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i
n
f
a
c
t
i
s
hi
g
hl
y
p
e
rm
i
s
s
i
bl
e
,
prov
i
de
d
t
he
c
a
t
i
s
ke
p
t
s
u
c
h
t
h
a
t
i
t
l
ove
s
i
t
s
ow
n
fa
m
i
l
y
.
O
ne
of
t
h
e
t
h
i
ngs
t
ha
t
i
s
i
m
por
t
a
n
t
w
he
n
ke
e
pi
n
g
a
c
a
t
i
s
fe
e
di
ng
.
H
ow
e
ve
r
,
k
e
e
p
i
ng
a
c
a
t
a
t
ho
m
e
t
a
k
e
s
t
i
m
e
a
nd
e
ffor
t
.
T
h
e
da
t
a
from
t
h
e
di
s
t
ri
bu
t
e
d
que
s
t
i
on
na
i
r
e
s
s
how
e
d
66.
2
%
of
t
h
e
77
r
e
s
pond
e
nt
s
h
a
d
s
om
e
t
i
m
e
s
n
ot
fe
d
t
he
i
r
p
e
t
c
a
t
s
l
a
rge
l
y
due
t
o
forg
e
t
ful
n
e
s
s
a
nd
bus
yn
e
s
s
.
U
nde
r
o
t
he
r
c
ondi
t
i
ons
,
76
%
of
t
he
79
re
s
po
nde
n
t
s
w
ho
ha
ve
hom
e
c
om
i
ng
a
c
t
i
v
i
t
i
e
s
j
us
t
l
e
a
ve
t
h
e
c
a
t
,
e
i
t
he
r
e
n
t
rus
t
e
d
or
a
ba
n
done
d
a
t
h
om
e
w
i
t
h
t
he
v
a
l
u
e
of
c
on
c
e
rn
t
o
m
e
e
t
t
he
n
e
e
ds
of
t
h
e
c
a
t
6
3.
1
%
a
bov
e
5
(1
t
o
10
s
c
a
l
e
)
o
f
65
r
e
s
pond
e
nt
s
.
T
o
s
ol
ve
t
he
prob
l
e
m
,
t
h
e
d
a
t
a
ob
t
a
i
ne
d
fro
m
o
t
he
r
que
s
t
i
o
nna
i
r
e
s
,
i
nd
i
c
a
t
e
d
t
ha
t
87
.
3
%
of
79
r
e
s
pond
e
nt
s
ne
e
d
a
t
ool
t
h
a
t
c
a
n
he
l
p
c
a
t
ke
e
pe
rs
.
M
a
ny
s
t
ud
i
e
s
re
l
a
t
e
d
t
o
t
h
e
c
re
a
t
i
on
of
a
s
ys
t
e
m
o
r
t
oo
l
t
ha
t
c
a
n
be
a
s
o
l
ut
i
on
t
o
m
a
ke
i
t
e
a
s
i
e
r
fo
r
a
ni
m
a
l
k
e
e
pe
rs
t
o
t
a
ke
c
a
r
e
of
t
he
i
r
p
e
t
s
.
I
n
t
he
r
e
s
e
a
r
c
h
by
K
i
m
[7
]
,
t
w
o
m
i
ni
-
c
o
m
pu
t
e
rs
w
e
r
e
us
e
d
i
n
one
w
ork
s
ys
t
e
m
t
ha
t
c
ons
u
m
e
d
a
l
o
t
of
e
l
e
c
t
r
i
c
a
l
pow
e
r,
i
n
a
d
di
t
i
on
t
o
t
he
c
ont
r
ol
t
h
a
t
w
a
s
d
i
vi
d
e
d
i
nt
o
t
w
o
.
Chung
[8]
de
v
i
s
e
d
a
s
ys
t
e
m
w
i
t
h
m
a
ny
di
ff
e
r
e
nt
c
onn
e
c
t
e
d
ha
rdw
a
r
e
,
w
h
i
c
h
c
ou
l
d
c
a
us
e
di
ff
i
c
ul
t
i
e
s
i
n
t
he
c
a
re
a
nd
c
on
t
rol
of
t
h
e
s
ys
t
e
m
,
e
s
pe
c
i
a
l
l
y
for
e
l
d
e
rl
y
us
e
rs
.
