I
nte
rna
t
io
na
l J
o
urna
l o
f
E
lect
rica
l a
nd
Co
m
p
ute
r
E
ng
in
ee
ring
(
I
J
E
CE
)
Vo
l.
10
,
No
.
6
,
Decem
b
er
2
0
2
0
,
p
p
.
5
8
5
3
~
5
8
6
0
I
SS
N:
2088
-
8708
,
DOI
: 1
0
.
1
1
5
9
1
/
i
j
ec
e
.
v
10
i
6
.
pp
5
8
5
3
-
5
8
6
0
5853
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ij
ec
e.
ia
esco
r
e.
co
m/in
d
ex
.
p
h
p
/I
JE
C
E
Desig
n and
t
estin
g
o
f
a
dyna
m
ic
re
a
ctive sig
na
g
e net
w
o
rk
to
w
a
rds fire
e
m
er
g
ency
eva
cua
tions
Chris
t
o
ph
er
S.
B
a
ida
l
,
Nest
o
r
X.
Arr
ea
g
a
,
Vla
dim
ir
Sa
nc
hez
P
a
dil
la
ES
P
OL
P
o
ly
tec
h
n
ic
Un
iv
e
rsity
,
E
sc
u
e
la S
u
p
e
ri
o
r
P
o
li
tec
n
ica
d
e
l
L
i
to
ra
l,
E
S
P
OL
,
F
a
c
u
lt
y
o
f
El
e
c
tri
c
a
l
a
n
d
Co
m
p
u
ter E
n
g
in
e
e
rin
g
,
Ecu
a
d
o
r
Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Sep
22
,
2
0
1
9
R
ev
i
s
ed
Feb
2
,
2
0
2
0
A
cc
ep
ted
A
p
r
2
5
,
2
0
2
0
T
h
e
l
o
s
s
o
f
se
v
e
r
a
l
l
i
v
e
s
h
a
p
p
e
n
s
i
n
e
v
e
n
t
s
o
f
n
a
t
u
r
a
l
d
i
sa
s
ter
s
,
d
u
e
t
o
t
h
e
s
t
r
e
n
g
t
h
o
f
n
a
t
u
re
o
r
t
h
e
s
t
a
t
ic
e
v
a
c
u
a
t
i
o
n
r
o
u
t
e
s
t
h
a
t
u
s
u
a
l
ly
d
i
re
c
t
s
t
o
w
a
r
d
s
a
u
n
i
q
u
e
e
x
i
t
p
a
t
h
w
a
y
.
T
h
i
s
p
a
p
e
r
p
r
o
p
o
s
e
s
t
h
e
i
n
t
e
g
r
a
t
i
o
n
o
f
t
e
c
h
n
o
l
o
g
y
t
o
o
l
s
s
u
c
h
a
s
s
e
r
v
e
r
s
a
n
d
o
p
e
n
-
s
o
u
r
c
e
s
e
n
s
o
r
s
i
n
t
o
a
re
a
c
t
i
v
e
s
i
g
n
a
g
e
n
e
t
w
o
rk
t
o
p
r
o
v
i
d
e
a
n
u
p
d
a
t
e
d
a
n
d
d
y
n
a
m
ic
a
l
e
m
e
r
g
e
n
c
y
e
v
a
c
u
a
t
i
o
n
sy
s
tem
f
o
c
u
s
i
n
g
s
p
e
c
if
ic
a
l
ly
o
n
f
i
re
s
i
t
u
a
t
i
o
n
s
.
T
h
is
p
i
l
o
t
p
r
o
j
e
c
t
w
o
rk
s
u
s
i
n
g
m
ic
r
o
c
o
n
t
r
o
l
l
e
r
s
t
h
a
t
c
a
p
t
u
r
e
a
n
d
m
a
n
a
g
e
s
i
n
t
o
a
s
e
rv
e
r
t
h
e
s
u
r
r
o
u
n
d
i
n
g
i
n
f
o
rm
a
t
io
n
,
s
e
t
t
i
n
g
e
v
a
c
u
a
t
i
o
n
r
o
u
t
e
s
a
n
d
b
e
h
a
v
i
n
g
a
c
c
o
r
d
i
n
g
t
o
t
h
e
D
i
j
k
s
t
r
a
a
lg
o
r
i
t
h
m
a
l
l
o
w
i
n
g
t
h
e
i
d
e
n
t
i
f
ic
a
t
i
o
n
o
f
o
b
s
t
a
c
l
e
s
o
r
p
o
s
s
i
b
l
e
i
n
c
i
d
e
n
t
s
t
h
a
t
o
c
c
u
r
s
p
o
n
t
a
n
e
o
u
s
ly
d
u
r
i
n
g
a
n
e
v
a
c
u
a
t
i
o
n
.
T
h
i
s
p
r
o
c
e
s
s
s
e
n
d
s
u
p
d
a
t
e
s
t
o
t
h
e
s
e
r
v
e
r
e
i
t
h
e
r
t
h
e
e
v
a
c
u
a
ti
o
n
r
o
u
t
e
k
e
e
p
s
t
h
e
s
a
m
e
o
r
if
a
m
o
d
if
ic
a
t
i
o
n
i
s
re
q
u
i
r
e
d
b
a
s
e
d
o
n
t
h
e
i
n
f
o
rm
a
t
i
o
n
p
r
o
v
i
d
e
d
b
y
t
h
e
s
e
n
s
o
r
s
a
b
o
u
t
d
i
f
f
e
r
e
n
t
a
r
e
a
s,
w
a
r
n
i
n
g
t
h
e
s
h
o
r
t
e
s
t
p
a
t
h
f
o
r
e
v
a
c
u
a
t
i
o
n
u
s
in
g
c
o
m
p
u
t
e
r
v
is
i
o
n
s
u
p
p
o
r
t
.
K
ey
w
o
r
d
s
:
C
o
m
p
u
ter
v
is
io
n
P
ath
p
lan
n
i
n
g
Saf
et
y
m
o
n
ito
r
in
g
Sen
s
o
r
W
ay
f
i
n
d
in
g
s
y
s
te
m
Co
p
y
rig
h
t
©
2
0
2
0
In
stit
u
te o
f
A
d
v
a
n
c
e
d
E
n
g
i
n
e
e
rin
g
a
n
d
S
c
ien
c
e
.
Al
l
rig
h
ts re
se
rv
e
d
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Vlad
i
m
ir
Sa
n
ch
ez
P
ad
illa,
E
SP
OL
P
o
ly
tech
n
ic
U
n
i
v
er
s
it
y
,
E
s
cu
ela
S
u
p
er
io
r
P
o
litecn
ica
d
el
L
ito
r
al
(
E
SP
OL
),
Facu
lt
y
o
f
E
lect
r
ical
a
n
d
C
o
m
p
u
ter
E
n
g
i
n
ee
r
i
n
g
,
C
a
m
p
u
s
G
u
s
ta
v
o
Gali
n
d
o
K
m
.
3
0
.
5
Via
P
er
im
etr
al,
Gu
a
y
aq
u
il,
E
cu
ad
o
r
E
m
ail:
v
lad
s
a
n
c@
e
s
p
o
l.e
d
u
.
ec
1.
I
NT
RO
D
UCT
I
O
N
E
v
ac
u
at
io
n
s
y
s
te
m
s
ca
n
b
e
o
v
er
r
id
d
en
at
a
m
o
m
en
t
o
f
p
an
ic.
C
o
n
s
tr
u
ct
io
n
r
eg
u
lato
r
s
as
k
f
o
r
b
u
ild
in
g
s
w
it
h
r
eliab
le
f
ir
e
a
lar
m
s
y
s
te
m
s
f
o
r
a
p
r
o
m
p
t
aler
tin
g
to
t
h
e
p
eo
p
le
at
t
h
e
ti
m
e
a
f
ir
e
s
tar
t
s
,
b
ec
o
m
i
n
g
n
ec
es
s
ar
y
to
p
lace
p
ath
w
a
y
s
w
it
h
ap
p
r
o
p
r
iate
s
ig
n
a
g
e
i
n
s
tr
ate
g
ic
ar
ea
s
an
d
p
r
eset
r
o
u
tes.
Du
r
i
n
g
a
ca
tast
r
o
p
h
e,
p
eo
p
le
r
u
s
h
to
f
i
n
d
t
h
e
f
ir
s
t
ex
it
a
v
ailab
le
f
o
llo
w
in
g
to
o
th
er
p
eo
p
le,
with
o
u
t
k
n
o
w
i
n
g
i
f
th
e
p
ath
w
a
y
ah
ea
d
is
o
p
ti
m
a
l.
B
esid
es,
th
e
cr
o
w
d
in
g
ca
n
o
b
s
tr
u
ct
th
e
e
x
its
ca
u
s
i
n
g
m
a
n
y
p
eo
p
le
to
g
et
tr
ap
d
u
r
in
g
ch
ao
s
[
1
]
.
T
h
e
p
r
esen
t
p
r
o
p
o
s
al
in
teg
r
ate
s
d
if
f
er
en
t
d
ev
elo
p
m
en
t
tec
h
n
o
lo
g
ies
b
y
f
o
u
r
d
if
f
er
en
t
b
lo
c
k
s
s
u
c
h
as
s
en
s
o
r
s
,
s
ig
n
a
g
e,
Dij
k
s
tr
a
s
er
v
er
,
an
d
co
m
p
u
ter
v
i
s
io
n
,
f
o
r
s
av
i
n
g
liv
e
s
ac
co
r
d
in
g
to
h
o
w
f
ast
a
n
d
g
u
id
ed
an
ev
ac
u
at
io
n
ca
n
b
e
h
a
n
d
l
e.
