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elec
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ing
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lect
ro
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ntr
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l.
18
,
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.
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er
2
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p
p
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ad
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ee
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pment of
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ehicle using
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tern
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sity
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i
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M
a
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sia
Art
icle
I
nfo
AB
S
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RAC
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A
r
ticle
his
to
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y:
R
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ed
J
an
17
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2
0
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0
R
ev
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ed
Ap
r
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,
2
0
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0
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ep
ted
May
11
,
2
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2
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In
t
h
e
p
a
st
d
e
c
a
d
e
s,
th
e
re
h
a
s
b
e
e
n
a
g
ro
wi
n
g
in
tere
st
i
n
u
n
m
a
n
n
e
d
a
e
rial
v
e
h
icle
s
(UA
Vs
)
fo
r
e
d
u
c
a
ti
o
n
a
l,
re
se
a
rc
h
,
b
u
si
n
e
ss
,
a
n
d
m
il
i
tary
p
u
rp
o
se
s.
Th
e
m
o
st
c
rit
ica
l
d
a
ta
f
o
r
a
fli
g
h
t
sy
ste
m
is
th
e
tele
m
e
try
d
a
ta
fro
m
th
e
G
P
S
a
n
d
wire
les
s
tran
sm
it
ter
a
n
d
a
ls
o
fro
m
t
h
e
g
y
ro
sc
o
p
e
a
n
d
a
c
c
e
lero
m
e
ter.
Th
e
o
b
jec
ti
v
e
o
f
t
h
is
p
a
p
e
r
is
to
d
e
v
e
lo
p
a
c
o
n
tr
o
l
sy
ste
m
fo
r
U
AV
u
sin
g
lo
n
g
-
ra
n
g
e
wire
les
s
c
o
m
m
u
n
ica
ti
o
n
a
n
d
G
P
S
.
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irst
,
M
a
tl
a
b
sim
u
l
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ti
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wa
s
c
o
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d
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c
ted
t
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tain
a
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o
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ti
m
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m
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ID
g
a
in
s
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ler.
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e
n
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Ra
wi
re
les
s
wa
s
e
v
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lu
a
ted
d
u
ri
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g
c
lea
r
a
n
d
ra
i
n
y
d
a
y
s.
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tatic
a
n
d
d
y
n
a
m
ic
p
o
in
ts
m
e
a
su
re
m
e
n
t
wa
s
c
o
n
d
u
c
ted
t
o
v
a
li
d
a
te
a
n
d
o
p
ti
m
ize
G
P
S
a
c
c
u
ra
c
y
.
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e
o
M
a
p
p
in
g
in
M
a
tl
a
b
a
n
d
G
o
o
g
le
G
P
S
G
e
o
P
lan
n
e
r
we
re
th
e
n
u
se
d
t
o
a
n
a
l
y
z
e
th
e
trav
e
led
UA
V
fli
g
h
t
p
a
t
h
.
K
ey
w
o
r
d
s
:
GPS
L
o
R
a
PID
co
n
tr
o
ller
Qu
ad
r
o
to
r
UAV
T
elem
etr
y
d
ata
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r
th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
T
ed
d
y
Su
r
y
a
Gu
n
awa
n
,
Dep
ar
tm
en
t o
f
E
lectr
ical
an
d
C
o
m
p
u
ter
E
n
g
in
ee
r
in
g
,
I
n
ter
n
atio
n
al
I
s
lam
ic
Un
iv
er
s
ity
Ma
lay
s
ia,
Ma
lay
s
ia.
E
m
ail:
ts
g
u
n
awa
n
@
iiu
m
.
ed
u
.
m
y
1.
I
NT
RO
D
UCT
I
O
N
I
n
th
e
p
ast
f
ew
y
e
ar
s
,
th
e
q
u
a
d
r
o
to
r
u
n
m
an
n
e
d
ae
r
ial
v
eh
ic
le
(
UAV)
h
as
g
ain
e
d
in
ter
est
d
u
e
to
its
co
m
p
ac
t size,
ag
ilit
y
,
a
n
d
au
to
n
o
m
o
u
s
f
lig
h
t
[
1
]
.