Re
s
e
a
r
c
he
rs
T
e
s
s
e
m
a
[9]
,
P
r
a
s
ha
n
t
[10]
a
n
d
M
a
noj
[11
]
us
e
d
a
s
i
m
p
l
e
m
i
c
r
oc
on
t
ro
l
l
e
r
w
hi
c
h
m
a
de
t
he
s
y
s
t
e
m
t
oo
s
t
a
t
i
c
a
nd
d
i
ffi
c
u
l
t
t
o
d
e
ve
l
op
fu
nc
t
i
ons
.
Ba
s
e
d
on
t
h
e
ba
c
kgrou
nd
o
f
t
he
pro
bl
e
m
s
,
t
he
for
m
ul
a
t
i
on
of
s
e
v
e
ra
l
p
robl
e
m
s
i
s
:
−
H
ow
t
o
c
r
e
a
t
e
a
d
e
s
i
gn
of
a
n
a
ut
o
m
a
t
i
c
c
a
t
f
e
e
d
m
on
i
t
or
i
ng
s
ys
t
e
m
?
−
H
ow
do
m
on
i
t
o
ri
ng
c
ont
r
ol
s
ys
t
e
m
s
(
m
on
i
t
or
i
ng
a
n
d
g
i
ve
rs
)
fe
e
d
t
h
e
c
a
t
?
−
H
ow
t
o
c
r
e
a
t
e
a
s
ys
t
e
m
t
h
a
t
c
a
n
be
c
ont
r
ol
l
e
d
by
a
m
obi
l
e
?
S
o,
b
a
s
e
d
on
t
he
a
n
a
l
ys
i
s
o
f
t
he
n
e
e
ds
a
n
d
p
robl
e
m
s
t
h
a
t
c
urre
n
t
l
y
e
x
i
s
t
,
t
he
re
i
s
a
ne
e
d
t
o
m
a
k
e
i
m
pro
ve
m
e
n
t
s
.
A
s
pa
r
t
o
f
t
hi
s
pr
oc
e
s
s
,
a
m
oni
t
or
i
ng
s
ys
t
e
m
c
a
n
b
e
bu
i
l
t
w
i
t
h
r
e
m
ot
e
c
ont
r
ol
f
or
t
he
de
v
i
c
e
us
i
ng
a
m
ob
i
l
e
e
n
t
i
t
l
e
d
“
M
ob
i
l
e
-
B
a
s
e
d
M
on
i
t
or
i
ng
S
ys
t
e
m
f
or
a
n
A
ut
om
a
t
i
c
C
a
t
F
e
e
d
e
r
us
i
n
g
Ra
s
pb
e
rry
P
i
”
.
T
o
s
t
a
y
fo
c
us
e
d
a
n
d
i
n
a
c
c
ord
a
n
c
e
w
i
t
h
t
he
s
t
a
t
e
d
o
bj
e
c
t
i
v
e
s
,
t
h
e
l
i
m
i
t
a
t
i
ons
a
r
e
:
−
T
he
us
e
of
a
R
a
s
pbe
rr
y
P
i
a
s
t
he
m
a
i
n
i
nt
e
l
l
i
ge
nc
e
i
n
t
he
s
ys
t
e
m
.
−
Is
s
ue
s
t
o
e
a
s
e
t
h
e
prov
i
s
i
on
of
a
u
t
om
a
t
i
c
c
a
t
f
e
e
d
e
r.
−
U
s
e
t
h
e
P
r
ot
o
t
yp
i
ng
m
e
t
hod
for
s
ys
t
e
m
de
ve
l
op
m
e
n
t
.
−
Com
m
uni
c
a
t
i
o
n
b
e
t
w
e
e
n
t
he
s
ys
t
e
m
a
nd
t
he
t
oo
l
s
o
n
m
obi
l
e
us
i
ng
W
i
F
i
(
Int
e
rne
t
)
.
−
Ca
nno
t
b
e
a
pp
l
i
e
d
for
a
c
a
t
w
i
t
h
s
p
e
c
i
a
l
n
e
e
ds
.
2.
R
ES
EA
R
C
H
M
ET
H
O
D
2.
1
.
