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.
8
,
No
.
1
,
Feb
r
u
ar
y
201
8
,
p
p
.
1
0
4
~
1
1
2
I
SS
N:
2088
-
8708
,
DOI
: 1
0
.
1
1
5
9
1
/
i
j
ec
e
.
v
8
i
1
.
p
p
1
0
4
-
1
1
2
104
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ia
e
s
co
r
e
.
co
m/
jo
u
r
n
a
ls
/in
d
ex
.
p
h
p
/
I
JE
C
E
Dev
elo
p
m
e
nt
o
f
G
uiding
Ca
ne w
ith
Vo
ice
No
tif
ica
ti
o
n f
o
r
Visua
lly
I
m
pa
ire
d indiv
idua
ls
Em
eli
ne
C.
G
uev
a
rr
a
,
M
a
rc
k
I
v
a
n Re
y
es
Ca
m
a
m
a
,
G
eo
nel
Villa
nu
ev
a
Cruza
do
De
p
a
rtme
n
t
o
f
Co
m
p
u
ter an
d
E
lec
tro
n
ics
En
g
i
n
e
e
rin
g
,
Co
l
leg
e
o
f
En
g
in
e
e
rin
g
a
n
d
In
f
o
rm
a
ti
o
n
T
e
c
h
n
o
lo
g
y
,
Ca
v
it
e
S
tate
Un
iv
e
rsit
y
,
In
d
a
n
g
C
a
v
it
e
,
4
1
2
2
P
h
il
i
p
p
i
n
e
s
Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Ma
r
2
,
2
0
1
7
R
ev
i
s
ed
Sep
1
4
,
2
0
1
7
A
cc
ep
ted
Sep
2
8
,
2
0
1
7
Na
v
ig
a
ti
o
n
in
th
e
p
h
y
sic
a
l
e
n
v
ir
o
n
m
e
n
t
is
a
c
h
a
ll
e
n
g
e
f
o
r
th
o
se
p
e
o
p
le
w
h
o
h
a
v
e
v
e
r
y
li
m
it
e
d
s
e
n
se
o
f
sig
h
t
o
r
n
o
v
isio
n
a
t
a
ll
.
A
ss
isti
v
e
tec
h
n
o
lo
g
ies
f
o
r
b
li
n
d
m
o
b
il
iza
ti
o
n
is
n
o
t
n
e
w
a
n
d
a
lw
a
y
s
h
a
v
e
a
ro
o
m
f
o
r
i
m
p
ro
v
e
m
e
n
t.
M
o
re
o
v
e
r,
th
e
se
a
ss
isti
v
e
d
e
v
ic
e
s
a
re
li
m
it
e
d
in
ter
m
s
o
f
it
s
s
e
n
sin
g
a
n
d
f
e
e
d
b
a
c
k
a
b
il
it
ies
.
T
h
is
p
a
p
e
r
p
re
se
n
ts
a
m
icro
c
o
n
tro
ll
e
r
-
b
a
se
d
g
u
i
d
in
g
stick
c
a
p
a
b
le
o
f
d
e
tec
ti
n
g
s
e
v
e
r
a
l
c
o
n
d
it
io
n
s
o
f
th
e
e
n
v
iro
n
m
e
n
t
su
c
h
a
s
o
b
sta
c
les
in
f
ro
n
t,
lef
t
a
n
d
rig
h
t
p
o
siti
o
n
s
o
f
th
e
u
se
r
a
n
d
d
e
tec
ts
a
s
c
e
n
d
i
n
g
a
n
d
d
e
sc
e
n
d
in
g
sta
irca
se
s.
T
h
e
f
e
e
d
b
a
c
k
is
d
e
li
v
e
r
e
d
b
y
a
n
a
u
d
io
o
u
t
p
u
t
w
h
ich
d
icta
tes
th
e
d
irec
ti
o
n
t
o
g
o
o
r
w
h
a
t
c
o
n
d
it
i
o
n
t
h
e
se
n
so
r
d
e
tec
ts
in
f
ro
n
t
o
f
th
e
u
se
r.
T
e
c
h
n
ica
l
e
v
a
lu
a
ti
o
n
p
ro
v
e
s
th
a
t
t
h
e
d
e
v
ice
w
a
s
f
u
n
c
ti
o
n
a
l
i
n
te
rm
s
o
f
it
s
a
c
c
u
ra
c
y
,
re
sp
o
n
siv
e
n
e
ss
a
n
d
c
o
rre
c
tn
e
ss
.
On
th
e
o
t
h
e
r
h
a
n
d
,
i
n
th
e
a
c
tu
a
l
e
v
a
lu
a
ti
o
n
o
f
th
e
d
e
v
ice
w
it
h
th
e
v
isu
a
ll
y
i
m
p
a
ired
in
d
iv
id
u
a
ls,
th
e
d
e
v
ice
d
id
n
o
t
p
e
rf
o
rm
e
ff
i
c
ien
tl
y
.
It
w
a
s
a
lso
f
o
u
n
d
t
h
a
t
t
h
e
d
e
v
ice
h
a
s
th
e
p
o
ten
ti
a
l
to
b
e
u
se
d
e
f
fe
c
ti
v
e
l
y
b
y
th
e
v
is
u
a
ll
y
i
m
p
a
ired
w
h
o
a
c
q
u
ired
th
e
i
r
b
li
n
d
n
e
ss
in
late
r
sta
g
e
o
f
th
e
ir
li
f
e
p
ro
v
i
d
e
d
th
a
t
th
e
y
w
il
l
h
a
v
e
a
p
ro
p
e
r
t
ra
in
in
g
i
n
u
sin
g
th
e
d
e
v
ice
w
h
il
e
n
a
v
ig
a
ti
n
g
in
t
h
e
p
h
y
sic
a
l
e
n
v
iro
n
m
e
n
t.
K
ey
w
o
r
d
:
Au
d
io
n
o
ti
f
icatio
n
s
Gizd
u
in
o
Mic
r
o
co
n
tr
o
ller
Ultr
aso
n
ic
s
e
n
s
o
r
s
Vo
ice
k
it I
I
Co
p
y
rig
h
t
©
2
0
1
8
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
:
E
m
eli
n
e
C
.
G
u
ev
ar
r
a,
Dep
ar
t
m
en
t o
f
C
o
m
p
u
ter
an
d
E
lectr
o
n
ics E
n
g
i
n
ee
r
in
g
,
C
av
i
te
State
U
n
i
v
er
s
it
y
,
B
ar
an
g
a
y
B
an
co
d
,
I
n
d
an
g
,
C
a
v
ite,
4
1
2
2
,
P
h
ilip
p
in
es.
E
m
ail: e
c
g
u
e
v
ar
r
a@
c
v
s
u
.
ed
u
.
p
h
1.
I
NT
RO
D
UCT
I
O
N
Up
d
atin
g
p
o
s
itio
n
a
n
d
o
r
ien
tatio
n
is
a
s
ig
n
i
f
ica
n
t
r
o
le
o
f
v
is
io
n
as
w
e
ll
as
id
en
ti
f
y
in
g
o
b
j
ec
ts
a
p
er
s
o
n
is
ap
p
r
o
ac
h
in
g
b
u
t
f
o
r
th
o
s
e
w
it
h
n
o
v
i
s
io
n
o
r
li
m
ite
d
s
en
s
e
o
f
s
i
g
h
t,
n
a
v
i
g
ati
n
g
th
r
o
u
g
h
th
e
w
o
r
ld
ca
n
b
e
a
ch
alle
n
g
e.
T
h
e
v
i
s
u
all
y
i
m
p
a
ir
ed
m
u
s
t
r
el
y
o
n
s
en
s
es
o
th
er
t
h
an
s
i
g
h
t
s
u
c
h
a
s
h
ea
r
in
g
an
d
to
u
c
h
to
g
u
id
e
th
e
m
.
Vis
u
all
y
i
m
p
air
ed
p
er
s
o
n
s
r
el
y
o
n
th
e
tr
ad
itio
n
al
ca
n
e
f
o
r
th
e
ea
s
e
o
f
n
a
v
i
g
atio
n
th
r
o
u
g
h
t
h
e
s
u
r
r
o
u
n
d
in
g
s
.
