
y
to
n
e
v
al
u
e
eq
u
al
to
(
Q3
Q2
Q1
Q0
=
0
1
1
0
)
an
d
allo
ws
to
ex
ec
u
te
VDM
U3
0
co
m
m
an
d
will
r
esu
lts
a
p
air
of
c
o
n
tr
o
l
s
ig
n
als
ar
e
g
en
er
ated
at
p
in
s
(8
an
d
9
)
.
So
th
at
p
in
(
8
)
at
h
ig
h
s
tate
an
d
pi
n
(
9
)
at
lo
w
s
tate
as
ex
p
lain
in
Fig
u
r
e
5
s
h
o
ws
p
o
s
itio
n
s
of
d
if
f
er
e
n
t
v
er
tical
an
g
les
of
VDM
.
4
.7
.
Ca
s
e
s
ev
en:
v
er
t
ica
l
do
wn
30°
T
h
is
ca
s
e
h
as
im
p
lem
en
ted
wh
en
k
ey
7
is
p
r
ess
ed
th
at
m
ak
e
th
e
VDM
move
in
v
er
tical
d
ir
ec
tio
n
to
d
o
wn
30
°.
T
h
is
is
wh
en
ex
ec
u
t
e
VDM
D3
0
co
m
m
a
n
d
.
T
h
is
p
r
o
ce
s
s
is
o
cc
u
r
wh
en
th
e
alg
o
r
it
h
m
r
ec
eiv
e
b
in
ar
y
to
n
es
v
alu
e
eq
u
al
to
(
Q3
Q2
Q
1
Q0
=
0
1
1
1
)
,
as
a
r
esu
lt,
a
p
air
of
co
n
tr
o
l
s
ig
n
als
will
g
en
er
at
ed
at
p
in
s
(8
a
n
d
9)
in
wh
ich
,
p
i
n
(
8
)
at
lo
w
s
tate
an
d
p
in
(
9
)
at
h
ig
h
s
tate.
4
.8
.
Ca
s
e
eig
ht
:
O
N/O
F
F
lis
t
en
dev
ice
T
h
is
ca
s
e
o
cc
u
r
wh
en
k
e
y
8
i
s
p
r
ess
ed
,
th
is
lead
to
ex
ec
u
te
L
DONO
FF
co
m
m
an
d
wh
en
r
ec
eiv
in
g
b
in
ar
y
to
n
e
v
alu
e
eq
u
al
to
(
Q3
Q2
Q1
Q0
=
1
0
0
0
)
.
E
x
ec
u
tin
g
th
e
L
DONO
FF
co
m
m
an
d
g
en
er
ates
a
h
ig
h
-
s
tate
co
n
tr
o
l
s
ig
n
al
at
p
in
(
1
0
)
,
ca
u
s
in
g
th
e
ex
citatio
n
r
elay
d
r
iv
e
r
UL
N2
0
0
3
th
en
ex
citatio
n
r
ela
y
R
L
2
th
at’
s
allo
wed
th
e
r
eq
u
ir
ed
p
o
wer
t
o
r
ea
ch
t
h
e
lis
ten
in
g
d
ev
ice
t
o
tu
r
n
it
to
ON
s
tate.
B
ec
au
s
e
th
is
r
ela
y
is
latch
t
y
p
e
t
h
en
s
ec
o
n
d
s
ig
n
al
with
lo
g
ic
h
ig
h
at
th
e
s
am
e
p
in
will tu
r
n
it a
t
OFF s
tate
th
en
tu
r
n
OFF lis
ten
d
ev
ice.
T
h
e
s
ec
o
n
d
s
ig
n
al
is
g
en
er
ated
wh
en
k
ey
8
is
p
r
ess
ed
a
g
ain
will
ca
u
s
e
t
o
r
ep
ea
ted
t
h
e
p
r
o
ce
s
s
at
s
ec
o
n
d
tim
e.
4
.9
.
Ca
s
e
nin
e:
O
N/O
F
F
s
py
dev
ices
T
h
is
ca
s
e
is
ac
tiv
ated
wh
en
th
e
k
ey
n
u
m
b
er
0
is
p
r
ess
ed
.