M
e
th
od
of
d
ata
c
o
l
l
e
c
t
i
on
O
bs
e
rva
t
i
on
,
I
nt
e
rvi
e
w
,
Q
ue
s
t
i
onn
a
i
r
e
a
nd
S
t
udy
L
i
t
e
ra
t
u
re
a
re
s
om
e
of
t
h
e
m
e
t
hods
o
f
d
a
t
a
c
ol
l
e
c
t
i
on.
F
r
om
s
o
m
e
of
t
h
e
s
e
m
e
t
hods
,
It
ga
i
ne
d
know
l
e
d
ge
a
b
out
h
ow
t
o
m
a
ke
a
n
a
ut
o
m
a
t
i
c
c
a
t
f
e
e
di
ng
s
ys
t
e
m
b
e
t
t
e
r
t
h
a
n
pre
v
i
ous
s
ys
t
e
m
s
o
r
s
i
m
i
l
a
r
pro
duc
t
s
.
2.
2
.
S
ys
te
ms
d
e
ve
l
op
me
n
t
m
e
th
od
s
In
t
h
e
d
e
v
e
l
op
m
e
nt
of
t
hi
s
s
ys
t
e
m
,
t
h
e
pr
ot
o
t
ypi
ng
m
e
t
hod
h
a
s
be
e
n
us
e
d
[12
,
13]
.
T
h
e
f
i
ve
s
t
a
ge
s
of
prot
ot
ypi
n
g
us
e
d
i
n
t
h
e
s
ys
t
e
m
de
v
e
l
opm
e
nt
pr
oc
e
s
s
[1
4]
fo
l
l
ow
t
h
e
pro
t
ot
yp
i
ng
p
a
ra
d
i
g
m
i
s
s
how
n
i
n
F
i
gure
1
.
2.
2
.
1.
C
om
mu
n
i
c
at
i
on
p
h
as
e
D
uri
ng
t
h
i
s
ph
a
s
e
,
c
o
m
m
uni
c
a
t
i
on
i
s
a
c
h
i
e
v
e
d
by
s
e
a
rc
h
i
n
g
re
l
a
t
e
d
i
nfor
m
a
t
i
o
n
t
hroug
h
r
e
f
e
re
n
c
e
books
a
n
d
j
ourna
l
s
c
onc
e
rn
i
ng
t
he
ha
b
i
t
of
c
a
t
s
w
he
n
fe
e
d
i
n
g.
T
hi
s
i
s
t
h
e
n
di
s
c
us
s
e
d
w
i
t
h
e
xp
e
rt
s
a
nd
a
ut
hors
i
n
t
he
fi
e
l
d
of
r
e
s
e
a
rc
h
.
2.
2
.
2.
R
e
q
u
i
r
e
me
n
ts
gath
e
r
i
n
g
p
h
as
e
In
t
hi
s
pha
s
e
,
t
he
c
o
l
l
e
c
t
i
on
of
n
e
e
ds
t
a
k
e
s
p
l
a
c
e
i
n
w
h
i
c
h
d
a
t
a
c
ol
l
e
c
t
i
on
i
s
pe
rf
orm
e
d
by
obs
e
rva
t
i
on
,
i
nt
e
rvi
e
w
s
,
a
nd
qu
e
s
t
i
o
nna
i
re
s
w
i
t
h
r
e
l
a
t
e
d
p
a
rt
i
e
s
a
nd
a
l
i
t
e
r
a
t
ur
e
s
t
udy
[15,
16]
.
T
h
i
s
d
e
m
a
nd
-
g
a
t
h
e
ri
ng
s
t
a
g
e
w
i
l
l
c
o
nt
i
nue
t
o
ru
n
a
s
l
ong
a
s
t
h
e
p
r
ot
o
t
ype
bu
i
l
d
i
ng
c
o
nt
i
nu
e
s
un
t
i
l
t
he
t
e
s
t
i
ng
p
ha
s
e
of
t
h
e
t
oo
l
.
2.
2
.
3.