UAV
is
a
n
air
cr
af
t w
ith
o
u
t
a
p
ilo
t
o
n
b
o
a
r
d
an
d
ca
n
b
e
f
l
o
wn
b
y
a
r
em
o
te
co
n
tr
o
ller
f
r
o
m
a
g
r
o
u
n
d
co
n
tr
o
l
s
tatio
n
.
UAV
s
ca
n
f
ly
au
to
n
o
m
o
u
s
ly
an
d
also
m
an
u
ally
b
y
r
em
o
te
co
n
tr
o
ller
.
T
h
e
r
e
ar
e
m
an
y
ty
p
es
o
f
UAV
ac
r
o
s
s
th
e
wo
r
ld
,
an
d
th
ey
h
av
e
s
p
ec
if
ic
task
an
d
m
is
s
io
n
th
at
d
ep
en
d
s
o
n
th
e
p
er
s
o
n
wh
o
b
u
ilt
th
e
U
AV.
A
q
u
ad
r
o
to
r
s
y
s
tem
ca
n
b
e
u
s
ed
f
o
r
s
u
r
v
eillan
ce
[
2
,
3
]
,
r
escu
e
[
4
,
5
]
,
ae
r
ial
p
h
o
to
g
r
ap
h
y
[
6
,
7
]
,
p
r
ec
is
io
n
a
g
r
icu
ltu
r
e
[
8
,
9
]
,
an
d
o
th
er
wo
r
k
s
th
at
ar
e
d
an
g
e
r
o
u
s
o
r
s
p
ac
e
lim
ited
f
o
r
h
u
m
an
b
ein
g
s
[
1
0
]
.
At
f
ir
s
t,
UAV
was
n
o
t
au
to
n
o
m
o
u
s
ly
co
n
tr
o
lled
.
I
t
was
co
n
tr
o
lled
b
y
r
em
o
te
c
o
n
tr
o
l
a
n
d
b
y
m
an
u
al
r
ad
io
,
j
u
s
t
lik
e
a
t
y
p
ical
air
c
r
af
t.
T
h
e
co
n
tr
o
l
s
y
s
tem
s
o
f
q
u
ad
r
o
to
r
UAV
h
as
b
ee
n
c
o
n
d
u
cte
d
b
y
m
a
n
y
r
esear
ch
er
s
.
I
n
[
1
1
,
1
2
]
,
th
e
r
i
g
id
b
o
d
y
d
y
n
am
ics
o
f
a
q
u
a
d
r
o
to
r
UAV
an
d
s
ev
er
al
ef
f
ec
t
s
o
f
ae
r
o
d
y
n
am
ics
wer
e
in
v
esti
g
ated
.
Sev
er
al
co
n
tr
o
ller
ca
n
b
e
im
p
lem
e
n
ted
,
in
clu
d
in
g
th
e
PID
co
n
tr
o
ller
[
1
2
]
,
b
ac
k
s
tep
p
in
g
co
n
tr
o
ller
[
1
3
,
1
4
]
,
s
lid
in
g
-
m
o
d
e
co
n
tr
o
ller
[
1
5
,
1
6
]
,
ad
a
p
ti
v
e
co
n
tr
o
l
[
1
7
]
,
f
u
zz
y
lo
g
ic
[
1
8
,
1
9
]
,
q
u
a
n
titativ
e
f
ee
d
b
ac
k
[
2
0]
,
r
ei
n
f
o
r
ce
m
en
t
lear
n
in
g
[
2
1
]
,
etc.
A
r
ev
iew
o
f
v
ar
io
u
s
co
n
tr
o
l
s
y
s
tem
s
'
p
er
f
o
r
m
an
ce
ca
n
b
e
f
o
u
n
d
in
[
2
2
]
.