W
e
d
ep
lo
y
ed
a
w
ir
ele
s
s
n
et
w
o
r
k
t
o
s
en
s
e
a
n
e
n
v
ir
o
n
m
e
n
t,
g
at
h
e
r
in
g
in
f
o
r
m
a
tio
n
to
estab
lis
h
d
y
n
a
m
ic
escap
e
r
o
u
tes
[
2
]
f
o
llo
w
in
g
t
h
e
p
r
em
is
e
t
h
at
a
u
t
h
o
r
s
in
[
3
]
m
en
tio
n
ab
o
u
t
t
h
a
t
w
ell
-
e
s
tab
lis
h
ed
s
i
g
n
ali
n
g
ar
e
as
ar
e
a
p
r
io
r
it
y
f
o
r
attain
i
n
g
t
h
e
e
v
ac
u
ati
o
n
o
f
p
eo
p
le
if
a
f
ir
e
e
m
er
g
e
n
c
y
o
cc
u
r
s
,
w
h
ich
lead
to
th
e
n
ec
ess
it
y
o
f
h
a
v
in
g
u
p
d
ated
i
n
f
o
r
m
atio
n
d
u
r
i
n
g
t
h
e
s
it
u
ati
o
n
.
Fo
r
o
u
r
ca
s
e,
th
e
s
ig
n
ali
n
g
w
a
s
p
r
o
v
id
ed
r
e
m
o
tel
y
th
r
o
u
g
h
d
e
v
ices
th
at
r
esp
o
n
d
ed
to
an
ev
ac
u
ati
o
n
s
c
h
e
m
e
[
4
]
b
y
th
e
i
n
teg
r
atio
n
o
f
m
i
cr
o
co
n
tr
o
ller
s
as
m
ain
a
s
s
et
s
to
k
n
o
w
t
h
e
in
f
o
r
m
atio
n
o
f
t
h
e
s
u
r
r
o
u
n
d
i
n
g
s
f
o
r
f
o
r
w
ar
d
in
g
n
o
tific
atio
n
s
to
a
g
ate
w
a
y
.
Mo
r
eo
v
er
,
th
e
s
er
v
ice
th
at
m
an
a
g
e
s
th
e
s
i
g
n
ag
e
t
h
r
o
u
g
h
th
e
p
ath
w
a
y
s
u
s
ed
a
d
esig
n
ed
g
r
ap
h
t
h
at
r
ea
cted
ap
p
ly
i
n
g
th
e
Dij
k
s
tr
a
al
g
o
r
ith
m
to
g
et
i
m
m
ed
iate
r
es
u
lt
s
an
d
s
ettin
g
v
a
lu
e
s
f
o
r
co
n
tr
o
llin
g
d
if
f
er
en
t
r
o
u
te
s
.
B
esid
es,
co
m
p
u
ter
v
i
s
io
n
g
u
ar
an
teed
th
e
r
ec
o
g
n
i
tio
n
o
f
o
b
s
tacle
s
at
ex
it
s
o
r
u
n
e
x
p
ec
ted
i
n
cid
en
t
s
t
h
at
o
cc
u
r
r
ed
s
p
o
n
ta
n
eo
u
s
l
y
d
u
r
i
n
g
an
e
v
ac
u
a
tio
n
[
5
]
,
s
u
p
p
o
r
ted
b
y
d
ata
co
llected
fr
o
m
s
e
n
s
o
r
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
10
,
No
.
6
,
Decem
b
er
2020
:
5
8
5
3
-
5
8
6
0
5854
W
e
u
s
ed
co
m
p
u
ter
v
i
s
io
n
f
o
r
th
e
cr
o
w
d
i
n
g
an
a
l
y
s
is
i
n
t
h
e
e
m
er
g
e
n
c
y
ex
i
ts
a
n
d
f
o
r
t
h
e
p
h
y
s
ical
o
b
s
tacle
s
th
at
ca
n
t
u
r
n
t
h
e
e
v
a
cu
atio
n
d
ela
y
ed
an
d
co
m
p
le
x
[
6
-
9
]
.
T
h
en
,
p
eo
p
le
id
en
tif
icat
io
n
w
as
atta
in
ed
b
y
a
n
e
u
r
o
lea
r
n
i
n
g
co
n
v
o
lu
t
io
n
al
n
et
w
o
r
k
[
10
-
1
2
]
u
s
i
n
g
t
wo
d
if
f
er
e
n
t
t
y
p
es
o
f
lib
r
ar
ies.
On
e
o
f
t
h
e
m
w
a
s
T
en
s
o
r
Flo
w
,
w
h
ic
h
i
s
u
s
ef
u
l
f
o
r
p
r
ed
ictab
le
f
r
am
e
a
n
al
y
s
is
u
s
i
n
g
al
l
th
e
b
ac
k
i
m
a
g
es
o
n
th
e
lear
n
i
n
g
co
m
p
ar
ati
v
e
p
r
o
ce
s
s
.
T
h
e
o
t
h
er
o
n
e
w
a
s
Ma
t
C
o
n
v
Net,
u
s
ef
u
l
f
o
r
h
ea
d
co
u
n
ti
n
g
o
n
t
h
e
s
a
m
e
i
m
a
g
e
a
n
d
s
u
itab
le
d
u
e
to
its
lo
w
r
esp
o
n
s
e
ti
m
e
f
o
r
a
r
ea
l
-
ti
m
e
s
y
s
te
m
[
11
]
.
B
esid
es,
t
h
e
r
ec
o
g
n
it
io
n
is
a
p
r
o
ce
s
s
f
o
r
th
e
s
af
et
y
o
f
t
h
e
e
v
ac
u
ee
s
,
wh
ich
m
u
s
t
n
o
t
i
n
f
o
r
m
t
h
e
s
er
v
er
if
t
h
e
i
m
a
g
e
i
s
a
m
ix
ed
id
e
n
ti
f
icatio
n
s
c
h
e
m
a.
Fin
all
y
,
t
h
e
w
ar
n
in
g
s
h
a
v
e
to
b
e
h
an
d
le
w
h
e
n
t
h
e
p
r
o
ce
s
s
co
u
n
t
s
s
e
v
er
al
p
r
ec
o
n
f
i
g
u
r
ed
p
o
s
es
an
d
h
ea
d
s
at
th
e
m
o
m
e
n
t o
f
d
etec
tio
n
.
T
h
e
r
est
o
f
t
h
is
p
ap
er
is
s
tr
u
ctu
r
ed
a
s
f
o
llo
w
s
:
s
ec
tio
n
2
d
ep
icts
th
e
d
ep
lo
y
m
en
t
s
c
h
e
m
e
w
it
h
th
e
d
if
f
er
en
t
p
ar
a
m
e
ter
s
th
a
t
w
er
e
co
n
s
id
er
ed
an
d
th
e
s
y
s
te
m
s
er
v
er
o
p
er
atio
n
.
Sectio
n
3
s
h
o
w
s
t
h
e
r
ea
ctiv
e
s
ig
n
ali
n
g
i
m
p
le
m
e
n
tatio
n
with
t
h
e
m
e
s
s
a
g
i
n
g
i
n
f
o
r
m
at
io
n
th
at
i
s
n
ee
d
ed
to
d
if
f
er
en
tiate
t
h
e
m
i
n
th
e
f
u
n
ctio
n
in
g
o
f
t
h
e
n
et
w
o
r
k
.
I
n
s
ec
tio
n
4
,
th
e
in
ter
p
r
etati
o
n
o
f
th
e
r
ea
cti
v
e
s
i
g
n
a
lin
g
b
y
th
e
p
ar
ticip
an
t
s
is
p
r
ese
n
ted
w
i
th
s
tatis
tics
.
Fi
n
al
l
y
,
s
ec
tio
n
5
p
r
esen
ts
t
h
e
co
n
cl
u
d
in
g
r
e
m
ar
k
s
.
2.
SCH
E
M
A
F
O
R
SE
NSO
RS
AND
SE
RVER
S
A
w
ir
eles
s
n
et
w
o
r
k
w
a
s
d
ep
lo
y
ed
to
k
n
o
w
r
ea
l
-
ti
m
e
s
tat
e
ch
an
g
es
b
ased
o
n
d
ata
f
r
o
m
s
e
n
s
o
r
s
.
T
h
e
in
f
o
r
m
atio
n
m
o
n
ito
r
ed
f
r
o
m
t
h
e
en
v
ir
o
n
m
e
n
t le
t
s
to
k
n
o
w
v
ar
iab
le
ch
a
n
g
es t
h
at
w
er
e
co
n
s
id
er
ed
h
ar
m
f
u
l
f
o
r
th
e
p
eo
p
le'
s
i
n
te
g
r
it
y
in
ea
ch
m
o
n
ito
r
ed
ar
ea
.
Nev
er
th
ele
s
s
,
th
e
v
al
u
es
to
an
a
l
y
ze
w
er
e
r
elate
d
to
lev
els
o
f
ca
r
b
o
n
m
o
n
o
x
id
e
(
C
O)
,
ca
r
b
o
n
d
io
x
id
e
(
C
O
2
)
,
liq
u
e
f
ie
d
p
etr
o
leu
m
g
a
s
(
L
P
G)
,
te
m
p
er
at
u
r
e,
p
r
ess
u
r
e,
an
d
h
u
m
id
it
y
,
v
is
u
alizi
n
g
t
h
ei
r
s
tate
c
h
a
n
g
e
s
.
T
h
e
v
al
u
es
g
o
t b
y
th
e
s
e
n
s
i
n
g
p
r
o
ce
s
s
f
r
o
m
t
h
e
W
asp
m
o
te
P
R
O
V1
.
5
an
d
W
asp
m
o
te
Gas
Se
n
s
o
r
B
o
ar
d
v
3
.