B
y
m
ea
n
s
o
f
a
ca
n
e
o
r
a
g
u
id
e
d
o
g
,
v
is
u
all
y
i
m
p
air
ed
p
er
s
o
n
ca
n
a
v
o
id
o
b
s
tacle
s
t
h
at
ar
e
ap
p
r
o
ac
h
in
g
n
ea
r
b
y
,
a
v
o
id
d
r
o
p
-
o
f
f
s
o
r
p
itf
all
s
an
d
b
e
ab
le
to
cli
m
b
u
p
an
d
d
o
w
n
th
e
s
tair
s
.
T
h
er
e
h
av
e
b
ee
n
m
a
n
y
p
r
o
p
o
s
ed
ass
i
s
ti
v
e
d
e
v
ices
f
o
r
t
h
e
v
is
u
al
l
y
i
m
p
air
ed
.
T
h
e
m
aj
o
r
d
if
f
er
en
ce
s
b
et
w
ee
n
th
e
d
ev
ices
ar
e
w
h
er
e
th
e
y
ar
e
m
o
u
n
ted
o
r
w
o
r
n
,
h
o
w
f
ee
d
b
ac
k
is
d
eli
v
e
r
ed
,
an
d
h
o
w
th
e
s
u
r
r
o
u
n
d
in
g
s
ar
e
d
etec
ted
.
S
in
ce
th
e
n
,
th
ese
i
n
n
o
v
atio
n
s
h
av
e
al
w
a
y
s
a
r
o
o
m
f
o
r
i
m
p
r
o
v
e
m
en
t
[
1
]
.
A
n
ele
ctr
o
n
ic
b
lin
d
g
u
id
in
g
s
tic
k
w
as
d
ev
e
lo
p
ed
th
at
u
s
e
s
u
ltr
aso
n
ic
s
e
n
s
o
r
s
w
h
ich
ar
e
m
o
u
n
ted
o
n
t
h
e
h
a
n
d
le
r
o
d
co
n
tr
o
lled
b
y
a
s
i
n
g
le
-
c
h
i
p
m
icr
o
co
m
p
u
ter
t
h
at
l
i
m
its
it
s
s
e
n
s
in
g
in
f
r
o
n
t
o
b
s
tacle
s
a
n
d
d
o
es
n
o
t
ad
d
r
ess
th
e
n
ee
d
s
o
f
th
e
v
i
s
u
all
y
i
m
p
air
ed
in
ter
m
s
o
f
cli
m
b
in
g
u
p
an
d
cli
m
b
in
g
d
o
w
n
a
s
ta
ir
ca
s
e.
T
h
e
f
ee
d
b
ac
k
i
s
d
eliv
er
ed
b
y
a
v
o
ice
p
atter
n
[
2
]
.
Oth
er
s
tu
d
ies
ad
d
r
ess
ed
also
th
e
o
b
s
tacle
ab
o
v
e
th
e
h
ea
d
o
f
th
e
u
s
er
an
d
u
s
e
s
v
ib
r
ato
r
y
p
atter
n
s
as
a
f
ee
d
b
ac
k
an
d
s
o
u
n
d
alar
m
in
f
o
r
m
o
f
b
ee
p
s
.
A
d
d
itio
n
al
f
ea
tu
r
e
s
ar
e
ad
d
ed
in
th
ese
d
ev
ices
s
u
c
h
as
GP
S
in
te
g
r
ati
o
n
[
3
]
,
B
lu
eto
o
th
w
ir
eles
s
co
m
m
u
n
icatio
n
to
u
s
er
an
d
d
e
v
ice
an
d
R
FID
ta
g
s
in
te
g
r
atio
n
w
h
ic
h
i
s
v
er
y
s
p
ec
if
ic
to
p
lace
s
li
k
e
i
n
d
o
o
r
s
.
So
m
e
o
f
t
h
ese
d
ev
e
lo
p
m
en
ts
ar
e
u
s
u
all
y
w
ir
ed
a
n
d
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
Dev
elo
p
men
t o
f G
u
id
in
g
C
a
n
e
w
ith
V
o
ice
N
o
tifi
ca
tio
n
fo
r
V
is
u
a
lly
I
mp
a
ir
ed
…. (
E
melin
e
C
.
Gu
ev
a
r
r
a
)
105
th
er
ef
o
r
e
i
n
co
n
v
e
n
ie
n
t
to
t
h
e
u
s
er
p
ar
t
t
h
u
s
ca
n
b
e
m
in
i
m
iz
e
if
t
h
e
i
n
ter
f
ac
in
g
o
f
t
h
e
p
ar
ts
o
f
t
h
e
s
y
s
te
m
s
u
c
h
as
th
e
s
e
n
s
in
g
an
d
f
ee
d
b
ac
k
u
n
it
ar
e
w
ir
eless
[
4
-
8
]
.
A
n
a
s
s
i
s
iti
v
e
d
ev
ice
i
n
a
f
o
r
m
al
s
o
o
f
a
g
u
id
i
n
g
s
tic
k
w
as
also
d
ev
elo
p
ed
b
ased
o
n
im
ag
e
id
e
n
ti
f
icatio
n
e
m
b
ed
d
e
d
w
it
h
r
o
ad
co
n
d
itio
n
s
u
b
s
y
s
te
m
,
n
av
ig
atio
n
s
u
b
s
y
s
te
m
a
n
d
a
r
o
ller
b
r
ak
in
g
s
y
s
te
m
.
T
h
e
f
ee
d
b
ac
k
o
f
th
e
d
ev
ice
co
m
e
s
f
r
o
m
t
h
e
b
lu
eto
o
th
h
ea
d
s
et
[
9
]
.
A
ll
o
f
th
e
s
e
d
ev
elo
p
m
e
n
t
s
h
a
s
it
s
ad
v
an
ta
g
es
a
n
d
also
h
ad
its
l
i
m
itat
io
n
s
.
Mo
s
t
o
f
t
h
ese
d
ev
elo
p
m
e
n
t
s
d
o
es
n
o
t
ca
ter
th
e
o
v
er
-
all
n
ee
d
s
o
f
t
h
e
v
is
u
all
y
i
m
p
air
ed
w
h
ile
n
a
v
i
g
atin
g
in
t
h
e
p
h
y
s
ical
e
n
v
ir
o
n
m
en
t.
So
m
e
o
f
t
h
es
e
tech
n
o
lo
g
ies
r
eq
u
ir
ed
a
lear
n
i
n
g
cu
r
v
e
f
o
r
t
h
e
u
s
er
to
b
e
a
b
le
to
u
s
e
e
f
f
ec
ti
v
el
y
an
d
e
f
f
i
cien
tl
y
t
h
e
d
ev
ice.
Desig
n
co
n
s
id
er
atio
n
s
w
it
h
t
h
ese
p
o
r
tab
le
d
ev
ices
s
h
o
u
ld
b
e
lig
h
t
w
ei
g
h
t,
co
m
p
ac
t
an
d
ca
n
ea
s
il
y
b
e
ca
r
r
ied
b
u
t n
o
t
w
o
r
n
[
1
0
]
.
I
n
o
r
d
er
f
o
r
th
e
v
is
u
all
y
-
i
m
p
ai
r
ed
to
n
av
i
g
ate
f
r
ee
l
y
i
n
t
h
e
e
n
v
ir
o
n
m
e
n
t,
t
h
e
r
esear
c
h
er
s
d
ev
elo
p
ed
a
Mic
r
o
co
n
tr
o
ller
-
B
ased
ass
i
s
ti
v
e
d
ev
ice
th
at
is
i
n
t
h
e
f
o
r
m
o
f
a
g
u
id
in
g
s
tic
k
w
h
ich
ca
n
s
en
s
e
th
e
s
u
r
r
o
u
n
d
i
n
g
s
th
r
o
u
g
h
a
s
e
n
s
o
r
an
d
r
ela
y
t
h
at
in
f
o
r
m
at
io
n
to
th
e
d
ev
ice
u
s
er
th
r
o
u
g
h
an
au
d
io
o
u
tp
u
t
b
y
u
tili
zi
n
g
r
ad
io
f
r
eq
u
en
c
y
.