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
Dev
elo
p
men
t o
f c
o
n
tr
o
l sys
te
m
fo
r
q
u
a
d
r
o
to
r
u
n
ma
n
n
e
d
a
e
r
ia
l v
eh
icle
u
s
in
g
… (
Ted
d
y
S
u
r
ya
Gu
n
a
w
a
n
)
2675
Desp
ite
a
s
o
p
h
is
ticated
d
i
g
ital
av
io
n
ic
s
y
s
tem
in
s
talled
o
n
th
e
p
r
esen
t
air
cr
af
t
,
wh
ich
d
ef
i
n
es
air
cr
af
t
a
ltit
u
d
e,
s
p
ee
d
,
a
n
d
c
o
n
tin
u
o
u
s
p
o
s
itio
n
,
we
s
till
n
ee
d
th
e
UAV
in
v
ar
io
u
s
e
m
er
g
en
c
y
s
itu
atio
n
s
.
I
n
th
is
p
a
p
er
,
we
in
tr
o
d
u
ce
th
e
u
s
e
o
f
lo
n
g
-
r
an
g
e
(
L
o
R
a)
wir
eless
m
o
d
u
le
an
d
also
th
e
GPS
tr
ac
k
in
g
t
o
e
n
ab
le
th
e
Q
u
ad
r
o
t
o
r
UAV
to
o
b
tain
telem
etr
y
d
ata
,
f
o
r
e
x
a
m
p
le
,
a
c
o
n
tin
u
o
u
s
GPS
p
o
s
itio
n
.
T
h
e
d
y
n
am
ics
an
d
co
n
tr
o
l
s
y
s
tem
o
f
th
e
q
u
ad
r
o
to
r
UAV
was
m
o
d
el
ed
an
d
s
im
u
lated
in
Ma
tlab
.
I
n
o
r
d
er
t
o
g
et
p
r
ec
is
e
an
d
c
o
n
tin
u
o
u
s
d
ata
telem
etr
y
f
r
o
m
t
h
e
UAV
to
th
e
g
r
o
u
n
d
co
n
tr
o
l
s
tatio
n
(
GC
S),
we
u
s
e
th
e
lo
n
g
-
r
a
n
g
e
(
L
o
R
a)
wir
ele
s
s
co
m
m
u
n
icatio
n
s
y
s
tem
[
2
3
]
.
2.
Q
UADR
O
T
O
R
UN
M
ANN
E
D
AE
RI
AL
V
E
H
I
C
L
E
(
UA
V)
M
O
DE
L
L
I
NG
T
h
e
m
ajo
r
ity
o
f
co
m
m
er
cial
q
u
ad
r
o
to
r
s
ar
e
m
a
r
k
eted
with
t
h
e
aim
o
f
d
o
in
g
ae
r
ial
p
h
o
to
g
r
ap
h
y
,
e.
g
.
,
Aer
y
o
n
s
co
u
t,
Mic
r
o
d
r
o
n
es
m
d
4
-
1
0
0
0
,
Qu
an
s
er
Qb
all,
P
ar
r
o
t
AR
.
Dr
o
n
e
2
.
0
,
DJI
Ph
an
to
m
3
,
AscTe
c,
Mik
r
o
k
o
p
ter
,
etc.
I
n
ad
d
itio
n
,
th
er
e
a
r
e
m
a
n
y
c
o
m
m
u
n
it
ies
an
d
u
n
iv
er
s
ity
-
b
ase
d
o
p
e
n
-
s
o
u
r
ce
p
r
o
jects
f
o
r
q
u
ad
r
o
to
r
s
d
e
v
elo
p
m
en
t,
e
.
g
.
,
STARMA
C
X4
,
ANU
X4
-
Fly
er
,
Ar
d
u
in
o
AT
m
eg
a
b
ased
,
Mik
r
o
k
o
p
ter
b
ased
,
STM
3
2
b
ased
,
etc
[
2
4
]
.
T
h
e
s
tr
u
ctu
r
e
o
f
th
e
q
u
ad
r
o
to
r
UAVs
in
v
esti
g
ated
in
th
is
p
ap
er
is
as
s
h
o
wn
in
Fig
u
r
e
1
.