0
co
n
f
ig
u
r
ed
o
n
ea
ch
s
en
s
o
r
y
n
o
d
e
XB
ee
b
y
th
e
Z
ig
B
ee
p
r
o
to
co
l,
allo
w
ed
t
h
e
w
ir
eles
s
co
m
m
u
n
icatio
n
b
et
w
ee
n
t
h
e
g
ate
w
a
y
a
n
d
t
h
e
s
en
s
o
r
s
to
s
e
n
d
t
h
e
s
tate
c
h
a
n
g
e
to
th
e
co
r
r
esp
o
n
d
in
g
g
ate
w
a
y
f
o
r
f
o
r
w
ar
d
in
g
to
t
h
e
s
er
v
er
.
T
h
e
p
ar
a
m
eter
s
e
s
tab
lis
h
ed
in
th
e
W
asp
m
o
te
g
as
s
en
s
o
r
w
it
h
t
h
e
r
esp
ec
tiv
e
v
al
u
es a
r
e
d
ep
icted
in
T
ab
le
1
.
T
ab
le
1
.
W
asp
m
o
te
g
as se
n
s
o
r
s
tr
u
ct
u
r
e
P
r
i
o
r
i
t
y
P
a
r
a
me
t
e
r
V
a
l
u
e
s
H
i
g
h
C
a
r
b
o
n
M
o
n
o
x
i
d
e
(
C
O
)
<
1
0
0
p
p
m
H
i
g
h
C
a
r
b
o
n
D
i
o
x
i
d
e
(
C
O
2
)
>
3
5
0
p
p
m
H
i
g
h
L
i
q
u
e
f
i
e
d
P
e
t
r
o
l
e
u
m G
a
s (
L
P
G
)
>
3
0
p
p
m
M
e
d
i
u
m
T
e
mp
e
r
a
t
u
r
e
>
4
5
o
C
L
o
w
P
r
e
ssu
r
e
>
1
0
4
4
mm
H
g
L
o
w
H
u
mi
d
i
t
y
>
5
0
(
%)
T
h
e
s
en
s
o
r
n
et
w
o
r
k
s
tr
u
ct
u
r
e
in
cl
u
d
ed
a
f
ield
g
ate
w
a
y
to
n
o
tify
t
h
e
s
tate
c
h
an
g
e
s
to
th
e
s
er
v
er
an
d
th
e
co
n
tin
u
it
y
o
f
t
h
e
tr
an
s
f
er
p
r
o
to
co
l,
esp
ec
ially
w
h
e
n
i
m
p
l
e
m
en
tin
g
a
lo
n
g
-
r
a
n
g
e
n
e
t
w
o
r
k
[
1
3
]
.
E
ac
h
s
e
n
s
o
r
n
o
d
e
w
a
s
ab
le
to
d
o
r
etr
an
s
m
is
s
io
n
s
b
y
p
as
s
i
n
g
a
p
o
s
s
ib
le
l
o
o
p
in
t
h
e
i
n
f
o
r
m
atio
n
co
n
v
e
y
ed
b
y
co
n
s
id
er
in
g
a
w
ir
ele
s
s
n
et
w
o
r
k
d
ep
lo
y
m
e
n
t,
as
s
h
o
w
n
i
n
Fi
g
u
r
e
1
,
w
it
h
XB
ee
P
R
O
S2
an
te
n
n
a
s
,
a
n
et
w
o
r
k
co
o
r
d
in
ato
r
,
an
d
r
o
u
ti
n
g
d
ev
ice
s
,
w
o
r
k
i
n
g
w
it
h
t
h
e
XB
P
2
4
-
Z
B
f
ir
m
w
a
r
e.
B
o
th
th
e
g
a
te
w
a
y
an
d
th
e
Z
i
g
B
ee
p
r
o
to
co
l
co
o
r
d
in
ato
r
in
t
er
p
r
eted
th
e
in
f
o
r
m
atio
n
r
ec
ei
v
ed
f
r
o
m
t
h
e
s
er
ial
in
ter
f
ac
e
[
1
4
]
b
y
s
o
f
t
w
ar
e
th
a
t
r
eset
th
e
r
ec
ei
v
ed
m
es
s
ag
e
s
.
F
u
r
t
h
er
m
o
r
e,
a
co
m
p
u
ter
n
o
d
e
r
ese
t
th
e
m
es
s
ag
e
i
n
co
m
m
u
n
icat
io
n
w
it
h
th
e
s
er
v
er
th
r
o
u
g
h
a
R
asp
b
er
r
y
P
i
3
Mo
d
el
B
,
an
d
a
h
an
d
s
h
ak
e
s
y
s
te
m
p
r
o
v
id
e
d
th
r
o
u
g
h
a
s
er
v
er
estab
li
s
h
e
s
th
e
co
n
n
ec
tio
n
.
Fi
g
u
r
e
2
d
ep
ic
ts
th
e
n
o
d
es d
ep
lo
y
ed
in
co
m
m
u
n
icat
io
n
w
it
h
a
g
ate
w
a
y
.
T
h
e
s
en
s
o
r
n
et
w
o
r
k
d
e
v
elo
p
m
en
t
m
u
s
t
f
o
r
w
ar
d
in
f
o
r
m
ati
o
n
ab
o
u
t
th
e
s
tate
ch
a
n
g
e
f
o
r
th
e
b
ac
k
i
n
g
u
p
.
Ho
w
e
v
er
,
th
e
g
ate
w
a
y
w
a
s
in
a
ca
p
ac
it
y
t
o
u
n
d
er
s
tan
d
t
h
e
m
e
s
s
a
g
e
r
ec
eiv
ed
f
r
o
m
t
h
e
an
ten
n
a,
r
esetti
n
g
it
f
r
o
m
t
h
e
s
er
ial
i
n
ter
f
ac
e
b
y
th
e
o
p
en
in
g
o
f
a
C
OM
p
o
r
t
th
r
o
u
g
h
a
p
y
t
h
o
n
p
r
o
g
r
a
m
t
h
at
r
ea
d
th
e
s
er
ia
l
co
m
m
u
n
icatio
n
p
r
e
v
io
u
s
l
y
co
n
f
ig
u
r
ed
in
t
h
e
s
a
m
e
w
a
y
a
s
th
e
a
n
ten
n
a.
T
h
en
,
t
h
e
s
er
v
er
s
en
t
a
n
aler
t
b
y
a
h
an
d
s
h
a
k
e,
co
n
n
ec
t
in
g
to
a
s
tatic
I
P
ad
d
r
ess
o
n
an
o
p
en
s
o
ck
et
co
n
n
ec
tio
n
f
o
r
r
esp
o
n
d
in
g
to
th
e
n
e
x
t
s
tep
.
Fo
r
th
e
s
er
v
er
s
y
s
te
m
ap
p
licat
io
n
,
t
w
o
t
y
p
e
s
o
f
p
lain
f
i
les
id
en
ti
f
ied
th
e
n
u
m
b
er
o
f
n
o
d
es
in
teg
r
ate
d
in
to
t
h
e
s
y
s
te
m
,
s
u
c
h
a
s
t
h
e
ed
g
e
w
ei
g
h
ts
b
et
w
ee
n
ea
ch
o
th
er
,
a
n
d
th
e
n
o
d
e
id
en
ti
f
ier
[
1
5
]
,
i.e
.
,
th
e
ex
it
s
b
et
w
ee
n
t
h
e
h
all
a
n
d
d
o
o
r
d
ep
ar
t
m
en
t.
Mo
r
eo
v
er
,
th
e
s
er
v
er
s
tar
ted
u
p
s
er
v
ices
t
h
at
li
s
te
n
e
d
to
th
e
s
o
ck
et
p
o
r
t
in
w
h
ich
it
r
ec
ei
v
ed
th
e
m
es
s
ag
e
f
r
o
m
th
e
s
en
s
o
r
n
o
d
es.
T
h
e
id
en
tif
ic
at
io
n
an
d
th
e
c
h
an
g
i
n
g
s
tate
w
er
e
th
e
p
r
in
cip
al
v
a
lu
e
s
to
in
g
r
ess
i
n
to
th
e
s
er
v
ice,
in
ad
d
iti
o
n
to
th
e
co
n
f
ig
u
r
ed
id
en
ti
f
i
er
w
it
h
th
e
s
a
m
e
d
ep
ar
tm
e
n
t
n
u
m
b
er
f
r
o
m
t
h
e
g
r
ap
h
.
W
ith
th
e
s
u
p
p
o
r
t
o
f
th
e
m
o
d
if
ied
D
ij
k
s
tr
a
al
g
o
r
ith
m
[
6
]
,
th
e
s
o
f
t
w
ar
e
m
an
a
g
ed
th
e
r
o
u
te
a
m
o
n
g
t
h
e
n
o
d
es,
p
r
o
v
id
in
g
to
all
o
f
t
h
e
m
th
e
s
h
o
r
tes
t
p
ath
to
th
e
e
x
its
.
Dep
e
n
d
in
g
o
n
th
e
ex
i
t stat
u
s
,
it d
is
ca
r
d
ed
o
r
u
p
d
ated
th
e
r
o
u
tes d
esi
g
n
ed
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8708
Desig
n
a
n
d
test
in
g
o
f
a
d
y
n
a
m
ic
r
ea
ctive
s
ig
n
a
g
e
n
etw
o
r
k
to
w
a
r
d
s
fir
e
eme
r
g
en
cy
.
..
(
C
h
r
i
s
to
p
h
er S
.
B
a
id
a
l)
5855
Fig
u
r
e
1
.
No
d
e
in
teg
r
atin
g
t
h
e
g
as se
n
s
o
r
b
o
ar
d
an
d
th
e
XB
ee
an
te
n
n
a
Fig
u
r
e
2
.