S
ys
te
m
b
u
i
l
d
p
h
as
e
T
he
b
ui
l
di
ng
pha
s
e
of
t
hi
s
s
ys
t
e
m
i
s
foc
us
e
d
on
m
a
ki
n
g
fl
ow
c
ha
rt
s
,
a
n
d
t
h
e
n
t
he
f
l
ow
c
h
a
r
t
s
a
r
e
di
v
i
de
d
m
ore
s
pe
c
i
f
i
c
a
l
l
y
i
n
t
o
f
unc
t
i
ons
t
h
a
t
c
a
n
be
us
e
d
i
n
t
he
s
ys
t
e
m
[17]
.
In
ge
n
e
ra
l
,
t
h
i
s
s
t
a
r
t
s
w
i
t
h
t
he
R
a
s
pb
e
rry
P
i
c
on
t
ro
l
l
i
ng
t
h
e
c
a
m
e
r
a
a
nd
t
he
s
t
e
pp
e
r
m
ot
or
w
hi
c
h
c
a
n
be
a
c
c
e
s
s
e
d
us
i
ng
a
m
ob
i
l
e
c
onne
c
t
e
d
vi
a
t
he
In
t
e
rne
t
ne
t
w
ork
.
T
h
i
s
i
s
i
n
o
rde
r
t
o
fur
t
h
e
r
re
g
ul
a
t
e
t
h
e
Ra
s
pb
e
rry
P
i
i
n
t
e
r
m
s
of
m
oni
t
ori
ng
a
n
d
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
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c
ont
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f
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d
i
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s
c
h
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du
l
e
.
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t
t
hi
s
s
t
a
ge
,
a
bl
oc
k
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g
ra
m
of
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ys
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a
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.
2.
2
.
4.
S
ys
te
m
c
od
i
n
g
p
h
as
e
In
t
hi
s
ph
a
s
e
,
t
h
e
pro
gra
m
c
ode
i
s
c
r
e
a
t
e
d
f
or
t
h
e
R
a
s
pb
e
rry
P
i
3
M
ode
l
B
us
i
n
g
t
h
e
P
yt
h
on
prog
ra
m
m
i
ng
l
a
ngu
a
g
e
.
In
a
ddi
t
i
o
n,
pro
gra
m
m
i
ng
i
s
a
l
s
o
d
one
by
us
i
ng
a
s
e
rv
e
r
t
h
a
t
i
s
a
d
a
t
a
ba
s
e
w
hi
c
h
i
s
c
re
a
t
e
d
t
o
s
t
ore
da
t
a
t
e
m
p
ora
r
i
l
y
a
nd
c
ont
rol
t
h
e
G
P
IO
t
hro
ugh
t
he
Int
e
rn
e
t
ne
t
w
ork.
In
t
e
rn
e
t
a
c
c
e
s
s
c
a
n
be
e
a
s
i
l
y
a
c
hi
e
ve
d
b
e
c
a
us
e
i
t
us
e
s
R
a
s
pbe
rr
y
P
i
3
[18
-
20]
.
T
he
ne
xt
ph
a
s
e
of
m
a
ki
ng
t
he
i
n
t
e
rf
a
c
e
i
nvo
l
v
e
s
us
i
n
g
t
he
w
e
b
w
i
t
h
t
h
e
P
H
P
l
a
ngu
a
ge
.
T
he
n
t
h
e
w
e
b
i
s
dra
w
n
us
i
n
g
a
w
e
b
vi
e
w
t
o
b
e
a
c
c
e
s
s
e
d
e
a
s
i
l
y
on
a
m
ob
i
l
e
,
e
s
pe
c
i
a
l
l
y
a
s
m
a
r
t
phon
e
.
T
he
a
p
pl
i
c
a
t
i
o
n
c
a
n
m
a
n
a
ge
a
nd
c
o
nt
rol
t
h
e
m
o
ni
t
ori
ng
s
ys
t
e
m
[
21
-
22]
.
2.
2
.
5.
T
e
s
t
s
ys
te
m
p
h
as
e
T
hi
s
pha
s
e
us
e
s
bl
a
c
k
-
box
t
e
s
t
i
n
g
t
ha
t
a
i
m
s
t
o
d
e
t
e
rm
i
n
e
t
he
f
unc
t
i
on
a
l
i
t
y
of
t
he
s
ys
t
e
m
or
t
oo
l
,
t
e
s
t
i
n
g
e
a
c
h
m
odul
e
a
nd
t
h
e
i
n
t
e
gra
t
i
on
of
t
h
e
ov
e
ra
l
l
u
ni
t
progr
a
m
t
o
de
t
e
rm
i
ne
w
h
e
t
h
e
r
t
he
m
odu
l
e
s
w
or
k
i
n
a
c
c
ord
a
nc
e
w
i
t
h
t
he
i
r
d
ut
i
e
s
[2
3
-
25]
.