T
h
e
d
ev
ice
is
ca
p
ab
le
o
f
d
etec
tin
g
s
ev
er
al
co
n
d
itio
n
s
o
f
t
h
e
en
v
ir
o
n
m
e
n
t
s
u
ch
a
s
o
b
s
tacl
es
i
n
f
r
o
n
t,
lef
t
a
n
d
r
ig
h
t
p
o
s
itio
n
s
o
f
th
e
u
s
er
an
d
d
etec
ts
asce
n
d
in
g
an
d
d
escen
d
i
n
g
s
tair
ca
s
e
s
.
T
h
e
f
ee
d
b
ac
k
is
d
eliv
er
ed
b
y
a
n
a
u
d
io
o
u
tp
u
t
w
h
ic
h
d
ictates t
h
e
d
ir
ec
tio
n
to
g
o
o
r
w
h
at
co
n
d
itio
n
th
e
s
en
s
o
r
d
etec
ts
in
f
r
o
n
t o
f
th
e
u
s
er
.
T
h
is
s
y
s
te
m
co
m
es
in
o
n
e
p
ac
k
a
g
e
th
at
ad
d
r
ess
e
s
w
h
at
t
h
e
b
lin
d
s
r
ea
ll
y
n
ee
d
s
in
n
a
v
i
g
ati
n
g
th
e
ex
ter
n
al
e
n
v
ir
o
n
m
en
t a
t a
m
i
n
i
m
al
co
s
t c
o
m
p
ar
ed
to
o
th
er
s
y
s
te
m
s
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
Mic
r
o
co
n
tr
o
ller
-
b
ased
g
u
id
i
n
g
s
tic
k
co
n
s
i
s
ts
o
f
t
h
e
f
o
llo
win
g
elec
tr
o
n
ic
co
m
p
o
n
en
ts
in
t
eg
r
ated
to
f
o
r
m
a
s
y
s
te
m
t
h
at
ca
n
p
er
f
o
r
m
t
h
e
r
eq
u
ir
ed
o
p
er
atio
n
s
:
Gi
zd
u
in
o
A
T
Me
g
a
3
2
8
P
[
1
1
]
as
th
e
m
icr
o
co
n
tr
o
ller
b
o
ar
d
,
an
ar
r
ay
o
f
u
l
tr
aso
n
ic
s
en
s
o
r
s
p
o
s
itio
n
ed
in
d
i
f
f
er
en
t
p
ar
ts
o
f
t
h
e
s
ta
n
d
ar
d
q
u
ad
-
ca
n
e
f
o
r
s
en
s
in
g
o
p
er
atio
n
s
,
FM
b
r
o
ad
ca
s
ter
[
1
2
]
,
v
o
ice
k
i
t
I
I
[
1
3
]
w
h
er
e
t
h
e
au
d
io
n
o
tif
ica
tio
n
s
ar
e
s
to
r
ed
an
d
a
v
ib
r
atio
n
m
o
to
r
as a
n
ad
d
itio
n
al
f
ee
d
b
ac
k
to
th
e
u
s
er
w
h
e
n
e
v
er
th
er
e
is
a
p
r
esen
ce
o
f
d
ep
th
1
0
in
ch
es
ab
o
v
e.
2
.
1
.
Desig
n a
nd
M
o
difica
t
io
n o
f
Sta
nd
a
rd
Q
ua
d
-
ca
ne
T
h
e
ad
j
u
s
tab
le
q
u
ad
ca
n
e
w
a
s
f
i
x
ed
at
3
4
in
ch
e
s
b
ased
o
n
th
e
s
ta
n
d
ar
d
h
eig
h
t
o
f
a
w
al
k
in
g
s
tic
k
[
1
4
]
.
C
aster
w
h
ee
l
s
w
er
e
atta
ch
ed
an
d
w
e
ld
ed
at
th
e
b
ase
en
d
o
f
th
e
q
u
ad
ca
n
e
f
o
r
th
e
ea
s
y
m
an
e
u
v
er
in
g
o
f
th
e
d
ev
ice
b
y
th
e
u
s
er
.
T
h
r
ee
u
ltra
s
o
n
ic
s
e
n
s
o
r
s
w
it
h
c
u
s
to
m
h
o
u
s
i
n
g
w
er
e
attac
h
ed
at
t
h
e
u
p
p
er
p
ar
t
o
f
th
e
ca
n
e
at
a
n
a
n
g
le
o
f
6
0
d
eg
r
ee
s
.
E
ac
h
t
h
r
ee
s
e
n
s
o
r
s
ar
e
o
r
ie
n
ted
in
le
f
t,
r
ig
h
t
a
n
d
f
r
o
n
t
a
cc
o
r
d
in
g
l
y
.
On
th
e
m
id
d
le
p
ar
t
o
f
th
e
ca
n
e,
o
n
e
u
ltra
s
o
n
ic
s
en
s
o
r
is
p
lace
d
w
i
th
its
c
u
s
to
m
ca
s
e;
t
h
is
i
s
f
o
r
th
e
d
etec
tio
n
o
f
t
h
e
in
cli
n
ed
s
tair
ca
s
e
a
n
d
m
id
-
lev
el
o
b
s
tacle
s
.
Fig
u
r
e
1
s
h
o
w
s
t
h
e
p
h
y
s
ica
l sp
ec
if
icatio
n
s
o
f
t
h
e
d
ev
ice.
Fig
u
r
e
1
.
P
h
y
s
ical
s
p
ec
i
f
icatio
n
s
o
f
t
h
e
d
ev
ice
a
n
d
its
m
ea
s
u
r
e
m
en
t
s
2
.
2
.
I
nte
g
ra
t
io
n
o
f
t
he
M
icro
c
o
ntr
o
ller,
Ult
ra
s
o
nic
Sen
s
o
rs,
Vo
ice
kit
I
I
,
F
M
B
ro
a
dca
s
t
er
a
nd
Vibra
t
io
n M
o
t
o
r
T
h
e
d
ev
ice
is
co
m
p
r
is
ed
o
f
s
i
x
i
n
p
u
t
s
w
h
ic
h
i
s
co
m
p
o
s
ed
o
f
s
ix
u
ltra
s
o
n
ic
s
e
n
s
o
r
s
,
a
v
o
ic
e
k
it
an
d
a
v
ib
r
atio
n
m
o
to
r
f
o
r
t
h
e
o
u
tp
u
t.
T
en
p
in
s
w
er
e
u
tili
ze
d
f
o
r
t
h
e
d
ev
ice
i
n
p
u
t
a
n
d
o
u
tp
u
t.
B
ef
o
r
e
th
e
v
o
ice
k
it
w
a
s
i
n
teg
r
ated
w
i
th
th
e
m
icr
o
c
o
n
tr
o
ller
,
th
e
r
ec
o
r
d
ed
v
o
ice
w
a
s
s
to
r
ed
in
9
i
n
d
i
v
id
u
al
m
e
m
o
r
y
ad
d
r
ess
es
o
f
th
e
v
o
ice
k
it
b
y
m
ea
n
s
o
f
U
n
iv
er
s
al
Ser
ial
B
u
s
to
U
n
i
v
er
s
al
A
s
y
n
ch
r
o
n
o
u
s
R
ec
ei
v
er
/Tr
an
s
m
itter
(
U
AR
T
)
co
n
v
er
ter
.
Sin
ce
t
h
er
e
ar
e
co
m
p
o
n
en
ts
o
f
t
h
e
s
y
s
te
m
t
h
at
r
eq
u
ir
es
h
i
g
h
er
v
o
lta
g
e
f
o
r
it
to
w
o
r
k
,
th
e
D
C
-
D
C
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.
8
,
No
.
1
,
Feb
r
u
ar
y
201
8
:
1
0
4
–
1
1
2
106
[
1
5
]
co
n
v
er
ter
w
a
s
u
tili
ze
d
.
D
ig
ital
p
in
s
D2
a
n
d
D3
o
f
th
e
m
icr
o
co
n
tr
o
ller
w
er
e
u
s
ed
f
o
r
th
e
R
X
a
n
d
T
X
p
in
s
o
f
th
e
v
o
ice
k
it.