T
h
er
e
ar
e
two
k
e
y
s
tates o
f
th
e
q
u
ad
r
o
to
r
UAV,
i.e
.
,
p
o
s
itio
n
(
,
,
)
an
d
attitu
d
e
(
r
o
ll,
p
itch
,
y
aw)
.
T
h
e
p
o
s
itio
n
d
escr
ib
es
th
e
tr
an
s
latio
n
b
etwe
en
th
e
wo
r
ld
f
r
a
m
e
an
d
b
o
d
y
f
r
a
m
e.
T
h
e
attitu
d
e
d
escr
ib
es
r
o
tatio
n
b
etwe
en
th
e
wo
r
ld
an
d
b
o
d
y
f
r
am
es.
R
o
ll
d
escr
ib
es
h
o
w
th
e
r
ig
h
t
an
d
lef
t
s
id
e
s
ar
e
elev
ated
with
r
esp
ec
t
to
ea
ch
o
th
er
(
if
th
e
lef
t sid
e
p
u
s
h
ed
d
o
wn
,
a
n
d
th
e
r
ig
h
t sid
e
is
p
u
s
h
ed
u
p
,
th
e
UAV
will m
o
v
e
to
th
e
lef
t)
.
Pit
ch
d
escr
ib
es
h
o
w
t
h
e
f
r
o
n
t
an
d
b
ac
k
ar
e
elev
ated
with
r
esp
ec
t
to
ea
ch
o
th
er
(
if
th
e
f
r
o
n
t
is
m
o
v
e
d
d
o
wn
,
a
n
d
th
e
b
ac
k
is
u
p
,
it will m
o
v
e
f
o
r
war
d
)
.
An
d
y
aw
d
escr
ib
es th
e
r
o
tatio
n
o
f
th
e
d
r
o
n
e
(
if
th
e
f
r
o
n
t,
b
ac
k
,
an
d
b
o
th
s
id
es a
r
e
lev
eled
,
it c
an
tu
r
n
ar
o
u
n
d
t
h
e
y
aw
ax
is
with
o
u
t sh
if
tin
g
p
o
s
itio
n
)
.
T
h
e
d
y
n
am
ic
o
f
q
u
ad
r
o
to
r
U
AVs
ca
n
b
e
f
o
r
m
u
lated
as
d
escr
ib
ed
in
[
1
2
,
1
7
]
.
T
h
e
p
o
s
itio
n
,
,
an
d
attitu
d
e
(
r
o
ll,
p
itch
,
y
aw)
,
,
,
ca
n
b
e
f
o
r
m
u
lated
as:
̈
=
(
c
os
s
in
c
os
+
s
in
s
in
)
4
+
1
̈
=
(
c
os
s
in
s
in
−
s
in
c
os
)
4
+
2
̈
=
c
os
c
os
4
−
+
3
̈
=
̇
̇
(
−
)
+
̇
Ω
+
1
+
4
̈
=
̇
̇
(
−
)
−
̇
Ω
+
2
+
5
̈
=
̇
̇
(
−
)
+
1
3
+
6
(
1
)
wh
er
e
is
th
e
m
ass
o
f
th
e
q
u
ad
r
o
to
r
a
n
d
its
p
ay
lo
a
d
,
,
,
ar
e
th
e
m
o
m
en
ts
o
f
i
n
er
tia
o
f
t
h
e
q
u
a
d
r
o
to
r
,
is
h
e
len
g
th
f
r
o
m
th
e
b
a
r
y
ce
n
tr
e
to
th
e
ce
n
ter
o
f
ea
ch
r
o
to
r
,
an
d
Ω
p
r
o
v
i
d
e
th
e
m
o
m
e
n
ts
o
f
in
er
tia
an
d
an
g
u
lar
v
elo
city
o
f
th
e
p
r
o
p
eller
b
lad
es,
1
,
⋯
,
6
ar
e
b
o
u
n
d
ed
d
is
tu
r
b
an
ce
s
.