T
he
ne
x
t
s
t
e
p
of
us
i
ng
t
he
t
o
ol
i
s
t
h
e
s
t
a
g
e
of
proof
or
i
m
p
l
e
m
e
nt
a
t
i
on
di
re
c
t
l
y
i
n
t
h
e
ho
m
e
w
i
t
h
t
h
e
us
e
rs
(c
a
t
k
e
e
pe
rs
)
,
i
n
ord
e
r
t
o
d
e
t
e
rm
i
ne
t
h
e
a
c
hi
e
v
e
m
e
nt
of
t
h
e
m
a
i
n
pur
pos
e
o
f
m
a
k
i
ng
t
h
e
s
ys
t
e
m
.
2.
3
.
P
r
op
os
e
d
s
ys
te
m
Ba
s
e
d
o
n
t
h
e
m
e
t
h
od
of
d
a
t
a
c
o
l
l
e
c
t
i
on
,
i
t
c
a
n
b
e
s
e
e
n
t
h
a
t
m
o
s
t
s
ys
t
e
m
s
t
ha
t
run
t
od
a
y
s
t
i
l
l
us
e
hu
m
a
n
l
a
bou
r
d
i
re
c
t
l
y
i
n
fe
e
di
ng
t
he
c
a
t
.
T
h
i
s
s
ys
t
e
m
r
e
a
l
l
y
de
pe
nds
on
t
h
e
a
va
i
l
a
bi
l
i
t
y
of
h
um
a
n
l
a
bour
di
r
e
c
t
l
y
a
round
t
h
e
c
a
t
,
b
e
c
a
us
e
i
f
hum
a
n
l
a
bour
i
s
not
a
v
a
i
l
a
b
l
e
for
va
r
i
ous
r
e
a
s
o
ns
,
t
h
e
n
f
e
e
d
i
ng
t
h
e
c
a
t
c
a
n
not
be
pe
rfor
m
e
d
by
t
he
m
o
ni
t
ori
n
g
s
ys
t
e
m
.
F
i
gur
e
2
i
s
t
he
fl
ow
s
c
h
e
m
e
s
for
run
ni
ng
t
he
s
ys
t
e
m
a
n
a
l
ys
i
s
.
Ba
s
e
d
o
n
t
h
e
r
e
s
ul
t
s
o
f
runn
i
ng
t
he
s
ys
t
e
m
a
n
a
l
ys
i
s
i
t
w
oul
d
a
ppe
a
r
t
ha
t
s
e
v
e
ra
l
s
c
h
e
m
e
s
us
e
va
r
i
ous
a
s
pe
c
t
s
of
t
h
e
propos
e
d
s
ys
t
e
m
a
na
l
ys
i
s
i
n
t
he
for
m
of
a
n
a
ut
o
m
a
t
e
d
c
a
t
fe
e
d
m
on
i
t
or
i
ng
s
ys
t
e
m
us
i
ng
a
m
ob
i
l
e
.
F
i
gure
3
i
s
a
n
ove
rvi
e
w
of
how
t
he
propos
e
d
s
ys
t
e
m
runs
a
n
d
pe
rf
orm
s
a
s
a
n
A
u
t
om
a
t
i
c
Ca
t
F
e
e
d
M
o
ni
t
ori
n
g
S
ys
t
e
m
us
i
ng
a
R
a
s
pb
e
rry
P
i
3
M
o
d
e
l
B
a
nd
o
t
he
r
s
uppor
t
i
ng
h
a
rdw
a
re
(
L
og
i
t
e
c
h
C310
H
D
W
e
bc
a
m
a
n
d
RE
E
S
52
U
L
N
2003
5V
S
t
e
pp
e
r
M
ot
o
r
+
U
L
N
2003
D
ri
ve
r)
.