T
h
is
is
f
o
r
th
e
s
er
ial
co
m
m
u
n
icatio
n
b
et
w
ee
n
th
e
v
o
ice
k
it a
n
d
th
e
m
icr
o
co
n
tr
o
ller
.
T
o
en
ab
le
th
e
w
i
r
ele
s
s
co
n
n
e
ctio
n
b
et
w
ee
n
t
h
e
R
ad
io
Fre
q
u
en
c
y
w
ir
eless
h
ea
d
s
e
t
a
n
d
t
h
e
g
u
id
i
n
g
s
tick
,
Fre
q
u
e
n
c
y
Mo
d
u
latio
n
b
r
o
ad
ca
s
ter
w
as
u
s
ed
.
FM
w
a
s
tu
n
ed
at
9
8
.
0
m
e
g
ah
er
tz
(
M
Hz)
f
r
eq
u
en
c
y
b
a
n
d
as
w
e
ll a
s
t
h
e
R
F
h
ea
d
s
et.
Fi
g
u
r
e
2
s
h
o
w
s
t
h
e
s
c
h
e
m
atic
d
iag
r
a
m
o
f
t
h
e
s
y
s
t
e
m
.
Fig
u
r
e
2
.
T
h
e
s
y
s
te
m
s
c
h
e
m
a
ti
c
d
iag
r
a
m
2
.
3
.
Sy
s
t
e
m
Dev
elo
p
m
ent
T
h
e
co
n
tr
o
l
u
n
it
w
a
s
p
r
o
g
r
a
m
m
ed
u
s
i
n
g
A
r
d
u
i
n
o
[
1
6
]
s
o
f
t
war
e
w
h
ic
h
i
s
an
I
n
te
g
r
ated
De
v
elo
p
m
e
n
t
E
n
v
ir
o
n
m
e
n
t.
T
h
e
d
e
v
ice
s
o
f
t
w
ar
e
al
g
o
r
ith
m
w
a
s
i
m
p
le
m
en
ted
ac
co
r
d
in
g
to
w
h
at
th
e
s
en
s
o
r
s
e
n
s
es
i
n
ce
r
tain
d
ir
ec
tio
n
s
a
n
d
d
is
ta
n
ce
co
v
er
ed
b
y
t
h
e
s
e
n
s
o
r
.
Fig
u
r
e
3
s
h
o
w
s
th
e
s
y
s
te
m
f
lo
w
c
h
ar
t
o
f
th
e
Mic
r
o
co
n
tr
o
ller
-
b
ased
Gu
id
in
g
Sti
c
k
.
Fig
u
r
e
3
.
S
y
s
te
m
f
lo
w
ch
ar
t o
f
th
e
d
esi
g
n
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
Dev
elo
p
men
t o
f G
u
id
in
g
C
a
n
e
w
ith
V
o
ice
N
o
tifi
ca
tio
n
fo
r
V
is
u
a
lly
I
mp
a
ir
ed
…. (
E
melin
e
C
.
Gu
ev
a
r
r
a
)
107
2
.
4
.
T
esting
a
nd
E
v
a
lua
t
io
n
T
o
en
s
u
r
e
t
h
at
th
e
p
r
o
j
ec
t
w
a
s
w
o
r
k
i
n
g
,
a
s
er
ies
o
f
test
s
wer
e
d
o
n
e.
T
h
e
s
y
s
te
m
w
as
tes
ted
in
an
ac
tu
al
s
it
u
atio
n
.
T
h
e
r
esear
ch
er
s
u
s
ed
a
b
lack
-
b
o
x
te
s
ti
n
g
tec
h
n
iq
u
e
[
1
7
]
w
h
er
e
t
h
e
o
u
tp
u
t
w
as
an
al
y
ze
d
th
r
o
u
g
h
a
s
er
ies
o
f
i
n
p
u
ts
.
I
t
i
n
clu
d
e
s
t
w
o
m
aj
o
r
p
ar
ts
:
f
u
n
c
tio
n
al
te
s
ti
n
g
th
at
w
as
co
n
ce
r
n
ed
w
it
h
w
h
at
t
h
e
s
y
s
te
m
d
o
es;
its
f
ea
tu
r
es
o
r
f
u
n
ctio
n
s
;
a
n
d
n
o
n
-
f
u
n
ctio
n
al
te
s
tin
g
th
a
t
f
o
cu
s
es
o
n
u
s
er
-
ac
c
ep
tab
ilit
y
.
T
h
u
s
,
i
t
w
a
s
ev
al
u
ated
t
h
r
o
u
g
h
u
s
er
a
cc
ep
tab
ilit
y
an
d
tec
h
n
ical
e
v
a
lu
atio
n
s
.
I
n
ac
ce
p
tab
ilit
y
te
s
t,
th
e
o
p
er
ab
ilit
y
o
r
u
s
er
in
ter
ac
tio
n
,
r
eliab
ilit
y
,
ac
cu
r
ac
y
,
f
u
n
c
tio
n
ali
t
y
,
s
a
f
et
y
a
n
d
u
s
ab
ilit
y
w
as
ev
a
lu
at
ed
b
y
th
e
in
te
n
d
ed
s
u
b
j
ec
ts
b
y
test
i
n
g
th
e
d
e
v
ice
i
n
a
s
i
m
u
lated
en
v
ir
o
n
m
en
t
f
o
r
s
af
et
y
p
u
r
p
o
s
es.
Fo
r
th
e
tec
h
n
ical
e
v
al
u
atio
n
,
a
s
er
ies
o
f
test
in
ea
ch
s
e
n
s
o
r
w
er
e
d
o
n
e
b
y
t
h
e
r
e
s
ea
r
ch
er
s
.
Fo
r
ac
cu
r
ac
y
,
t
h
e
m
i
n
i
m
u
m
a
n
d
m
ax
i
m
u
m
d
is
ta
n
ce
s
o
f
t
h
e
s
en
s
o
r
s
w
er
e
d
eter
m
in
ed
.
R
e
s
p
o
n
s
iv
e
n
es
s
o
f
th
e
f
ee
d
b
ac
k
w
h
ic
h
is
co
n
s
is
ted
o
f
f
i
v
e
tr
ials
w
er
e
test
ed
b
y
m
e
asu
r
i
n
g
th
e
d
ela
y
o
f
t
h
e
a
u
d
io
f
ee
d
b
ac
k
w
h
en
th
e
s
en
s
o
r
s
w
er
e
in
s
p
ec
i
f
ic
o
b
s
ta
cle
co
n
d
itio
n
.
C
o
r
r
ec
tn
ess
o
f
th
e
f
ee
d
b
ac
k
w
as
d
eter
m
i
n
ed
w
h
et
h
er
th
e
s
e
n
s
o
r
r
esp
o
n
d
ed
co
r
r
ec
tly
i
n
t
h
e
co
r
r
ec
t
d
ir
ec
tio
n
w
h
er
e
t
h
e
u
s
er
s
h
o
u
ld
g
o
.
T
h
is
w
a
s
d
o
n
e
b
y
u
s
i
n
g
t
h
e
d
ev
ice
i
n
th
e
ac
tu
al
m
az
e
th
at
ca
n
b
e
s
ee
n
in
Fi
g
u
r
e
4
an
d
d
eter
m
in
i
n
g
i
f
th
e
f
ee
d
b
ac
k
g
i
v
es
t
h
e
co
r
r
ec
t
d
i
r
ec
tio
n
an
d
co
n
d
itio
n
.
Fig
u
r
e
4
.
Ma
ze
lay
o
u
t
f
o
r
test
i
n
g
a
n
d
ev
al
u
atio
n
B
ef
o
r
e
th
e
d
ev
ice
w
a
s
ev
a
lu
a
ted
b
y
t
h
e
v
is
u
all
y
i
m
p
air
ed
,
it
w
as
te
s
ted
f
ir
s
t
b
y
t
h
e
E
t
h
i
cs
R
e
v
ie
w
B
o
ar
d
.