1
,
2
,
3
ar
e
th
r
u
s
ts
in
th
e
d
ir
ec
tio
n
o
f
r
o
ll,
p
itch
,
y
aw
an
d
4
is
th
e
co
llectiv
e
th
r
u
s
t.
T
h
e
r
elat
io
n
s
h
ip
s
b
et
wee
n
th
e
th
r
u
s
t
[
1
,
2
,
3
,
4
]
an
d
co
n
tr
o
l sig
n
als
[
1
,
2
,
3
,
4
]
f
o
r
m
o
t
o
r
s
ar
e
s
h
o
wn
as:
1
=
(
2
−
4
)
2
=
(
1
−
3
)
3
=
(
1
−
2
+
3
−
4
)
4
=
(
1
+
2
+
3
+
4
)
(
2
)
wh
er
e
[
1
,
2
,
3
,
4
]
ar
e
co
n
tr
o
l
s
ig
n
als
th
at
r
an
g
e
f
r
o
m
0
to
1
,
an
d
ar
e
t
h
e
p
ar
am
eter
s
w
h
ich
tr
a
n
s
late
co
n
tr
o
l
s
ig
n
als
to
th
r
u
s
ts
an
d
t
o
r
q
u
e.
T
h
e
p
r
o
p
o
r
tio
n
al
in
teg
r
al
d
er
iv
at
iv
e
(
PID
)
co
n
tr
o
ller
ca
n
b
e
u
s
ed
d
u
e
to
its
r
elativ
ely
s
im
p
le
s
tr
u
ctu
r
e,
wh
ich
ca
n
b
e
ea
s
i
ly
u
n
d
e
r
s
to
o
d
an
d
im
p
lem
en
ted
i
n
p
r
ac
tice
.
(
)
=
(
)
+
∫
(
)
+
(
)
0
(
3
)
wh
er
e
(
)
is
th
e
in
p
u
t sig
n
al,
(
)
=
(
)
−
(
)
is
t
h
e
er
r
o
r
s
ig
n
al,
,
,
ar
e
th
e
p
r
o
p
o
r
tio
n
al,
in
teg
r
al,
an
d
d
er
i
v
ativ
e
co
n
t
r
o
ller
g
ai
n
s
,
r
esp
ec
tiv
ely
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6
9
3
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tr
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Vo
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18
,
No
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5
,
Octo
b
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r
2
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2
0
:
267
4
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2676
Fig
u
r
e
1
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T
h
e
s
tr
u
ctu
r
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o
f
q
u
a
d
r
o
to
r
UAVs a
d
o
p
ted
f
r
o
m
[
2
1
]
3.
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tatic
lo
ca
tio
n
,
an
d
th
e
GPS
co
o
r
d
in
ates
o
f
th
at
lo
ca
tio
n
ar
e
m
ea
s
u
r
ed
u
s
i
n
g
th
e
GPS
Ub
lo
x
N
E
O,
in
wh
ich
we
o
b
tain
ed
Po
in
t
A.
W
e
th
en
m
o
v
ed
th
e
GPS
r
ec
eiv
er
to
an
o
th
er
lo
ca
tio
n
,
an
d
th
e
GPS
co
o
r
d
in
ates
a
t
th
at
lo
ca
tio
n
w
er
e
tr
an
s
m
itted
u
s
in
g
L
o
R
a
to
th
e
g
r
o
u
n
d
s
tatio
n
an
d
r
ec
o
r
d
ed
to
o
b
tain
Po
in
t
B
.
T
h
e
d
is
tan
ce
b
etwe
en
p
o
in
t
A
an
d
p
o
in
t B th
en
ca
n
b
e
ca
lcu
lated
.
Fo
r
d
y
n
am
ic
p
o
in
ts
m
ea
s
u
r
e
m
en
t,
th
e
g
r
o
u
n
d
s
tatio
n
GPS
lo
ca
tio
n
h
as
b
ee
n
r
ec
o
r
d
ed
e
ar
lier
(
f
r
o
m
s
tatic
m
ea
s
u
r
em
en
t)
.