F
i
gure
1
.
P
ro
t
ot
y
pi
ng
p
a
ra
d
i
g
m
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
K
O
M
N
IK
A
T
e
l
e
c
om
m
un
Co
m
put
E
l
Con
t
rol
Mobi
l
e
-
bas
e
d
m
oni
t
or
i
ng
s
y
s
t
e
m
f
or
an
aut
om
a
t
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c
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t
f
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e
de
r
us
i
ng
R
as
pb
e
r
r
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i
(
N
e
nn
y
A
nggr
a
i
ni
)
1041
F
i
gure
2
.
A
n
a
l
ys
i
s
of
t
h
e
c
urr
e
n
t
s
ys
t
e
m
:
(
a
)
s
c
h
e
m
e
1,
(
b)
s
c
he
m
e
2
F
i
gure
3
.
P
rop
os
e
d
a
u
t
o
m
a
t
i
c
c
a
t
f
e
e
d
m
oni
t
ori
ng
s
ys
t
e
m
3.
R
ES
U
LT
A
N
D
D
I
S
C
U
S
S
I
O
N
S
3.
1
.
S
ys
te
m
w
or
k
p
r
o
c
e
s
s
3.
1
.
1.
P
r
o
c
e
s
s
on
w
e
b
c
am
W
e
b
Ca
m
e
r
a
w
i
l
l
c
a
p
t
ure
i
m
a
g
e
s
i
f
t
he
c
om
m
a
nd
i
s
ru
n,
t
he
n
d
a
t
a
fro
m
i
m
a
ge
s
w
i
l
l
b
e
s
e
n
t
t
o
Ra
s
pbe
r
ry
P
i
v
i
a
U
S
B
port
.
T
h
e
c
a
p
t
ur
e
d
i
m
a
g
e
fr
om
t
h
e
w
e
b
c
a
m
w
i
l
l
b
e
pr
oc
e
s
s
e
d
by
Ra
s
pb
e
rry
P
i
i
n
t
o
i
m
a
g
e
(a
)
(b)
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N
:
169
3
-
6930
T
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1
8
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o.
2
,
A
pri
l
2
020:
1038
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1046
1042
c
a
p
t
ure
w
hi
c
h
i
s
s
how
n
i
n
F
i
gu
re
4
.
T
hi
s
pro
c
e
s
s
i
s
c
a
rr
i
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d
ou
t
w
i
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fs
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e
b
c
a
m
a
nd
l
i
ba
v
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t
oo
l
s
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hi
c
h
w
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r
e
pre
vi
ous
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y
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ns
t
a
l
l
e
d
i
n
t
h
e
R
a
s
pb
e
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P
i
.
F
i
g
ure
5
i
s
t
he
p
roc
e
s
s
c
a
rr
i
e
d
ou
t
by
Ra
s
pb
e
rry
P
i
w
i
t
h
t
he
fs
w
e
b
c
a
m
a
nd
a
vc
on
v
fu
nc
t
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ons
.
F
i
gure
4
.
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a
pt
ure
i
m
a
ge
s
proc
e
s
s
F
i
gure
5
.
M
o
t
i
on
pr
oc
e
s
s
i
n
R
a
s
pbe
rr
y
Pi
T
he
pro
c
e
s
s
t
ha
t
t
a
k
e
s
pl
a
c
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h
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p
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ur
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i
m
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hi
s
c
a
s
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fs
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e
b
c
a
m
or
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onv
fun
c
t
i
on
i
s
run
w
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t
h
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e
on
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e
rv
e
r.
c
.
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a
vc
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c
od
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f
ound
on
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func
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a
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13.
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014
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10]
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I
J
E
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vol
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o.
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.
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11]
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.
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.
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.
3,
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.
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015
.
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12]
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.
6,
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p.
55
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13]
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.
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3,
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.
29
-
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,
1982
.
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14]
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15]
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16]
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.
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17]
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.
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18]
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-
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20]
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om
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p.
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-
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017.
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21]
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p.
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-
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22]
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1.
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23]
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-
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.
[
24]
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25]
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ox,
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om
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r
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i
e
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c
e
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d
A
ppl
i
c
at
i
ons
,
v
ol
.
3,
n
o.
6
,
2012
.
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