C
o
m
m
u
n
icatio
n
b
etw
ee
n
th
e
n
o
d
es
an
d
th
e
g
a
te
w
a
y
Af
ter
s
o
lv
i
n
g
th
e
r
o
u
tes,
th
e
r
esp
o
n
s
e
g
e
n
er
ated
th
e
id
en
ti
f
i
ed
s
ig
n
al
s
w
ith
in
t
h
e
d
if
f
er
e
n
t
p
r
elo
a
d
ed
p
ath
s
,
p
r
o
v
id
in
g
t
h
e
co
r
r
esp
o
n
d
in
g
v
al
u
es
o
f
th
e
s
tate
c
h
a
n
g
e
an
d
th
e
e
v
ac
u
atio
n
co
n
d
itio
n
[
7
]
,
s
u
ch
as
s
i
g
n
a
l
d
ir
ec
tio
n
,
in
te
n
s
it
y
,
an
d
co
lo
r
.
B
esid
es,
d
ep
en
d
in
g
o
n
t
h
e
e
m
er
g
e
n
c
y
le
v
el,
t
h
ese
th
r
ee
p
ar
a
m
eter
s
i
n
d
icate
d
th
e
s
it
u
atio
n
f
o
r
th
e
ev
ac
u
ee
s
,
an
d
u
n
e
x
p
ec
ted
aler
ts
f
r
o
m
th
e
co
m
p
u
ter
v
is
io
n
f
r
o
n
t
co
u
ld
m
o
d
i
f
y
t
h
e
ex
i
t
s
tate
[
1
6
]
o
r
th
e
p
ath
w
a
y
,
e
s
ta
b
lis
h
i
n
g
an
u
p
d
ate
o
f
th
e
ex
it
n
o
d
e
in
to
th
e
g
r
ap
h
.
3.
RE
AC
T
I
V
E
S
I
G
NAL
I
N
G
S
CH
E
M
A
T
h
e
s
ig
n
ali
n
g
co
n
s
i
s
ted
o
f
a
m
icr
o
co
n
tr
o
ller
th
at
r
ep
lied
to
m
es
s
ag
e
s
r
ec
eiv
ed
v
ia
w
ir
e
less
u
s
i
n
g
th
e
XB
ee
tech
n
o
lo
g
y
.
T
h
u
s
,
i
n
d
ep
en
d
en
tl
y
o
n
t
h
e
s
en
s
o
r
s
tate
t
h
at
d
id
t
h
e
d
etec
tio
n
a
n
d
v
ie
w
i
n
g
t
h
e
s
tate
in
f
o
r
m
atio
n
p
r
o
v
id
ed
b
y
th
e
s
er
v
er
ab
o
u
t
s
i
g
n
al
in
g
d
ev
i
ce
s
as
a
p
r
io
r
ity
,
t
w
o
t
y
p
e
s
o
f
s
ig
n
ali
n
g
w
er
e
co
n
s
id
er
ed
.
T
h
e
f
ir
s
t
o
n
e,
a
r
aster
t
y
p
e
p
lace
d
o
n
t
h
e
f
lo
o
r
lev
el.
T
h
e
s
ec
o
n
d
o
n
e,
a
p
a
n
el
t
y
p
e
i
n
s
tr
ate
g
ic
p
lace
s
f
o
r
v
is
u
al
i
m
p
ac
t
f
o
r
th
e
ev
ac
u
ee
s
.
Ne
v
er
th
e
less
,
th
e
an
ten
n
a
s
co
n
f
i
g
u
r
ed
b
y
th
e
d
if
f
er
en
tia
ted
n
et
w
o
r
k
co
n
ce
n
tr
ato
r
f
o
r
th
e
s
i
g
n
a
l
m
e
s
s
a
g
e
i
n
ter
p
r
etatio
n
b
y
p
ass
ed
f
ail
u
r
es
i
n
t
h
e
co
m
m
u
n
i
ca
tio
n
b
et
w
ee
n
th
e
s
e
n
s
o
r
s
,
t
u
r
n
i
n
g
n
ec
e
s
s
ar
y
to
tr
an
s
m
it
t
h
e
m
ess
a
g
e
w
ir
el
ess
l
y
a
m
o
n
g
th
e
Xb
ee
an
te
n
n
as
[
1
7
-
19
]
th
r
o
u
g
h
th
e
g
ate
w
a
y
,
i
n
cl
u
d
in
g
a
co
o
r
d
in
ato
r
an
d
en
d
d
ev
ices
f
ir
m
war
e
[
20
-
23
]
f
o
r
co
n
tr
o
llin
g
t
h
e
A
T
p
r
o
to
co
l
.
T
h
e
A
r
d
u
i
n
o
Un
o
R
3
co
n
tr
o
lled
th
e
s
i
g
n
a
g
e
f
ea
t
u
r
es
[
2
4,
25
]
,
s
u
ch
a
s
L
E
D
co
lo
r
s
elec
to
r
,
b
lin
k
er
ti
m
e,
a
n
d
v
i
s
u
a
l
d
ir
ec
tio
n
t
h
r
o
u
g
h
t
h
e
i
m
p
le
m
e
n
tatio
n
o
f
a
n
i
n
teg
r
ated
m
icr
o
co
n
tr
o
ller
,
w
h
ic
h
w
as
ab
le
to
co
n
tr
o
l
th
e
in
co
r
p
o
r
ated
h
ar
d
w
ar
e.
T
h
e
r
aster
m
es
s
a
g
e
co
n
s
is
ted
o
f
8
b
its
f
o
r
id
en
t
i
f
ier
,
2
b
its
f
o
r
co
lo
r
in
g
,
2
f
o
r
ad
d
r
ess
in
g
,
a
n
d
2
f
o
r
s
tr
o
b
in
g
i
n
th
e
ca
s
e
o
f
r
aster
t
y
p
e;
th
e
p
a
n
el
m
ess
a
g
e
co
n
s
is
ted
o
f
8
b
its
f
o
r
id
en
ti
f
ier
,
2
b
its
f
o
r
i
m
a
g
i
n
g
,
2
f
o
r
ad
d
r
ess
in
g
a
n
d
2
f
o
r
f
la
s
h
i
n
g
.
Mo
r
eo
v
er
,
th
e
s
er
v
er
i
n
f
o
r
m
ed
t
h
e
s
tate
o
f
th
e
n
o
d
es
f
o
r
co
n
tr
o
llin
g
th
e
m
th
r
o
u
g
h
t
h
e
2
b
its
at
th
e
co
n
tr
o
l e
n
d
,
i.e
.
,
o
n
an
d
o
f
f
,
as s
h
o
w
n
i
n
Fi
g
u
r
e
3
.
(
a)
(
b
)
Fig
u
r
e
3
.
C
o
d
in
g
f
r
a
m
e
s
,
(
a)
f
o
r
a
r
aster
s
ig
n
a
g
e
m
e
s
s
a
g
e,
(
b
)
f
o
r
a
p
an
el
s
ig
n
ag
e
m
es
s
ag
e
T
h
e
r
aster
s
ig
n
a
g
e
w
a
s
p
lace
d
at
th
e
f
lo
o
r
lev
el
d
u
e
to
it
h
a
d
to
b
e
th
e
f
ir
s
t
s
i
g
n
a
l
t
h
at
p
e
o
p
le
w
er
e
ab
le
to
w
a
tch
.
Fo
r
th
e
atta
in
m
en
t
o
f
th
e
l
u
m
i
n
o
s
it
y
,
s
e
v
er
al
s
eg
m
e
n
ts
o
f
L
E
D
-
s
tr
ip
-
R
G
B
co
n
tr
o
l
tr
an
s
is
to
r
s
r
esp
o
n
d
ed
to
th
e
d
ig
ital
s
ig
n
al
aler
ti
n
g
to
t
h
e
A
r
d
u
i
n
o
b
ased
o
n
p
r
elo
ad
ed
ar
r
an
g
em
en
ts
,
a
s
s
h
o
w
n
in
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
10
,
No
.
6
,
Decem
b
er
2020
:
5
8
5
3
-
5
8
6
0
5856
Fi
g
u
r
e
4
.
B
esid
es,
th
e
s
tr
ip
es
o
u
tlin
ed
t
h
e
d
ir
ec
tio
n
d
ep
en
d
i
n
g
o
n
w
h
e
th
er
it
w
a
s
i
n
o
n
o
r
o
f
f
s
tates,
as
lig
h
t
s
tr
o
b
ed
r
ef
lectin
g
t
w
o
s
e
ts
o
f
m
es
s
ag
e
s
.
On
e,
a
t
y
p
eb
ar
f
o
r
lo
ad
in
g
an
d
u
n
lo
ad
i
n
g
.
T
h
e
o
th
er
w
a
s
a
f
la
s
h
i
n
g
s
eg
m
e
n
t
f
o
r
tu
r
n
i
n
g
o
n
o
r
o
f
f
.
T
est
an
al
y
s
i
s
d
ef
i
n
ed
r
esp
o
n
s
es
f
o
r
a
b
etter
in
ter
p
r
etatio
n
,
g
r
an
ti
n
g
th
e
b
li
n
k
er
d
elay
a
m
o
n
g
ea
ch
o
f
t
h
e
s
e
g
m
e
n
t
s
a
n
d
th
e
co
lo
r
co
n
f
i
g
u
r
atio
n
a
s
w
ell.
T
h
is
v
ar
iab
le
w
a
s
r
ec
ei
v
ed
an
d
in
ter
p
r
eted
to
s
u
cc
ee
d
in
th
e
f
l
ash
i
n
g
d
ela
y
ti
m
e,
as s
h
o
w
n
i
n
Fig
u
r
e
5
.
Fig
u
r
e
4
.
Har
d
w
ar
e
in
te
g
r
atio
n
o
f
t
h
e
r
aster
s
i
g
n
a
g
e
(
a)
(
b
)
Fig
u
r
e
5
.