T
h
e
L
o
R
a
tr
an
s
m
itte
r
is
attac
h
ed
to
th
e
q
u
ad
r
o
to
r
UAV.
T
h
e
UAV
is
th
en
f
lo
w
n
to
a
n
y
lo
ca
tio
n
s
,
an
d
its
p
o
s
itio
n
s
wer
e
tr
an
s
m
itted
to
th
e
g
r
o
u
n
d
s
tatio
n
an
d
r
ec
o
r
d
ed
.
Fo
r
an
aly
s
is
p
u
r
p
o
s
es,
th
e
r
ec
o
r
d
ed
GPS
lo
ca
tio
n
s
w
er
e
th
en
p
lo
tted
u
s
in
g
th
e
Geo
Ma
p
p
in
g
to
o
l
in
Ma
tlab
,
in
wh
ich
we
ca
n
f
u
r
th
e
r
an
aly
z
e
th
e
d
y
n
am
ic
f
lig
h
t p
at
h
.
4
.
3
.
E
x
perim
ent
o
n L
o
Ra
Fig
u
r
e
7
s
h
o
ws
an
ex
a
m
p
le
o
f
L
o
R
a
wir
eless
r
ec
eiv
er
o
u
tp
u
t
at
th
e
Gr
o
u
n
d
Statio
n
d
u
r
i
n
g
a
clea
r
d
ay
an
d
r
ain
y
d
a
y
.
T
h
e
SNR
v
alu
e
an
d
p
ac
k
et
len
g
th
d
u
r
in
g
th
e
r
ain
y
d
a
y
w
er
e
f
o
u
n
d
to
b
e
(
-
3
1
,
1
2
9
)
,
(
-
3
1
,
1
2
9
)
,
(
-
3
1
,
1
2
7
)
,
a
n
d
(
3
,
2
5
5
)
,
in
f
o
u
r
co
n
s
ec
u
tiv
e
r
ea
d
in
g
s
.
I
t
s
h
o
wed
th
at
d
u
r
in
g
r
ain
,
th
e
wir
eless
s
ig
n
al
is
atten
u
ated
,
an
d
th
e
SNR
f
lu
ctu
ates
to
-
3
1
d
B
as
it
e
x
p
er
ien
c
es
d
is
tu
r
b
an
ce
s
an
d
n
o
is
es.
Fro
m
th
is
ex
p
er
im
en
t
,
th
e
L
o
R
a
m
o
d
u
le
was f
o
u
n
d
t
o
b
e
wo
r
k
in
g
as e
x
p
ec
ted
.
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
Dev
elo
p
men
t o
f c
o
n
tr
o
l sys
te
m
fo
r
q
u
a
d
r
o
to
r
u
n
ma
n
n
e
d
a
e
r
ia
l v
eh
icle
u
s
in
g
… (
Ted
d
y
S
u
r
ya
Gu
n
a
w
a
n
)
2679
Fig
u
r
e
6
.
E
x
p
er
im
e
n
tal
s
etu
p
b
etwe
en
g
r
o
u
n
d
s
tatio
n
an
d
q
u
ad
r
o
to
r
UAV
(
a)
(
b
)
Fig
u
r
e
7
.
L
o
R
a
r
ec
eiv
er
o
u
tp
u
t d
u
r
in
g
a
clea
r
an
d
r
ain
y
d
ay
;
(
a)
clea
r
d
a
y
an
d
(
b
)
r
ain
y
d
ay
4.
4.
E
x
perim
ent
o
n G
P
S
a
cc
ura
cy
a
nd
G
eo
M
a
pp
ing
us
i
n
g
M
a
t
la
b a
nd
G
eo
pla
nn
er
As
d
escr
ib
ed
in
th
e
p
r
ev
io
u
s
s
ec
tio
n
,
th
e
d
y
n
am
ic
m
ea
s
u
r
em
en
t
was
u
s
ed
to
ev
alu
ate
G
PS
ac
cu
r
ac
y
.