T
o
v
alid
ate
t
h
e
f
u
n
ct
i
o
n
alit
y
o
f
t
h
e
d
ev
ice
w
it
h
t
h
e
in
te
n
d
ed
s
u
b
j
ec
ts
,
th
e
ev
a
lu
a
tio
n
i
s
co
n
s
is
ted
o
f
th
r
ee
tr
ials
in
w
h
ic
h
s
ix
v
i
s
u
all
y
i
m
p
a
ir
ed
w
er
e
t
h
e
p
ar
t
icip
an
ts
.
T
h
e
o
b
s
tacle
co
u
r
s
e
w
a
s
d
esi
g
n
ed
f
o
r
s
u
b
j
ec
ts
to
n
a
v
i
g
ate
t
h
r
o
u
g
h
w
it
h
t
h
e
d
ev
ice.
T
h
e
s
tar
tin
g
p
o
in
t
w
as
r
an
d
o
m
ized
in
ea
c
h
tr
ial
to
h
elp
r
ed
u
ce
an
y
lear
n
i
n
g
e
f
f
ec
t
o
f
t
h
e
d
if
f
er
en
t
co
u
r
s
es.
Fo
r
s
lo
p
in
g
s
tai
r
w
a
y
an
d
d
r
o
p
-
o
f
f
s
,
a
3
s
tep
cu
s
to
m
ized
w
o
o
d
e
n
s
tair
ca
s
e
w
a
s
co
n
s
tr
u
cted
a
n
d
w
a
s
p
lace
i
n
s
id
e
t
h
e
m
az
e.
E
ac
h
tr
ial
w
a
s
ti
m
ed
u
n
t
il
t
h
e
y
r
ea
ch
ed
th
e
e
n
d
o
f
th
e
co
u
r
s
e.
I
f
t
h
e
s
u
b
j
ec
t
d
id
n
o
t
r
ea
ch
th
e
f
in
is
h
li
n
e,
th
en
t
h
e
tr
ial
w
il
l
b
e
m
ar
k
ed
as
F,
m
ea
n
i
n
g
a
n
u
n
s
u
cc
e
s
s
f
u
l
o
r
f
ailed
tr
ial
an
d
S
o
th
er
w
i
s
e.
C
o
llis
io
n
s
w
er
e
co
u
n
ted
as
e
v
er
y
ti
m
e
a
p
ar
ticip
an
t
to
u
ch
ed
o
r
m
ad
e
an
y
co
n
tact
w
it
h
a
w
al
l
o
r
o
b
j
ec
ts
.
T
o
ev
alu
ate
th
e
p
ar
am
ete
r
s
s
tated
in
t
h
is
s
tu
d
y
a
s
f
o
r
th
e
u
s
er
ac
ce
p
tan
ce
,
a
v
alid
ated
s
u
r
v
e
y
q
u
esti
o
n
n
air
e/i
n
ter
v
ie
w
g
u
id
e
w
as
ad
m
in
is
ter
ed
to
th
e
s
u
b
j
e
cts
af
ter
u
s
i
n
g
t
h
e
d
ev
ice
in
t
h
e
s
i
m
u
lated
en
v
ir
o
n
m
e
n
t.
3.
RE
SU
L
T
S
A
ND
AN
AL
Y
SI
S
T
h
is
s
ec
tio
n
p
r
esen
t
s
t
h
e
a
n
al
y
s
i
s
a
n
d
in
ter
p
r
etatio
n
o
f
d
at
a
g
at
h
er
ed
f
r
o
m
th
e
test
a
n
d
ev
alu
a
tio
n
p
er
f
o
r
m
ed
w
it
h
th
e
v
ie
w
o
f
h
av
in
g
t
h
e
o
b
j
ec
tiv
es
o
f
th
is
r
e
s
ea
r
ch
w
o
r
k
b
e
p
er
f
o
r
m
ed
.
T
h
is
also
in
cl
u
d
es
th
e
p
r
esen
tatio
n
o
f
th
e
ac
t
u
al
d
ev
i
ce
.
3
.
1
.
P
rinciple o
f
O
pera
t
io
n
T
h
e
d
ev
ice
ca
n
b
e
o
p
en
ed
b
y
p
r
ess
in
g
th
e
r
o
ck
er
s
w
itc
h
in
t
h
e
r
ig
h
t
s
id
e
o
f
th
e
cir
cu
it
co
m
p
ar
t
m
e
n
t.
A
v
ib
r
atio
n
co
m
i
n
g
f
r
o
m
t
h
e
v
ib
r
atio
n
m
o
to
r
w
ill
b
e
f
elt
b
y
t
h
e
u
s
er
a
f
ter
th
e
d
ev
ice
i
n
i
tialized
.
T
h
e
R
ad
io
Fre
q
u
en
c
y
w
ir
ele
s
s
h
ea
d
p
h
o
n
e
ca
n
b
e
t
u
r
n
ed
o
n
b
y
p
r
ess
i
n
g
t
h
e
p
o
w
er
b
u
tto
n
o
n
it
s
le
f
t
s
id
e
an
d
s
et
tin
g
i
t
to
th
e
r
ad
io
m
o
d
e.
T
h
e
f
r
eq
u
en
c
y
w
ill b
e
au
to
m
atica
ll
y
d
etec
te
d
f
o
r
th
e
au
d
io
f
ee
d
b
ac
k
.
T
h
e
m
a
x
i
m
u
m
an
g
le
t
h
at
th
e
d
ev
ice
ca
n
to
ler
ate
is
u
p
to
7
0
d
eg
.
f
r
o
m
t
h
e
g
r
o
u
n
d
w
h
e
n
th
e
u
s
er
tilt
s
th
e
ca
n
e.
T
h
is
i
s
ac
h
ie
v
ed
b
y
p
u
ttin
g
a
s
to
p
p
er
in
th
e
lo
w
er
b
ase
p
ar
t
o
f
t
h
e
ca
n
e
w
h
er
e
t
h
e
ca
s
ter
w
h
ee
l
i
s
attac
h
ed
.
Fig
u
r
e
5
p
r
esen
ts
t
h
e
co
m
p
lete
s
y
s
te
m
o
f
t
h
e
m
icr
o
co
n
tr
o
ller
-
b
ased
g
u
id
in
g
s
t
ick
.
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.
8
,
No
.
1
,
Feb
r
u
ar
y
201
8
:
1
0
4
–
1
1
2
108
Fig
u
r
e
5
.
T
h
e
m
icr
o
co
n
tr
o
ller
-
b
ased
g
u
id
i
n
g
s
tick
–
f
r
o
n
t v
ie
w
a
n
d
r
ig
h
t sid
e
v
ie
w
3
.
2
.
T
ec
hn
ica
l
E
v
a
lua
t
io
n
T
h
e
m
icr
o
co
n
tr
o
ller
-
b
ased
g
u
id
in
g
s
tic
k
w
a
s
tech
n
ical
l
y
e
v
alu
a
ted
f
ir
s
t
b
ef
o
r
e
p
r
o
ce
ed
in
g
in
th
e
ac
tu
al
e
v
al
u
atio
n
f
o
r
th
e
i
n
t
en
d
ed
s
u
b
j
ec
ts
to
d
eter
m
i
n
e
its
p
er
f
o
r
m
a
n
ce
.
A
s
f
o
r
th
e
m
icr
o
co
n
tr
o
ller
,
it
r
eq
u
ir
es
a
s
u
p
p
l
y
o
f
5
to
1
2
v
o
lts
.
T
h
is
is
w
h
er
e
th
e
v
o
ice
k
i
t
I
I
,
u
ltra
s
o
n
ic
s
en
s
o
r
s
a
n
d
v
i
b
r
atio
n
m
o
to
r
w
er
e
in
ter
f
ac
ed
.
A
to
tal
o
f
1
8
0
m
A
w
a
s
co
n
s
u
m
ed
b
y
th
e
d
i
g
ital
p
in
s
i
n
th
e
m
icr
o
co
n
tr
o
ller
.
T
h
e
s
y
s
te
m
u
tili
ze
s
a
w
ir
ele
s
s
co
m
m
u
n
ica
tio
n
b
etw
ee
n
th
e
R
ad
io
Fre
q
u
en
c
y
w
ir
el
e
s
s
h
ea
d
p
h
o
n
e
an
d
th
e
d
ev
ice
its
elf
.