R
aster
s
tr
ip
lig
h
t
s
r
ep
r
esen
tin
g
t
h
e
d
ir
ec
tio
n
,
(a
)
g
r
ee
n
co
lo
r
f
o
r
en
ab
lin
g
an
esca
p
e
r
o
u
te,
(
b
)
r
e
d
co
lo
r
f
o
r
d
is
ab
lin
g
an
e
s
ca
p
e
r
o
u
te
T
h
e
p
an
el
s
ig
n
a
g
e
i
n
co
r
p
o
r
at
ed
an
8
x
8
R
GB
m
a
tr
ix
p
an
e
l
w
h
er
e
w
it
h
th
e
d
esi
g
n
ed
f
ig
u
r
es
w
er
e
d
r
a
w
n
th
r
o
u
g
h
a
n
ar
r
o
w
ei
th
er
lef
t
o
r
r
ig
h
t,
w
i
th
an
X
r
ep
r
esen
tin
g
a
clo
s
ed
p
ath
(
r
e
d
)
an
d
w
i
th
an
O
r
ep
r
esen
tin
g
a
n
o
p
en
p
ath
(
g
r
ee
n
)
.
T
h
is
m
icr
o
co
n
tr
o
ller
co
n
f
i
g
u
r
atio
n
d
is
ca
r
d
ed
m
ess
a
g
e
r
ep
etitio
n
s
,
n
o
t
s
h
o
w
in
g
t
h
e
v
ar
iab
le
,
as
s
h
o
w
n
i
n
Fig
u
r
e
6
.
Mo
r
eo
v
er
,
th
e
co
n
ce
n
tr
ato
r
h
ad
a
n
XB
ee
an
te
n
n
a
m
a
n
ag
e
d
b
y
t
h
e
Z
i
g
B
ee
p
r
o
to
co
l
f
o
r
th
e
lo
ca
l
ar
ea
n
et
w
o
r
k
to
co
m
m
u
n
icate
w
it
h
th
e
s
er
v
er
an
d
r
ec
eiv
e
a
m
e
s
s
a
g
e
id
en
ti
f
ier
f
r
o
m
ea
c
h
n
o
d
e
w
h
e
n
it
c
h
a
n
g
ed
o
f
s
tate,
d
ir
ec
tio
n
,
o
r
ev
en
e
x
p
er
ien
ce
in
ter
m
itte
n
c
y
.
Nev
er
t
h
eles
s
,
it
d
is
cr
i
m
i
n
ated
ag
a
in
s
t
t
h
e
m
es
s
ag
e
i
f
t
h
e
n
o
d
e
b
elo
n
g
ed
to
a
p
an
el
ty
p
e
o
r
a
r
aster
t
y
p
e,
s
e
n
d
in
g
th
e
r
esp
ec
ti
v
e
m
es
s
ag
e
,
a
s
s
h
o
w
n
i
n
Fi
g
u
r
e
7
.
A
t
th
e
m
o
m
e
n
t
o
f
r
ec
eiv
i
n
g
t
h
e
r
e
s
u
lt
o
f
t
h
e
s
er
v
er
,
th
e
co
o
r
d
in
ato
r
o
p
en
ed
a
s
er
v
ice
to
lis
ten
to
t
h
e
co
m
m
u
n
ic
atio
n
s
o
c
k
et
p
o
r
t
f
o
r
ass
i
s
ti
n
g
th
e
I
D
n
u
m
b
er
t
h
at
n
ee
d
ed
to
ch
an
g
e.
On
ce
t
h
e
m
es
s
ag
e
r
ec
ei
v
ed
th
e
ca
l
l,
an
o
th
er
p
r
o
g
r
a
m
o
p
en
ed
a
s
er
ial
co
m
m
u
n
icatio
n
,
co
n
n
ec
ti
n
g
to
an
a
n
te
n
n
a
f
o
r
d
ata
tr
an
s
m
is
s
io
n
to
t
h
e
s
i
g
n
a
g
e.
W
h
en
th
e
m
es
s
a
g
e
I
D
m
a
tch
ed
th
e
n
u
m
b
er
,
th
e
d
ata
w
a
s
p
r
o
ce
s
s
ed
.
Oth
er
w
i
s
e,
it d
is
ca
r
d
ed
f
r
o
m
th
e
b
u
f
f
er
o
f
all
C
O
M
p
o
r
ts
.
Fig
u
r
e
6
.
P
an
el
s
ig
n
ag
e
i
n
te
g
r
atio
n
w
it
h
th
e
XB
ee
s
h
ield
a
n
d
R
GB
8
x
8
L
E
D
p
an
e
l
Fig
u
r
e
7
.
R
ea
ctiv
e
s
ig
n
a
g
e
n
et
w
o
r
k
co
o
r
d
in
ato
r
an
d
a
r
aster
s
ig
n
ag
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8708
Desig
n
a
n
d
test
in
g
o
f
a
d
y
n
a
m
ic
r
ea
ctive
s
ig
n
a
g
e
n
etw
o
r
k
to
w
a
r
d
s
fir
e
eme
r
g
en
cy
.
..
(
C
h
r
i
s
to
p
h
er S
.
B
a
id
a
l)
5857
4.
RE
AC
T
I
V
E
S
I
G
NAL
I
NT
E
P
RE
T
A
T
I
O
N
P
ar
t o
f
th
e
ev
al
u
atio
n
p
r
o
ce
s
s
w
a
s
th
e
an
al
y
s
is
o
f
th
e
v
i
s
u
a
l
ef
f
ec
ts
i
n
t
h
e
co
n
s
tr
u
ct
io
n
o
f
t
h
e
r
ea
ctiv
e
s
ig
n
a
g
e,
o
r
g
an
izin
g
a
s
m
all
e
x
p
er
im
e
n
t
w
it
h
o
u
t
s
id
er
p
eo
p
le
f
r
o
m
th
e
in
v
es
tig
at
io
n
d
ev
e
lo
p
m
e
n
t.
T
h
e
tr
ac
er
s
an
d
L
E
D
s
cr
ee
n
s
d
ep
ictin
g
d
if
f
er
en
t
o
r
d
er
s
o
r
in
s
tr
u
ctio
n
s
w
er
e
s
u
b
j
ec
t
to
in
ter
p
r
etatio
n
o
n
ce
t
h
e
y
w
er
e
d
eter
m
in
ed
.
I
n
itia
ll
y
,
f
i
v
e
t
y
p
e
s
o
f
s
eq
u
e
n
ce
s
w
er
e
d
is
p
la
y
ed
:
-
L
it
u
p
o
f
th
e
p
ad
s
(
th
r
ee
led
to
g
eth
er
)
w
it
h
g
r
ee
n
co
lo
r
s
h
if
ti
n
g
to
t
h
e
r
ig
h
t,
a
n
i
n
s
tr
u
ct
io
n
to
f
o
llo
w
th
e
r
ig
h
t d
ir
ec
tio
n
.
-
B
lin
k
i
n
g
b
y
t
h
e
lef
t
s
h
if
t
w
i
th
y
ello
w
co
lo
r
f
o
r
in
ter
p
r
etin
g
a
ca
u
tio
n
.
-
R
ed
lig
h
t f
las
h
i
n
g
f
o
r
a
m
es
s
a
g
e
o
f
n
o
t p
as
s
i
n
g
,
i
n
d
u
ci
n
g
a
s
ea
r
ch
f
o
r
th
e
n
ex
t
s
ig
n
al.
-
Seg
m
en
ted
li
n
e
c
u
t
le
f
t,
w
it
h
d
is
p
lace
m
e
n
t
in
th
e
s
a
m
e
d
i
r
ec
tio
n
f
o
r
i
n
f
o
r
m
i
n
g
t
h
e
o
u
t
p
u
t
is
f
ar
b
u
t
en
ab
led
to
u
s
e.
-
Yello
w
o
n
w
it
h
an
o
f
f
s
e
g
m
en
t
m
o
v
i
n
g
to
th
e
r
ig
h
t,
r
ep
r
esen
tin
g
ca
u
tio
n
to
th
e
r
i
g
h
t e
x
it.
O
n
e
o
f
th
e
o
b
je
c
t
i
v
es
w
as
t
o
d
e
t
e
r
m
in
e
t
h
e
t
im
e
in
w
h
i
ch
th
e
p
a
r
t
i
ci
p
a
n
t
s
in
te
r
p
r
e
t
e
d
th
e
p
a
t
h
w
ay
to
f
o
l
l
o
w
c
o
n
t
r
a
s
t
in
g
th
e
ex
i
t
th
ey
f
o
l
l
o
w
e
d
,
w
h
e
th
e
r
i
t
w
as
en
ab
l
e
d
,
d
i
s
a
b
l
e
d
,
o
r
w
i
th
o
b
s
t
a
c
le
s
.
W
h
e
n
th
e
s
en
s
o
r
l
i
g
h
t
w
as
y
el
l
o
w
,
p
e
o
p
l
e
h
a
d
an
e
r
r
o
r
n
e
a
r
3
5
%
t
o
i
d
en
tif
y
t
h
em
.
I
n
o
p
p
o
s
i
t
e
,
w
h
en
th
e
s
en
s
o
r
l
i
g
h
ts
w
e
r
e
e
ith
e
r
g
r
e
en
o
r
r
e
d
,
p
e
o
p
l
e
h
a
d
n
o
p
r
o
b
l
em
s
i
d
en
tif
y
in
g
th
em
.
Fi
g
u
r
e
8
d
e
p
i
c
t
s
th
e
s
en
s
o
r
c
o
l
o
r
r
e
c
o
g
n
i
ti
o
n
.