Po
in
t
A
is
lo
ca
ted
at
th
e
Petan
q
u
e
ar
ea
o
f
Fem
ale
Sp
o
r
t
C
o
m
p
lex
,
I
I
UM
,
w
h
ile
Po
in
t
B
is
lo
ca
ted
at
Fem
ale
Sp
o
r
t
C
o
m
p
lex
Gy
m
,
I
I
UM
.
T
h
is
ex
p
er
im
en
t
was
r
ep
ea
ted
eig
h
t
tim
es,
an
d
th
e
r
esu
lt
is
s
h
o
wn
in
T
ab
le
1
.
I
n
co
n
clu
s
io
n
,
th
e
GPS
r
ec
eiv
er
m
o
d
u
le
is
wo
r
k
in
g
as
in
ten
d
e
d
.
Fig
u
r
e
s
8
an
d
9
s
h
o
w
ed
th
e
Geo
Ma
p
p
in
g
r
esu
lt
u
s
in
g
Ma
tlab
a
n
d
GPS
Plan
n
e
r
,
r
esp
ec
tiv
ely
.
T
h
e
d
is
tan
ce
t
r
av
eled
d
u
r
in
g
th
e
d
y
n
am
ic
G
PS
m
ea
s
u
r
em
en
t
is
ar
o
u
n
d
1
0
.
2
3
k
m
.
I
n
o
u
r
e
x
p
er
im
en
t,
th
e
q
u
a
d
r
o
to
r
UA
V
was
co
n
tr
o
lled
u
s
in
g
m
a
n
u
al
r
em
o
te
co
n
tr
o
l.
T
h
e
GPS co
o
r
d
in
ates
ar
e
th
en
r
ec
o
r
d
e
d
an
d
tr
a
n
s
m
itted
to
th
e
g
r
o
u
n
d
s
tatio
n
u
s
in
g
L
o
R
a.
Fo
r
th
e
au
to
n
o
m
o
u
s
f
lig
h
t,
we
co
u
l
d
cr
ea
te
a
f
lig
h
t
p
lan
b
ased
o
n
lo
ca
tio
n
s
in
wh
ich
th
e
UAV
co
u
ld
f
ly
on
its
o
w
n
f
o
llo
win
g
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6
9
3
0
T
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L
KOM
NI
KA
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elec
o
m
m
u
n
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o
m
p
u
t E
l Co
n
tr
o
l
,
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l.
18
,
No
.
5
,
Octo
b
e
r
2
0
2
0
:
267
4
-
2681
2680
th
e
f
lig
h
t
p
ath
.
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h
is
ca
n
b
e
u
s
ed
later
o
n
,
alo
n
g
with
th
e
im
ag
e
o
r
v
id
eo
r
ec
o
r
d
i
n
g
,
f
o
r
v
a
r
io
u
s
p
u
r
p
o
s
es,
s
u
ch
as g
eo
s
p
atial
m
ap
p
in
g
,
p
r
ec
is
i
o
n
ag
r
ic
u
ltu
r
e,
d
is
aster
ar
ea
m
ap
p
in
g
,
etc.
T
ab
le
1
.
L
atitu
d
e
,
lo
n
g
itu
d
e,
a
n
d
d
is
tan
ce
b
etwe
en
two
p
o
in
t
s
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e
l
t
a
(
l
a
t
i
t
u
d
e
)
l
o
n
g
i
t
u
d
e
(B
-
A)
M
e
a
n
l
a
t
i
t
u
d
e
P
o
i
n
t
A
P
o
i
n
t
B
La
t
2
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n
g
2
D
i
st
a
n
c
e
(
m)
A
l
t
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r
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e
:
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3
1
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2
.
4
6
Fig
u
r
e
8
.
Sam
p
le
o
f
GPS r
o
u
t
e
th
at
was tr
av
eled
in
r
ea
l
f
lig
h
t e
x
p
er
im
e
n
t u
s
in
g
Geo
M
a
p
p
in
g
Fig
u
r
e
9
.