FM
b
r
o
ad
ca
s
ter
o
n
th
e
o
th
er
h
a
n
d
d
r
aw
s
a
3
5
0
m
A
w
h
e
n
u
s
ed
in
w
ir
eles
s
m
o
d
e.
Fro
m
th
i
s
it
ca
n
b
e
co
m
p
u
te
d
th
at
t
h
e
b
atter
y
,
w
it
h
1
0
0
0
0
m
Ah
ca
p
ac
it
y
,
m
a
y
la
s
t
m
o
r
e
t
h
an
1
3
.
5
h
o
u
r
s
.
As
f
o
r
th
e
w
ei
g
h
t
o
f
th
e
g
u
id
i
n
g
s
tic
k
,
d
u
e
to
th
e
m
ater
ial
s
u
s
ed
i
n
t
h
e
cir
cu
it
co
m
p
ar
t
m
e
n
t
a
n
d
th
e
b
ig
ca
p
ac
it
y
o
f
th
e
b
atter
y
,
th
e
d
ev
ice
w
e
ig
h
ed
2
.
8
k
g
.
T
h
e
m
ax
i
m
u
m
a
n
g
le
t
h
at
is
to
ler
ab
le
b
y
t
h
e
ca
n
e
w
h
e
n
tilt
ed
is
u
p
to
6
0
to
7
0
d
eg
.
f
o
r
ef
f
ec
t
iv
e
d
etec
tio
n
o
f
o
b
s
tacle
s
.
Fo
r
th
e
ac
cu
r
ac
y
o
f
th
e
s
e
n
s
o
r
s
,
to
co
m
p
u
te
f
o
r
th
e
p
er
ce
n
t
er
r
o
r
,
th
e
ex
p
er
im
e
n
tal
d
is
ta
n
ce
an
d
ac
tu
al
d
is
tan
ce
w
as
s
u
b
tr
ac
ted
an
d
was d
iv
id
ed
b
y
t
h
e
e
x
p
er
i
m
e
n
tal
d
is
tan
ce
t
h
en
w
a
s
m
u
ltip
lied
b
y
1
0
0
.
T
ab
le
1
p
r
esen
ts
th
e
s
u
m
m
ar
y
o
f
th
e
d
ata
g
at
h
er
ed
in
ter
m
s
o
f
t
h
e
ac
cu
r
ac
y
o
f
ea
ch
in
d
iv
id
u
al
s
en
s
o
r
.
T
ab
le
1
.
Su
m
m
ar
ized
d
ata
o
f
ac
cu
r
ac
y
o
f
i
n
d
iv
id
u
al
s
e
n
s
o
r
s
S
e
n
so
r
P
l
a
c
e
me
n
t
A
c
c
u
r
a
c
y
(
%)
U
p
p
e
r
f
r
o
n
t
9
5
.
5
3
L
e
f
t
9
6
.
1
2
R
i
g
h
t
9
5
.
2
5
M
i
d
-
f
r
o
n
t
9
4
.
7
5
L
o
w
e
r
-
f
r
o
n
t
9
0
.
3
4
L
o
w
e
r
-
b
a
se
8
9
.
6
4
T
o
ev
alu
ate
t
h
e
r
esp
o
n
s
i
v
e
n
es
s
o
f
th
e
f
ee
d
b
ac
k
,
t
h
e
d
ela
y
o
f
th
e
au
d
io
f
ee
d
b
ac
k
w
a
s
m
ea
s
u
r
ed
.
T
h
e
d
is
tan
ce
also
w
a
s
s
et
ac
co
r
d
i
n
g
to
t
h
e
p
r
o
g
r
a
m
.
T
ab
le
2
s
h
o
w
s
th
e
r
esp
o
n
s
i
v
e
n
es
s
o
f
f
ee
d
b
ac
k
at
ce
r
tai
n
co
n
d
itio
n
s
i
n
t
h
e
en
v
ir
o
n
m
en
t.
I
n
ev
al
u
ati
n
g
t
h
e
co
r
r
ec
tn
es
s
o
f
f
ee
d
b
ac
k
,
t
h
e
d
ev
ice
w
a
s
ev
a
lu
ated
i
n
t
h
e
ac
t
u
al
m
az
e.
T
h
e
r
esear
ch
er
s
tr
av
eled
an
d
co
m
p
leted
th
e
m
az
e
an
d
d
eter
m
i
n
ed
if
th
e
f
ee
d
b
ac
k
i
s
co
r
r
ec
t.
T
h
e
m
az
e
i
s
co
n
s
i
s
ted
o
f
n
i
n
e
o
b
s
tacle
s
a
n
d
n
u
m
b
er
ed
f
r
o
m
1
to
9
.
T
ab
le
3
s
h
o
w
s
t
h
e
s
u
m
m
ar
ized
r
es
u
lts
in
ev
al
u
ati
n
g
t
h
e
co
r
r
ec
tn
ess
o
f
f
ee
d
b
ac
k
o
f
t
h
e
d
ev
ice.
R
esu
l
ts
s
h
o
w
ed
th
a
t
th
e
d
ev
ice
p
er
f
o
r
m
ed
co
r
r
e
ctl
y
in
m
o
s
t
o
f
t
h
e
tr
ials
.
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
Dev
elo
p
men
t o
f G
u
id
in
g
C
a
n
e
w
ith
V
o
ice
N
o
tifi
ca
tio
n
fo
r
V
is
u
a
lly
I
mp
a
ir
ed
…. (
E
melin
e
C
.
Gu
ev
a
r
r
a
)
109
T
ab
le
2
.
R
esp
o
n
s
iv
e
n
es
s
o
f
f
e
ed
b
ac
k
in
ce
r
tain
co
n
d
itio
n
s
C
O
N
D
I
TI
O
N
T
R
I
A
L
1
(
s)
T
R
I
A
L
2
(
s)
T
R
I
A
L
3
(
s)
T
R
I
A
L
4
(
s)
T
R
I
A
L
5
(
s)
A
V
ER
A
G
E
(
s)
F
r
o
n
t
a
n
d
r
i
g
h
t
o
b
st
a
c
l
e
2
.
3
9
1
.
6
9
1
.
2
0
1
.
9
3
1
.
3
9
1
.
7
2
F
r
o
n
t
a
n
d
l
e
f
t
o
b
st
a
c
l
e
1
.
8
2
1
.
6
2
1
.
1
1
2
.
3
7
1
.
5
4
1
.
7
0
D
e
a
d
e
n
d
1
.
2
3
1
.
5
2
1
.
6
2
2
.
1
4
1
.
8
4
1
.
6
7
A
sce
n
d
i
n
g
s
t
a
i
r
c
a
se
3
.
6
6
1
.
9
3
1
.
3
2
2
.
4
5
2
.
1
5
2
.
3
0
D
e
sce
n
d
i
n
g
st
a
i
r
c
a
se
1
.
6
0
.
6
7
3
.
0
5
2
.
9
0
1
.
3
3
1
.
9
3
T
ab
le
3
.
C
o
r
r
ec
tn
ess
o
f
f
ee
d
b
ac
k
O
B
S
TA
C
L
E
N
U
M
B
E
R
T
R
I
A
L
1
T
R
I
A
L
2
T
R
I
A
L
3
1
2
3
4
5
6
7
8
9
T
o
t
a
l
9
7
9
A
V
ER
A
G
E
8
.
3
3
3
.
3
.
Act
ua
l Ev
a
lua
t
io
n
T
h
e
d
ev
ice
w
as
e
v
al
u
ated
b
y
th
e
v
i
s
u
all
y
i
m
p
air
ed
b
y
tr
av
ellin
g
an
d
co
m
p
leti
n
g
th
e
m
a
ze
s
et
an
d
co
n
s
tr
u
cted
b
y
t
h
e
r
esear
ch
er
s
in
th
e
e
v
al
u
atio
n
p
lace
in
wh
ich
s
tar
tin
g
p
o
in
t
is
r
a
n
d
o
m
i
ze
d
an
d
n
u
m
b
er
ed
.
Fig
u
r
e
6
s
h
o
w
s
t
h
e
3
m
az
e
la
y
o
u
ts
i
n
w
h
ic
h
ea
c
h
o
b
s
tacle
ar
e
n
u
m
b
er
ed
.