T
h
e
f
u
n
ctio
n
of
th
is
ca
s
e
lik
e
t
h
e
ON/OF
F
s
witch
f
o
r
an
y
elec
tr
ic
d
ev
ice
th
at
m
ak
e
all
th
e
s
p
y
d
e
v
ices
an
d
th
eir
d
r
i
v
er
s
to
t
u
r
n
ON
or
OFF
d
ep
en
d
in
g
on
th
e
co
n
tr
o
l
s
ig
n
al
ca
u
s
ed
to
c
o
n
tr
o
l
of
r
elay
R
L
1
.
B
ec
au
s
e
th
e
R
L
1
is
a
latch
r
elay
th
e
r
ef
o
r
e
th
e
f
ir
s
t
lo
g
ic
h
ig
h
s
ig
n
al
at
p
in
(
1
1
)
will
en
ab
le
t
h
e
R
L
1
an
d
th
e
s
ec
o
n
d
lo
g
ic
h
ig
h
s
ig
n
al
will
d
is
ab
le
it.
T
h
is
done
wh
e
n
th
e
in
p
u
t
b
in
ar
y
r
ea
d
in
g
to
n
e
e
q
u
al
to
(
Q3
Q2
Q1
Q0
=
1
0
1
1
)
a
n
d
th
e
c
o
m
m
en
d
ADON
OFF
will
be
ex
ec
u
ted
th
at
r
esu
lt
a
lo
g
ic
one
co
n
tr
o
l
s
ig
n
al
at
p
i
n
(
1
1
)
of
b
o
ar
d
will g
en
er
ate
d
.
5.
RE
SU
L
T
S
I
n
t
h
i
s
p
r
o
p
o
s
e
d
r
e
s
e
a
r
c
h
,
d
i
f
f
e
r
e
n
t
D
T
M
F
s
i
g
n
a
l
h
a
s
b
e
e
n
g
e
n
e
r
a
t
e
d
b
y
p
r
e
s
s
i
n
g
d
i
f
f
e
r
e
n
t
k
e
y
s
o
n
t
h
e
k
e
y
p
a
d
o
f
u
s
e
r
m
o
b
i
l
e
p
h
o
n
e
.
T
h
e
s
e
s
i
g
n
a
l
s
s
e
n
d
t
o
r
e
m
o
t
e
p
l
a
c
e
m
o
b
i
l
e
p
h
o
n
e
t
h
r
o
u
g
h
G
S
M
n
e
t
w
o
r
k
t
h
e
n
t
r
a
n
s
f
e
r
t
o
t
h
e
D
T
M
F
d
e
c
o
d
e
d
i
n
o
r
d
e
r
t
o
o
u
t
p
u
t
f
o
u
r
d
i
g
i
t
a
l
b
i
t
s
t
o
n
e
s
c
o
r
r
e
s
p
o
n
d
i
n
g
t
o
t
h
e
p
r
e
s
s
e
d
k
e
y
.
T
h
e
D
T
M
F
s
i
g
n
a
l
s
f
r
o
m
n
i
n
e
d
i
f
f
e
r
e
n
t
k
e
y
s
h
a
v
e
b
e
e
n
u
s
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CO
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SI
O
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T
h
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p
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s
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t
tim
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h
is
d
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is
u
s
ed
in
s
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ity
an
d
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in
s
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s
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er
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eq
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to
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n
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r
its
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,
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in
s
ec
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i
ty
h
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s
p
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lly
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d
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th
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s
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t
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th
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h
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m
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s
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s
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th
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f
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n
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m
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tely
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n
tr
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l
s
p
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d
ev
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es
with
o
u
t
th
e
n
ee
d
f
o
r
m
an
u
al
s
witch
in
g
.
T
h
e
u
s
e
o
f
DT
MF
tech
n
o
lo
g
y
h
elp
s
to
u
s
e
th
is
s
y
s
tem
f
r
o
m
d
if
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e
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en
t
lo
ca
tio
n
s
,
with
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u
t
r
estrictio
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s
in
p
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r
tim
e.
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e
s
y
s
tem
h
as
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ee
n
s
i
m
p
lifie
d
b
y
allo
win
g
d
e
v
ices
to
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e
c
o
n
tr
o
lled
b
y
m
o
b
ile
p
r
ess
ed
n
u
m
b
er
s
.