F
ig
u
r
e
9
s
h
o
w
s
th
at
s
e
q
u
en
c
es
1
an
d
4
h
a
d
an
e
r
r
o
r
d
i
s
t
r
i
b
u
t
io
n
o
f
a
p
p
r
o
x
im
at
e
ly
1
5
%
at
th
e
m
o
m
en
t
o
f
r
e
c
o
g
n
i
z
in
g
th
e
s
ig
n
al
p
at
h
,
d
e
p
ic
t
in
g
th
e
r
e
w
as
n
o
d
i
r
e
c
t
i
o
n
in
t
e
r
p
r
et
a
t
i
o
n
av
ai
l
ab
l
e
w
i
th
n
o
e
r
r
o
r
.
M
e
a
n
w
h
i
l
e
,
F
ig
u
r
e
1
0
d
e
p
i
cts
th
a
t
s
e
q
u
en
c
e
4
h
a
d
b
et
t
e
r
d
i
s
t
r
i
b
u
ti
o
n
an
d
th
e
es
t
im
ate
d
a
v
e
r
ag
e
t
im
e
o
f
a
p
p
r
o
x
im
a
t
ely
1
.
8
5
s
e
c
o
n
d
s
f
o
r
r
e
c
o
g
n
i
ti
o
n
.
M
o
r
e
o
v
e
r
,
th
e
c
o
g
n
i
ti
v
e
ev
a
lu
at
i
o
n
d
e
t
e
r
m
in
e
d
th
e
r
e
al
r
e
a
ct
i
o
n
s
o
f
t
h
e
p
a
r
t
ic
i
p
an
ts
,
s
u
ch
a
s
p
a
n
ic
,
f
e
a
r
,
o
r
s
t
r
e
s
s
,
w
i
th
th
e
r
es
u
l
t
o
f
5
0
%
o
f
th
e
r
e
c
o
g
n
i
t
io
n
s
ex
p
e
r
i
en
c
e
d
an
e
s
t
im
at
e
d
t
im
e
b
etw
e
en
1
an
d
2
s
e
c
o
n
d
s
in
s
e
q
u
en
c
e
4
.
T
h
e
f
r
e
q
u
en
cy
,
d
is
p
l
a
c
em
en
t
,
an
d
in
t
e
n
s
ity
o
f
th
e
R
G
B
L
E
Ds
p
r
o
v
i
d
e
d
t
im
ely
in
f
o
r
m
at
i
o
n
r
eg
a
r
d
in
g
th
e
d
i
r
ec
t
i
o
n
an
d
t
h
e
c
o
n
d
i
ti
o
n
o
f
th
e
ev
a
cu
at
io
n
r
o
u
te
s
.
H
o
w
ev
e
r
,
t
h
e
in
t
eg
r
a
t
e
d
c
o
m
p
o
n
e
n
t
s
tu
r
n
e
d
in
t
o
a
g
u
i
d
e
l
in
e
f
o
r
f
as
t
e
v
a
cu
at
i
o
n
d
u
r
in
g
a
f
i
r
e
em
er
g
en
cy
f
o
r
s
o
lv
in
g
t
h
e
r
o
u
t
es
b
y
e
s
t
a
b
l
is
h
e
d
p
a
th
w
ay
s
in
th
e
s
o
f
tw
a
r
e
,
a
d
d
in
g
t
w
o
f
il
e
s
f
o
r
th
e
d
es
c
r
i
p
ti
o
n
.
Fig
u
r
e
8
.
Sen
s
o
r
co
lo
r
r
ec
o
g
n
itio
n
Fig
u
r
e
9
.
Sig
n
al
g
u
id
e
d
ir
ec
tio
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
10
,
No
.
6
,
Decem
b
er
2020
:
5
8
5
3
-
5
8
6
0
5858
Fig
u
r
e
10
.
T
im
e
s
eq
u
e
n
ce
d
is
t
r
ib
u
tio
n
F
o
r
th
e
te
s
tin
g
,
th
e
s
en
s
o
r
s
m
o
n
i
t
o
r
e
d
an
in
d
o
o
r
s
c
en
a
r
i
o
c
o
m
p
a
r
a
b
l
e
t
o
a
g
r
o
u
n
d
f
l
o
o
r
r
o
o
m
o
f
2
0
0
s
q
u
a
r
e
m
et
e
r
s
an
d
a
h
ei
g
h
t
o
f
f
o
u
r
m
et
e
r
s
.
T
h
e
s
en
s
o
r
s
is
s
u
ed
a
n
a
l
e
r
t
w
h
en
d
e
t
e
c
tin
g
a
f
i
r
e
o
u
t
b
r
e
ak
,
s
en
d
in
g
t
h
e
n
o
d
e
I
D
t
o
t
h
e
s
e
r
v
e
r
as
a
m
es
s
ag
e
6
/
1
/
D
es
c
r
i
p
ti
o
n
t
o
s
u
g
g
e
s
t
th
e
b
es
t
p
a
th
w
ay
.
W
h
en
t
h
e
s
e
r
v
e
r
r
e
c
e
iv
e
d
t
h
e
in
f
o
r
m
a
t
i
o
n
w
h
e
r
e
a
f
i
r
e
o
u
t
b
r
o
k
e
,
it
s
t
a
r
t
e
d
r
e
p
ly
in
g
t
o
th
e
ev
ac
u
a
t
i
o
n
r
o
u
t
e
m
ess
ag
es
f
o
r
th
e
i
d
en
t
if
i
c
a
t
i
o
n
o
f
th
e
r
a
s
t
e
r
s
ig
n
a
g
e
c
o
u
r
s
e
.
B
e
s
i
d
e
s
,
th
e
ca
m
e
r
a
s
w
o
r
k
in
g
a
s
a
c
o
m
p
o
n
en
t
o
f
th
e
cl
o
s
e
d
-
c
i
r
cu
i
t
s
u
r
v
e
i
l
la
n
c
e
a
s
k
e
d
th
e
c
o
n
n
e
ct
i
o
n
t
o
th
e
c
o
m
p
u
t
e
r
v
is
i
o
n
s
o
f
tw
a
r
e
t
o
d
e
t
ec
t
u
n
f
o
r
es
e
en
s
i
tu
at
i
o
n
s
.
F
o
r
its
a
c
c
o
m
p
li
s
h
m
en
t
,
t
h
e
s
ec
o
n
d
c
am
e
r
a
d
et
e
c
t
e
d
an
d
h
e
a
d
c
o
u
n
t
e
d
th
r
o
u
g
h
o
u
t
th
e
s
am
e
ex
i
t
,
c
o
m
m
u
n
ic
a
t
in
g
t
h
e
cu
r
r
e
n
t
s
t
at
e
t
o
t
h
e
s
e
r
v
e
r
.
Fi
n
a
l
ly
,
th
e
s
e
r
v
er
c
h
a
n
g
e
d
th
e
c
o
u
r
s
e
o
f
th
e
s
ig
n
ag
e
f
o
r
th
e
e
v
a
cu
e
es
th
a
t
d
i
d
n
o
t
d
e
p
a
r
t
,
a
c
k
n
o
w
le
d
g
i
n
g
d
if
f
e
r
en
t
ex
it
s
i
n
t
h
e
s
u
r
r
o
u
n
d
in
g
s
t
h
a
t
p
e
o
p
le
c
o
u
l
d
h
an
d
le
f
o
r
a
m
o
r
e
ag
il
e
o
u
t
l
e
t
.
F
ig
u
r
e
11
s
h
o
w
s
an
s
ch
em
a
ti
c
p
l
o
t
w
i
th
th
e
b
es
t
p
a
th
w
ay
a
n
d
T
a
b
l
e
2
f
ea
t
u
r
es
th
e
I
D
d
i
s
t
r
i
b
u
t
i
o
n
.
Fig
u
r
e
1
1
.
Sch
e
m
at
ic
p
lo
t
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8708
Desig
n
a
n
d
test
in
g
o
f
a
d
y
n
a
m
ic
r
ea
ctive
s
ig
n
a
g
e
n
etw
o
r
k
to
w
a
r
d
s
fir
e
eme
r
g
en
cy
.
..
(
C
h
r
i
s
to
p
h
er S
.
B
a
id
a
l)
5859
T
ab
le
2
.
I
D
d
esit
r
ib
u
tio
n
as
s
ig
n
atio
n
N
o
d
e
I
D
D
e
t
a
i
l
s
0
Ex
i
t
1
,
C
a
me
r
a
1
1
Ex
i
t
2
,
C
a
me
r
a
2
6
S
e
n
so
r
smo
k
i
n
g
a
n
d
t
e
mp
e
r
a
t
u
r
e
n
o
d
e
1
7
S
e
n
so
r
smo
k
i
n
g
a
n
d
t
e
mp
e
r
a
t
u
r
e
n
o
d
e
2
8
S
i
g
n
a
g
e
r
a
st
e
r
t
y
p
e
1
9
S
i
g
n
a
g
e
r
a
st
e
r
t
y
p
e
2
10
S
i
g
n
a
g
e
p
a
n
e
l
t
y
p
e
1
5.
CO
NCLU
SI
O
N
Du
r
in
g
t
h
e
te
s
ti
n
g
,
w
e
r
ea
li
ze
d
th
at
t
h
e
d
ep
lo
y
m
e
n
t
o
f
m
o
r
e
g
ate
w
a
y
s
e
n
h
an
ce
d
t
h
e
n
et
w
o
r
k
ef
f
icien
c
y
a
n
d
t
h
e
s
e
n
s
o
r
n
et
w
o
r
k
r
esp
o
n
s
e
f
o
r
b
etter
p
er
f
o
r
m
a
n
ce
in
ca
s
e
o
f
f
ir
e
d
etec
tio
n
.