Fig
u
r
e
6
.
Ma
ze
lay
o
u
t
f
o
r
tr
ial
1
(
lef
t)
,
m
az
e
la
y
o
u
t f
o
r
tr
ial
2
(
m
id
d
le)
an
d
m
az
e
la
y
o
u
t f
o
r
tr
ial
3
(
r
ig
h
t)
E
ac
h
p
ar
ticip
an
t
w
a
s
g
i
v
en
3
tr
ials
.
Dem
o
g
r
ap
h
ics
o
f
t
h
e
p
ar
ticip
an
ts
w
er
e
also
co
n
s
id
er
ed
in
ev
alu
a
tin
g
t
h
e
d
e
v
ice.
Gi
v
e
n
t
h
at
t
h
e
d
e
m
o
g
r
a
p
h
ic
s
is
n
o
t
c
o
n
s
is
ten
t
an
d
v
ar
ies,
ea
c
h
o
f
t
h
e
p
er
ce
p
tio
n
o
f
th
e
p
ar
ticip
an
ts
also
v
ar
ies.
T
h
is
h
as
af
f
ec
ted
th
e
u
s
er
ac
ce
p
tan
ce
an
d
th
e
w
a
y
t
h
e
p
ar
ticip
an
t
u
s
ed
th
e
d
ev
ice.
T
h
e
p
o
p
u
latio
n
s
a
m
p
le
is
co
n
s
is
ted
o
f
th
r
ee
m
ale
s
an
d
t
h
r
e
e
f
e
m
ales.
T
h
e
p
ar
ticip
an
t
s
wer
e
class
i
f
ied
i
n
to
t
w
o
ca
teg
o
r
ies
:
co
n
g
e
n
ital
l
y
b
lin
d
s
u
b
j
ec
ts
w
h
o
w
er
e
b
lin
d
s
in
ce
b
ir
th
o
r
b
ec
am
e
b
lin
d
at
y
o
u
n
g
ag
e
w
h
en
th
e
y
w
er
e
n
o
t
ab
le
to
m
aster
s
p
atial
o
r
ien
tatio
n
a
n
d
m
o
b
ili
t
y
s
k
il
ls
;
a
n
d
s
u
b
j
ec
ts
t
h
at
ac
q
u
ir
ed
b
lin
d
n
e
s
s
a
t
later
s
tag
e
in
t
h
eir
li
f
e.
S
u
b
j
ec
ts
1
,
2
,
4
,
an
d
5
w
er
e
co
n
s
id
e
r
ed
co
n
g
en
ita
ll
y
b
li
n
d
an
d
s
u
b
j
ec
ts
3
an
d
6
w
er
e
co
n
s
id
er
ed
as p
ar
ticip
an
ts
w
h
o
ac
q
u
ir
ed
b
lin
d
n
ess
i
n
th
e
ir
later
s
tag
e
o
f
li
f
e.
T
ab
le
4
s
h
o
w
s
t
h
e
s
u
m
m
ar
ize
d
r
esu
lts
o
f
t
h
e
d
ata
g
ath
er
ed
r
eg
ar
d
in
g
t
h
e
to
tal
n
u
m
b
er
o
f
co
llis
io
n
s
en
co
u
n
ter
ed
b
y
th
e
p
ar
ticip
a
n
ts
,
to
tal
n
u
m
b
er
o
f
co
r
r
ec
t
tu
r
n
s
i
n
o
b
s
tacle
s
e
n
co
u
n
ter
ed
a
n
d
to
tal
n
u
m
b
er
o
f
s
u
cc
e
s
s
f
u
l
co
m
p
let
io
n
o
f
m
az
e
in
all
tr
ials
,
ea
c
h
is
c
lass
if
ie
d
ac
co
r
d
in
g
to
t
w
o
ca
te
g
o
r
ies
w
h
ic
h
i
s
t
h
e
n
at
u
r
e
o
f
b
lin
d
n
e
s
s
o
f
t
h
e
p
ar
ticip
an
ts
.
I
t
ca
n
b
e
in
f
er
r
ed
f
r
o
m
t
h
e
r
esu
lts
t
h
at
t
h
e
p
ar
ticip
an
ts
w
h
o
h
ad
ac
q
u
ir
ed
b
lin
d
n
es
s
e
x
p
er
ien
ce
d
least
n
u
m
b
er
o
f
co
lli
s
io
n
s
a
n
d
m
o
s
tl
y
t
h
e
o
n
es
w
h
o
s
u
cc
es
s
f
u
ll
y
c
o
m
p
leted
th
e
m
az
e
in
th
e
t
i
m
e
l
i
m
it th
a
t
w
as set.
T
h
er
ef
o
r
e,
it
ca
n
b
e
c
o
n
clu
d
ed
th
at
th
e
d
ev
ice
ca
n
b
e
u
s
ed
ef
f
ec
t
iv
el
y
f
o
r
th
e
p
ar
tic
ip
an
ts
o
r
in
d
iv
id
u
als
w
h
o
ac
q
u
ir
e
b
lin
d
n
ess
i
n
later
s
tag
e
o
f
th
eir
l
if
e
i
f
th
e
y
w
ill
b
e
tr
ain
ed
p
r
o
p
er
ly
in
u
s
i
n
g
th
e
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.
8
,
No
.
1
,
Feb
r
u
ar
y
201
8
:
1
0
4
–
1
1
2
110
d
ev
ice.
T
h
is
i
s
b
ec
au
s
e
t
h
e
y
h
a
v
e
alr
ea
d
y
e
x
p
er
ien
ce
n
a
v
ig
a
tin
g
in
th
e
p
h
y
s
i
ca
l
e
n
v
ir
o
n
m
e
n
t
a
n
d
h
ad
m
aster
ed
m
o
b
ilit
y
s
k
ill
s
,
s
p
ati
al
o
r
ien
tatio
n
a
n
d
th
e
p
o
in
t o
f
r
ef
er
en
ce
w
h
en
n
av
ig
at
in
g
.
T
ab
le
4
.
Su
m
m
ar
ized
r
esu
lt
s
o
f
th
e
d
ata
g
ath
er
ed
in
ac
t
u
al
e
v
alu
atio
n
N
A
T
U
R
E
O
F
B
L
I
N
D
N
ESS
S
U
B
JEC
T
N
U
M
B
E
R
T
O
TA
L
N
U
M
B
ER
O
F
C
O
R
R
EC
T
T
U
R
N
S
I
N
3
T
R
I
A
L
S
T
O
TA
L
N
U
M
B
ER
O
F
C
O
L
LI
S
I
O
N
S
I
N
3
T
R
I
A
L
S
T
O
TA
L
N
U
M
B
ER
O
F
S
U
C
C
ESS
C
O
M
P
L
ETI
O
N
O
F
M
A
Z
E
C
o
n
g
e
n
i
t
a
l
1
11
51
1
2
19
30
2
4
14
38
2
5
3
59
0
A
c
q
u
i
r
e
d
3
11
28
2
6
12
31
2
T
ab
le
5
s
h
o
w
s
th
e
s
u
m
m
ar
ize
d
r
esu
lts
in
t
h
e
th
r
ee
tr
ials
in
t
h
e
ev
al
u
atio
n
b
y
P
W
Ds.
Ov
er
all
r
esu
lt
s
s
h
o
w
ed
th
at
t
h
e
d
ev
ice
d
id
n
o
t
p
er
f
o
r
m
ef
f
icie
n
tl
y
an
d
th
er
ef
o
r
e
th
e
b
li
n
d
h
av
e
e
x
p
er
ien
ce
d
s
o
m
an
y
co
llis
io
n
s
w
h
en
tr
av
ell
in
g
i
n
th
e
m
az
e.