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h
e
u
s
er
o
n
ly
n
ee
d
s
a
s
im
p
le
tr
ain
in
g
to
lear
n
ab
o
u
t
n
u
m
b
er
s
f
u
n
ctio
n
s
.
E
ac
h
n
u
m
b
er
is
ass
ig
n
ed
to
p
er
f
o
r
m
o
n
e
jo
b
.
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n
th
is
wo
r
k
,
n
in
e
f
u
n
ctio
n
s
wer
e
id
en
tifie
d
.
T
h
ese
f
u
n
ctio
n
s
r
ep
r
esen
t m
o
v
in
g
th
e
ca
m
er
a
to
s
ea
r
ch
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g
in
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o
r
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n
ticlo
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s
h
if
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ig
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t,
u
p
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d
d
o
wn
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r
tellin
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it
to
s
witch
ON
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r
OFF,
it
wo
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ld
en
ab
le
th
e
u
s
er
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lly
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n
tr
o
l
th
e
d
e
v
ices
with
o
u
t
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y
ef
f
o
r
t.
An
im
p
o
r
tan
t
p
o
in
t
to
r
em
em
b
er
is
r
ely
in
g
o
n
lo
ca
l
ce
llu
lar
n
etwo
r
k
s
av
ailab
le
in
ev
er
y
co
u
n
tr
y
a
n
d
ev
er
y
wh
er
e
.
Usi
n
g
th
is
s
y
s
tem
ca
n
p
r
o
v
id
e
im
p
o
r
tan
t
s
ec
u
r
ity
an
d
in
tellig
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ce
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eq
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ir
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ts
f
o
r
t
h
e
p
lace
to
b
e
m
o
n
ito
r
ed
,
wh
ich
ar
e,
co
v
er
in
g
v
id
eo
an
d
au
d
io
b
y
s
im
p
le
m
e
an
s
,
n
o
t
ca
u
s
in
g
n
o
is
e
o
r
ex
cit
em
en
t,
r
em
o
te
co
n
tr
o
l
o
f
th
e
d
ev
ice
with
o
u
t
h
u
m
a
n
in
ter
v
en
tio
n
,
an
d
f
in
ally
,
r
ely
o
n
ch
ea
p
an
d
av
ailab
le
tech
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o
lo
g
ies,
wh
ich
ar
e
DT
MF
an
d
GSM
n
etwo
r
k
s
.
RE
F
E
R
E
NC
E
S
[1
]
J.
Ku
m
a
r,
A.
Ku
m
a
r,
N.
Ku
m
a
r
,
P
.
Ba
n
a
l,
R.
Ka
sh
y
a
p
a
n
d
S
.
Ku
m
a
r,
"
Lo
n
g
Ra
n
g
e
S
p
y
R
o
b
o
t
Us
in
g
DTM
F
Tec
h
n
o
l
o
g
y
,
"
In
ter
n
a
ti
o
n
a
l
j
o
u
r
n
a
l
f
o
r a
d
v
a
n
c
e
re
se
a
rc
h
in
sc
ien
c
e
a
n
d
e
n
g
in
e
e
rin
g
,
v
o
l.
6
,
n
o
.
5
,
p
p
.
8
1
-
8
9
,
2
0
1
7
.
[2
]
A.
Tay
a
b
N.
,
H.
Ra
sh
id
,
M
.
A.
M
a
h
m
u
d
a
n
d
M
d
.
S
h
a
rif
u
l,
"
De
si
g
n
&
Im
p
lem
e
n
tatio
n
o
f
a
M
icr
o
c
o
n
tro
ll
e
r
Ba
se
d
Lo
w
Co
st
DTM
F
C
o
n
tro
ll
e
d
Ac
o
u
stic
&
Visu
a
l
De
tec
ti
n
g
Ro
b
o
t
t
o
M
o
n
it
o
r
C
h
il
d
&
Ag
e
d
P
e
rso
n
,
”
In
ter
n
a
t
io
n
a
l
Co
n
fer
e
n
c
e
o
n
El
e
c
trica
l,
Co
mp
u
ter
a
n
d
Co
mm
u
n
ica
ti
o
n
En
g
i
n
e
e
rin
g
(
ECCE
)
,
7
–
9
F
e
b
ru
a
ry
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R.
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