B
esid
es
,
th
e
D
ij
k
s
tr
a
s
er
v
er
o
p
ti
m
ized
th
e
e
v
ac
u
a
tio
n
r
o
u
te
p
at
h
s
f
o
r
ea
ch
ar
ea
,
co
n
v
er
g
i
n
g
th
e
lo
w
er
le
v
el
r
o
u
tes
in
to
a
r
o
u
te
p
r
esen
ted
i
n
t
h
e
s
a
m
e
ac
ce
s
s
.
I
n
th
i
s
s
t
u
d
y
,
th
e
s
i
g
n
ali
n
g
g
u
id
ed
th
e
p
ar
ticip
an
ts
to
f
aster
r
ea
ctio
n
ti
m
e
s
to
i
m
p
r
o
v
e
t
h
e
e
v
ac
u
at
i
o
n
ti
m
es.
Ne
v
er
t
h
eles
s
,
co
m
p
u
ter
v
is
io
n
p
la
y
s
a
n
i
m
p
o
r
tan
t
f
ac
to
r
in
th
e
s
y
s
te
m
d
u
e
to
th
e
r
ec
o
g
n
i
tio
n
f
ea
tu
r
e
s
,
p
r
io
r
itizin
g
th
e
co
n
tin
u
o
u
s
s
y
s
te
m
tr
ai
n
i
n
g
o
f
i
m
ag
e
d
etec
ti
o
n
.
ACK
NO
WL
E
D
G
E
M
E
NT
S
T
h
e
au
th
o
r
s
w
o
u
ld
lik
e
to
th
a
n
k
t
h
e
s
u
p
p
o
r
tin
g
an
d
f
u
n
d
i
n
g
f
r
o
m
th
e
E
SP
OL
P
o
l
y
tech
n
ic
Un
i
v
er
s
it
y
to
th
e
p
r
o
j
ec
t
G
4
-
DI
-
2
0
1
4
(
I
n
teg
r
ated
s
y
s
te
m
f
o
r
e
m
er
g
en
cies
b
ased
o
n
s
en
s
o
r
n
et
w
o
r
k
s
an
d
r
ea
ctiv
e
s
ig
n
ali
n
g
,
k
n
o
w
n
as K
is
h
w
ar
P
r
o
j
e
ct)
an
d
th
e
co
llab
o
r
ati
o
n
o
f
T
.
V.
I
lles
ca
s
in
th
e
r
ev
ie
w
o
f
th
e
p
ap
er
.
RE
F
E
R
E
NC
E
S
[1
]
N.
Ba
ri,
e
t
a
l
.
,
“
I
n
tern
e
t
o
f
T
h
in
g
s
a
s
a
M
e
th
o
d
o
lo
g
ica
l
Co
n
c
e
p
t,
”
2
0
1
3
Fo
u
rth
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
Co
mp
u
t
in
g
f
o
r Ge
o
sp
a
ti
a
l
Res
e
a
rc
h
a
n
d
A
p
p
li
c
a
ti
o
n
,
S
a
n
J
o
se
,
CA
,
p
p
.
4
8
-
55
,
2
0
1
3
.
[2
]
M
.
Ba
rn
e
s
,
e
t
a
l.
,
“
E
m
e
rg
e
n
c
y
Ev
a
c
u
a
ti
o
n
u
sin
g
W
irele
ss
S
e
n
s
o
r
Ne
tw
o
rk
s,
”
3
2
n
d
IE
EE
Co
n
fer
e
n
c
e
o
n
L
o
c
a
l
Co
mp
u
ter
Ne
tw
o
rk
s (
L
CN 2
0
0
7
)
,
Du
b
li
n
,
p
p
.
8
5
1
-
8
5
7
,
2
0
0
7
.
[3
]
J.
A
.
M
u
n
o
z
,
e
t
a
l.
,
“
A
d
a
p
ti
v
e
Ev
a
c
u
a
ti
o
n
M
a
n
a
g
e
m
e
n
t
S
y
ste
m
Ba
se
d
o
n
M
o
n
it
o
ri
n
g
T
e
c
h
n
iq
u
e
s,
”
IEE
E
L
a
ti
n
Ame
ric
a
T
ra
n
s
a
c
ti
o
n
s
,
v
o
l.
1
3
,
n
o
.
1
1
,
p
p
.
3
6
2
1
-
3
6
2
6
,
No
v
.
2
0
1
5
.
[4
]
O.
L
.
Hu
ib
re
g
tse
,
e
t
a
l.
,
“
A
Ge
n
e
ric
M
e
th
o
d
to
Op
ti
m
ize
In
stru
c
ti
o
n
s
f
o
r
t
h
e
Co
n
tro
l
o
f
Ev
a
c
u
a
ti
o
n
s,
”
i
n
IFA
C
Pro
c
e
e
d
in
g
s
Vo
l
u
me
s
,
v
o
l.
4
2
,
n
o
.
1
5
,
p
p
.
2
1
7
-
2
2
3
,
2
0
0
9
.
[5
]
T
.
T
a
b
irca
,
e
t
a
l.
,
“
A
D
y
n
a
m
i
c
M
o
d
e
l
f
o
r
F
ire
Em
e
rg
e
n
c
y
Ev
a
c
u
a
t
io
n
Ba
se
d
o
n
W
irele
ss
S
e
n
so
r
Ne
tw
o
rk
s,
”
2
0
0
9
Ei
g
h
t
h
I
n
ter
n
a
ti
o
n
a
l
S
y
mp
o
siu
m
o
n
P
a
ra
l
lel
a
n
d
Distri
b
u
ted
Co
m
p
u
ti
n
g
,
L
isb
o
n
,
p
p
.
2
9
-
36
,
2
0
0
9
.
[6
]
J.
Ch
o
,
e
t
a
l.
,
“
A
p
p
li
c
a
ti
o
n
o
f
Di
jk
stra
s
A
lg
o
rit
h
m
in
th
e
S
m
a
rt
E
x
it
S
ig
n
,
”
2
0
1
4
Pro
c
e
e
d
in
g
s
o
f
t
h
e
3
1
st
IS
AR
C
,
S
y
d
n
e
y
,
A
u
stra
li
a
,
p
p
.
2
2
4
-
2
2
9
,
2
0
1
4
.
[7
]
S
.
Na
v
a
rre
te
a
n
d
M
.
Ed
u
a
rd
o
,
“
Estu
d
i
o
y
si
m
u
lac
io
n
d
e
a
lg
o
rit
m
o
s
p
a
ra
la
e
v
a
c
u
a
c
io
n
d
e
p
e
rso
n
a
s
e
n
situ
a
c
io
n
e
s
d
e
e
m
e
rg
e
n
c
ia
so
b
re
u
n
a
e
stru
c
t
u
ra
sim
il
a
r
a
l
r
e
c
to
ra
d
o
d
e
la
E
S
P
OL
,
”
En
g
in
e
e
rin
g
g
ra
d
u
a
ti
o
n
p
ro
jec
t,
ES
P
OL
P
o
ly
tec
h
n
ic Un
iv
e
rsit
y
,
2
0
1
5
.
A
v
a
il
a
b
le at:
h
tt
p
:/
/w
ww
.
d
sp
a
c
e
.
e
sp
o
l.
e
d
u
.
e
c
/x
m
lu
i/
h
a
n
d
le/1
2
3
4
5
6
7
8
9
/3
0
2
6
4
.
[8
]
P
.
T
u
ra
g
a
,
e
t
a
l.
,
“
M
a
c
h
in
e
Re
c
o
g
n
it
io
n
o
f
Hu
m
a
n
Ac
ti
v
it
ies
:
A
S
u
rv
e
y
,
”
in
IEE
E
T
ra
n
s
a
c
ti
o
n
s
o
n
Circ
u
it
s
a
n
d
S
y
s
tem
s fo
r V
id
e
o
T
e
c
h
n
o
l
o
g
y
,
v
o
l.
1
8
,
n
o
.
1
1
,
p
p
.
1
4
7
3
-
1
4
8
8
,
No
v
.
2
0
0
8
.
[9
]
P
.
Vio
la
a
n
d
M
.
Jo
n
e
s,
“
Ra
p
id
o
b
jec
t
d
e
tec
ti
o
n
u
si
n
g
a
b
o
o
s
t
e
d
c
a
sc
a
d
e
o
f
si
m
p
le
fe
a
tu
re
s,
”
Pro
c
e
e
d
in
g
s
o
f
th
e
2
0
0
1
IE
EE
Co
m
p
u
ter
S
o
c
iety
Co
n
fer
e
n
c
e
o
n
Co
m
p
u
ter
Vi
si
o
n
a
n
d
P
a
tt
e
rn
Rec
o
g
n
it
i
o
n
.
CVP
R
2
0
0
1
,
Ka
u
a
i
,
HI,
USA
,
p
p
.
1
-
1
,
2
0
0
1
.
[1
0
]
X
.
C
h
e
n
,
e
t
a
l.
,
“
P
e
d
e
strian
De
tec
ti
o
n
w
it
h
De
e
p
C
o
n
v
o
l
u
ti
o
n
a
l
Ne
u
ra
l
Ne
tw
o
rk
,
”
Co
mp
u
ter
Vi
si
o
n
,
ACCV
2
0
1
4
W
o
rk
sh
o
p
s,
1
2
t
h
Asia
n
C
o
n
fer
e
n
c
e
o
n
Co
mp
u
ter
Vi
si
o
n
,
Rev
ise
d
S
e
lec
ted
Pa
p
e
rs
,
P
a
rt
I
,
S
in
g
a
p
o
r
e
,
p
p
.
3
5
4
-
3
6
5
,
2
0
1
4
.
[1
1
]
F
.
Ya
n
g
,
e
t
a
l.