Sam
p
le
o
f
GPS r
o
u
t
e
th
at
was tr
av
eled
in
r
ea
l
f
lig
h
t e
x
p
er
im
e
n
t u
s
in
g
GPS Ge
o
Plan
n
er
5.
CO
NCLU
SI
O
NS
T
h
i
s
p
a
p
e
r
h
a
s
p
r
e
s
e
n
t
e
d
t
h
e
d
e
s
i
g
n
o
f
t
h
e
c
o
n
t
r
o
l
s
y
s
t
e
m
o
f
q
u
a
d
r
o
t
o
r
U
A
V
u
s
i
n
g
L
o
R
a
w
i
r
e
l
e
s
s
c
o
m
m
u
n
i
c
a
t
i
o
n
a
n
d
G
P
S
m
o
d
u
l
e
s
.
M
a
t
l
a
b
s
i
m
u
l
a
t
i
o
n
w
a
s
c
o
n
d
u
c
t
e
d
t
o
o
b
t
a
i
n
a
n
o
p
t
i
m
u
m
P
I
D
g
a
i
n
s
c
o
n
t
r
o
l
l
e
r
.
N
e
x
t
,
t
h
e
s
u
i
t
a
b
i
l
i
t
y
o
f
t
h
e
L
o
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a
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i
r
e
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e
s
s
m
o
d
u
l
e
t
o
b
e
u
s
e
d
f
o
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e
l
e
m
e
t
r
y
d
a
t
a
w
a
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e
v
a
l
u
a
t
e
d
d
u
r
i
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a
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l
e
a
r
a
n
d
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a
i
n
y
d
a
y
.
T
h
e
G
P
S
t
e
l
e
m
e
t
r
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d
a
t
a
w
a
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a
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i
d
a
t
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d
a
n
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o
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m
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z
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d
u
s
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n
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s
t
a
t
i
c
a
n
d
d
y
n
a
m
i
c
p
o
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n
t
s
m
e
a
s
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r
e
m
e
n
t
s
.
L
a
s
t
l
y
,
G
e
o
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a
p
p
i
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n
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a
t
l
a
b
a
n
d
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o
o
g
l
e
G
P
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G
e
o
P
l
a
n
n
e
r
w
e
r
e
u
s
e
d
t
o
a
n
a
l
y
z
e
t
h
e
r
e
a
l
f
l
i
g
h
t
p
a
t
h
.
F
u
t
u
r
e
w
o
r
k
s
i
n
c
l
u
d
e
i
m
p
r
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v
e
d
s
i
m
u
l
a
t
i
o
n
o
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[1
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S
.
No
ro
u
z
i
G
h
a
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b
i,
Y.
Ag
h
li
,
M
.
Alimo
h
a
m
m
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i,
a
n
d
A.
Ak
b
a
ri
,
"
Qu
a
d
ro
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o
rs
Un
m
a
n
n
e
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rial
Ve
h
icle
:
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Re
v
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ter
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o
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e
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sin
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p
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0
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[2
]
R.
L.
F
in
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,
D.
J.
C
.
L.
Wr
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a
n
d
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.
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v
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m
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s:
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ti
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iew
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[3
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H.
Kim
a
n
d
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,
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[4
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.
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o
l
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Zen
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o
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ra
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p
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[5
]
J.
Qi,
D.
S
o
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g
,
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h
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Wa
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Qi
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n
d
J.
Ha
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,
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[6
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M
o
tl
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g
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ter
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s:
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[7
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C.
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n
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ll
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.
Ni
k
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lak
o
p
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l
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ter
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[8
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r,
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ja,
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M
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0
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Li
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Ha
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.
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.
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Wu
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.
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1
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[1
2
]
A.
L.
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li
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.
M
o
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1
3
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.
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4
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6
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8
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p
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telli
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9
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1
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X.
Li
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2
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3
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C.
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v
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-
M
o
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n
o
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o
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Á.
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4
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.
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5
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7
]
T.
S
.
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u
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.
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rti
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[2
8
]
T.
Bre
sc
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"
M
o
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d
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n
ti
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S
c
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sis,
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,
2
0
0
8
.
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