,
“
Ex
p
lo
it
A
ll
th
e
La
y
e
rs:
F
a
st an
d
A
c
c
u
ra
te C
NN
O
b
jec
t
De
tec
to
r
w
it
h
S
c
a
le De
p
e
n
d
e
n
t
P
o
o
l
in
g
a
n
d
Ca
sc
a
d
e
d
Re
jec
ti
o
n
Clas
sif
iers
,
”
2
0
1
6
IEE
E
Co
n
fer
e
n
c
e
o
n
Co
mp
u
ter
Vi
sio
n
a
n
d
Pa
tt
e
rn
Rec
o
g
n
it
i
o
n
(
CVP
R)
,
L
a
s V
e
g
a
s,
NV
,
p
p
.
2
1
2
9
-
2
1
3
7
,
2
0
1
6
.
[1
2
]
C.
L
iu
,
e
t
a
l.
,
“
Ra
ste
r
-
to
-
V
e
c
to
r:
Re
v
isit
in
g
F
lo
o
rp
lan
T
ra
n
sf
o
r
m
a
ti
o
n
,
”
2
0
1
7
IEE
E
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
Co
mp
u
ter
V
isio
n
(
ICCV)
,
V
e
n
ice
,
p
p
.
2
2
1
4
-
2
2
2
2
,
2
0
1
7
.
[1
3
]
S
.
H.
G
a
jj
a
r,
e
t
a
l.
,
“
W
irele
ss
S
e
n
so
r
Ne
tw
o
rk
:
A
p
p
li
c
a
ti
o
n
le
d
re
s
e
a
rc
h
p
e
rsp
e
c
ti
v
e
,
”
2
0
1
1
IEE
E
R
e
c
e
n
t
Ad
v
a
n
c
e
s
in
In
telli
g
e
n
t
Co
m
p
u
t
a
ti
o
n
a
l
S
y
ste
ms
,
T
riv
a
n
d
ru
m
,
p
p
.
0
2
5
-
0
3
0
,
2
0
1
1
.
[1
4
]
F
.
Din
g
,
e
t
a
l.
,
“
A
Zi
g
Be
e
Ba
se
d
M
e
sh
Ne
tw
o
rk
f
o
r
Ho
m
e
Co
n
tro
l
S
y
ste
m
,
”
2
0
0
8
In
ter
n
a
ti
o
n
a
l
W
o
rk
sh
o
p
o
n
Ed
u
c
a
ti
o
n
T
e
c
h
n
o
lo
g
y
a
n
d
T
r
a
in
in
g
&
2
0
0
8
In
ter
n
a
ti
o
n
a
l
W
o
rk
sh
o
p
o
n
Ge
o
sc
ien
c
e
a
n
d
R
e
mo
te
S
e
n
sin
g
,
S
h
a
n
g
h
a
i,
p
p
.
7
4
4
-
7
4
8
,
2
0
0
8
.
[1
5
]
B.
Ra
o
a
n
d
S
.
M
ish
ra
,
“
A
n
A
p
p
ro
a
c
h
to
De
tec
t
P
a
tt
e
rn
s
(S
u
b
-
g
r
a
p
h
s)
w
it
h
Ed
g
e
W
e
i
g
h
t
in
G
r
a
p
h
Us
in
g
G
ra
p
h
M
in
i
n
g
T
e
c
h
n
iq
u
e
s,
”
Co
mp
u
ta
t
io
n
a
l
I
n
telli
g
e
n
c
e
i
n
Da
t
a
M
in
in
g
,
Pro
c
e
e
d
in
g
s
o
f
th
e
I
n
ter
n
a
t
io
n
a
l
Co
n
fer
e
n
c
e
o
n
CIDM
2
0
1
7
,
S
p
ri
n
g
e
r,
p
p
.
8
0
7
-
8
1
9
,
2
0
1
9
.
[1
6
]
B.
Ka
n
g
a
n
d
H.
Ch
o
o
,
“
A
d
e
e
p
-
lea
rn
in
g
-
b
a
se
d
e
m
e
r
g
e
n
c
y
a
lert
s
y
ste
m
,
”
ICT
Exp
re
ss
,
v
ol
.
2
,
n
o
.
2
,
p
p
.
6
7
-
7
0
,
2
0
1
6
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
10
,
No
.
6
,
Decem
b
er
2020
:
5
8
5
3
-
5
8
6
0
5860
[1
7
]
I.
Ca
lv
o
,
e
t
a
l.
,
“
Bu
il
d
in
g
W
irele
ss
Co
n
tro
l
A
p
p
li
c
a
ti
o
n
s
w
it
h
X
Be
e
a
n
d
L
a
b
V
IEW
,
”
Ap
p
li
e
d
S
c
ien
c
e
s
,
v
o
l.
9,
n
o
.
1
1
,
p
p
.
2
3
7
9
,
2
0
1
9
.
[1
8
]
G
.
L
.
Re
n
,
e
t
a
l.
,
“
D
e
sig
n
a
n
d
imp
lem
e
n
tatio
n
o
f
e
n
v
iro
n
m
e
n
tal
m
o
n
it
o
rin
g
u
si
n
g
RF
ID
a
n
d
W
S
N
p
latf
o
rm
,
”
2016
IEE
E
Asia
-
Pa
c
if
ic C
o
n
fer
e
n
c
e
o
n
Ap
p
li
e
d
E
lec
tro
ma
g
n
e
ti
c
s (
AP
ACE
)
,
L
a
n
g
k
a
w
i,
p
p
.
3
2
8
-
3
3
3
,
2
0
1
6
.
[1
9
]
R.
P
iy
a
re
a
n
d
S
.
L
e
e
,
“
P
e
rf
o
rm
a
n
c
e
A
n
a
l
y
sis
o
f
X
Be
e
ZB
M
o
d
u
le Bas
e
d
W
irele
ss
S
e
n
so
r
Ne
tw
o
rk
s,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
S
c
ien
ti
fi
c
&
En
g
in
e
e
rin
g
Res
e
a
rc
h
,
v
o
l.
4
,
n
o
.
5
,
2
0
1
3
.
[2
0
]
S
.
F
a
ra
h
a
n
i
,
“
Zi
g
Be
e
W
ir
e
les
s N
e
tw
o
rk
s a
n
d
T
ra
n
sc
e
i
v
e
rs,” E
lse
v
ier,
2
0
0
8
.
[2
1
]
I.
Ku
z
m
in
y
k
h
,
e
t
a
l.
,
"
Tes
ti
n
g
o
f
c
o
m
m
u
n
ica
ti
o
n
ra
n
g
e
in
Zi
g
Be
e
t
e
c
h
n
o
l
o
g
y
,
"
2
0
1
7
1
4
t
h
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
T
h
e
Exp
e
rie
n
c
e
o
f
De
sig
n
i
n
g
a
n
d
Ap
p
li
c
a
ti
o
n
o
f
CAD
S
y
ste
ms
in
M
icr
o
e
lec
tro
n
ics
(
CADS
M
)
,
p
p
.
1
3
3
-
1
3
6
,
2
0
1
7
.
[2
2
]
H.
Ku
m
b
h
a
r,
"
W
irele
s
s
se
n
so
r
n
e
tw
o
rk
u
sin
g
X
b
e
e
o
n
A
rd
u
in
o
P
latf
o
rm
:
A
n
e
x
p
e
ri
m
e
n
tal
stu
d
y
,
"
2
0
1
6
In
ter
n
a
t
io
n
a
l
C
o
n
fer
e
n
c
e
o
n
C
o
mp
u
ti
n
g
Co
mm
u
n
ica
ti
o
n
Co
n
tro
l
a
n
d
a
u
t
o
ma
t
io
n
(
ICCUBEA
)
,
p
p
.
1
-
5
,
2
0
1
6
.
[2
3
]
M
.
Org
o
n
,
e
t
a
l.
,
"
X
Be
e
tec
h
n
o
l
o
g
y
:
Co
m
p
lex
e
v
a
lu
a
ti
o
n
o
f
ra
d
i
o
p
a
ra
m
e
ters
,
"
2
0
1
9
1
1
th
I
n
ter
n
a
ti
o
n
a
l
C
o
n
g
re
ss
o
n
Ultr
a
M
o
d
e
rn
T
e
lec
o
mm
u
n
ica
ti
o
n
s
a
n
d
C
o
n
tr
o
l
S
y
ste
ms
a
n
d
W
o
rk
sh
o
p
s (
ICUM
T
)
,
p
p
.
1
-
6
,
2
0
1
9
.
[2
4
]
G
.
Ra
jan
,
e
t
a
l.
,
“
A
Re
v
ie
w
:
Co
m
p
a
ra
ti
v
e
A
n
a
l
y
sis
o
f
A
rd
u
in
o
M
icro
C
o
n
tr
o
ll
e
rs
i
n
Ro
b
o
ti
c
Ca
r,
”
I
n
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
M
e
c
h
a
n
ic
a
l,
Aer
o
s
p
a
c
e
,
In
d
u
stria
l
a
n
d
M
e
c
h
a
tr
o
n
ics
E
n
g
i
n
e
e
rin
g
,
v
o
l.
9
,
n
o
.
2
,
p
p
.
3
6
5
-
374
,
2
0
1
5
.
[2
5
]
L
.
L
o
u
is,
“
W
o
rk
in
g
P
rin
c
ip
le
o
f
A
rd
u
in
o
a
n
d
Us
in
g
it
a
s
a
T
o
o
l
f
o
r
S
t
u
d
y
a
n
d
Re
se
a
rc
h
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
r
n
a
l
o
f
Co
n
tro
l,
A
u
to
m
a
ti
o
n
,
Co
mm
u
n
ica
ti
o
n
a
n
d
S
y
ste
ms
(
IJ
CACS
)
,
v
o
l.
1
,
n
o
.
2
,
p
p
.
2
1
-
2
9
,
2
0
1
6
.
Evaluation Warning : The document was created with Spire.PDF for Python.