So
m
e
o
f
t
h
e
f
ac
to
r
s
ex
h
ib
ited
b
y
t
h
e
p
ar
ticip
an
t
s
h
ad
a
f
f
ec
ted
t
h
e
r
esu
lt
s
li
k
e
t
h
e
u
n
f
a
m
iliar
it
y
o
f
o
n
e
u
s
er
i
n
s
p
atia
l
o
r
ien
tatio
n
,
ex
p
er
ien
ce
o
f
ca
n
e
u
s
ag
e,
d
e
m
o
g
r
ap
h
ic
f
ac
to
r
,
u
s
er
s
p
ee
d
an
d
th
e
p
r
o
p
er
in
clin
atio
n
o
f
t
h
e
d
ev
ice
w
h
en
in
u
s
e.
T
h
is
i
m
p
lie
s
t
h
at
f
o
r
th
e
u
s
er
to
u
s
e
t
h
e
d
ev
ice
ef
f
ec
ti
v
el
y
,
t
h
e
u
s
er
n
e
ed
s
a
p
r
o
p
e
r
tr
ain
in
g
.
T
ab
le
5
.
Su
m
m
ar
ized
r
esu
lt
s
i
n
3
tr
ials
T
R
I
A
L
R
ESU
L
T
S
1
S
u
c
c
e
ssf
u
l
2
F
a
i
l
e
d
3
F
a
i
l
e
d
R
E
M
A
R
K
S
N
O
T
EFF
I
C
I
EN
T
T
h
e
o
p
er
ab
ilty
,
r
eliab
ili
t
y
,
ac
cu
r
ac
y
,
f
u
n
c
tio
n
ali
t
y
u
s
ab
ili
t
y
a
n
d
s
af
et
y
d
ata
w
er
e
g
at
h
er
ed
.
A
q
u
esti
o
n
n
air
e
w
as
ad
m
i
n
is
ter
ed
to
th
e
p
er
s
o
n
s
w
it
h
d
i
s
ab
ilit
ies
a
f
ter
co
m
p
le
tin
g
th
e
t
h
r
ee
tr
ials
i
n
t
h
e
m
az
e.
T
ab
le
6
s
h
o
w
s
th
e
r
ati
n
g
u
s
ed
to
in
ter
p
r
et
th
e
d
ata
ac
q
u
ir
ed
in
th
e
q
u
esti
o
n
n
a
ir
es
an
s
w
er
ed
b
y
t
h
e
p
ar
ticip
an
ts
.
T
ab
le
6
.
R
ef
er
en
ce
f
o
r
r
atin
g
t
h
e
p
ar
a
m
eter
s
: o
p
er
ab
ilt
y
,
r
eli
ab
ilit
y
,
ac
cu
r
ac
y
,
f
u
n
c
tio
n
ali
t
y
u
s
ab
ilit
y
an
d
s
af
et
y
R
A
T
I
N
G
D
ESCR
I
P
TI
O
N
4
.
2
1
-
5
.
0
0
Ex
c
e
l
l
e
n
t
-
T
h
e
d
e
v
i
c
e
me
t
t
h
e
sa
i
d
i
n
d
i
c
a
t
o
r
a
n
d
e
x
c
e
e
d
t
h
e
u
se
r
e
x
p
e
c
t
a
t
i
o
n
s.
3
.
4
1
-
4
.
2
0
S
a
t
i
sf
a
c
t
o
r
y
-
T
h
e
d
e
v
i
c
e
me
t
t
h
e
sai
d
i
n
d
i
c
a
t
o
r
a
n
d
t
h
e
u
se
r
e
x
p
e
c
t
a
t
i
o
n
s.
2
.
6
1
-
3
.
4
0
F
a
i
r
-
T
h
e
d
e
v
i
c
e
me
t
t
h
e
sai
d
i
n
d
i
c
a
t
o
r
b
u
t
e
n
c
o
u
n
t
e
r
l
i
t
t
l
e
p
r
o
b
l
e
ms.
1
.
8
1
-
2
.
6
0
N
e
e
d
s
I
mp
r
o
v
e
m
e
n
t
-
T
h
e
d
e
v
i
c
e
sy
st
e
m so
me
h
o
w
me
t
t
h
e
sa
i
d
i
n
d
i
c
a
t
o
r
b
u
t
e
n
c
o
u
n
t
e
r
e
d
d
e
l
a
y
s a
n
d
e
r
r
o
r
s
1
.
0
0
-
1
.
8
0
P
o
o
r
-
T
h
e
d
e
v
i
c
e
d
i
d
n
o
t
me
t
t
h
e
s
a
i
d
i
n
d
i
c
a
t
o
r
T
ab
le
7
s
h
o
w
s
th
e
s
u
m
m
ar
iz
ed
d
ata
b
ased
o
n
th
e
u
s
er
ac
ce
p
tab
ilit
y
o
f
t
h
e
d
ev
ice.
T
h
e
m
ea
n
a
n
d
s
tan
d
ar
d
d
ev
iatio
n
e
v
al
u
ated
b
y
p
er
s
o
n
s
w
it
h
d
is
ab
ilit
y
w
er
e
co
m
b
i
n
ed
.
T
ab
le
7
.
Su
m
m
ar
ized
u
s
er
ac
c
ep
tab
ilit
y
co
m
p
u
tatio
n
s
P
A
R
A
M
ET
ER
S
M
EA
N
S
TA
N
D
A
R
D
D
EV
I
A
T
I
O
N
O
p
e
r
a
b
i
l
i
t
y
4
.
4
4
0
.
5
7
R
e
l
i
a
b
i
l
i
t
y
3
.
3
3
0
.
4
1
A
c
c
u
r
a
c
y
3
.
2
7
0
.
8
8
F
u
n
c
t
i
o
n
a
l
i
t
y
4
.
3
3
0
.
9
2
U
sab
i
l
i
t
y
4
.
2
0
0
.
9
2
S
a
f
e
t
y
4
.
5
8
0
.
5
2
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
Dev
elo
p
men
t o
f G
u
id
in
g
C
a
n
e
w
ith
V
o
ice
N
o
tifi
ca
tio
n
fo
r
V
is
u
a
lly
I
mp
a
ir
ed
…. (
E
melin
e
C
.
Gu
ev
a
r
r
a
)
111
4.
CO
NCLU
SI
O
N
T
h
r
o
u
g
h
tech
n
ical
e
v
al
u
atio
n
,
it
is
co
n
clu
d
ed
th
at
th
e
g
u
id
in
g
s
tick
w
a
s
f
u
n
c
tio
n
al
an
d
c
an
b
e
u
s
e
f
o
r
n
av
i
g
atio
n
.
T
h
r
o
u
g
h
t
h
e
a
ctu
al
ev
a
lu
at
io
n
o
f
t
h
e
d
ev
ice,
th
e
d
ev
ice
w
as
n
o
t
co
n
s
id
er
e
d
ef
f
icie
n
t
a
n
d
d
o
es
n
o
t
p
er
f
o
r
m
ed
r
eliab
l
y
w
h
ile
u
s
i
n
g
it
in
t
h
e
s
i
m
u
lated
e
n
v
i
r
o
n
m
e
n
t
b
y
t
h
e
i
n
te
n
d
ed
p
ar
ticip
an
ts
.
T
h
i
s
w
a
s
b
ec
au
s
e
o
f
th
e
f
ac
to
r
s
th
a
t
h
a
v
e
a
f
f
ec
t
ed
th
e
p
er
f
o
r
m
an
ce
o
f
th
e
d
ev
ice
lik
e
f
ai
lu
r
e
o
f
s
o
m
e
p
ar
ticip
an
ts
i
n
d
ir
ec
tio
n
co
m
p
r
eh
en
s
io
n
,
e
x
p
er
ien
ce
o
f
ca
n
e
u
s
a
g
e,
p
r
o
p
er
in
clin
atio
n
o
f
t
h
e
d
ev
ice
w
h
e
n
i
n
u
s
e,
d
em
o
g
r
ap
h
ic
p
r
o
f
ile
an
d
t
h
e
u
s
er
s
p
ee
d
.
I
t
w
a
s
also
f
o
u
n
d
th
at
t
h
e
d
ev
ice
h
a
s
th
e
p
o
ten
ti
al
to
b
e
u
s
ed
ef
f
ec
tiv
e
l
y
b
y
th
e
v
i
s
u
a
ll
y
i
m
p
air
ed
w
h
o
ac
q
u
ir
ed
t
h
eir
b
li
n
d
n
ess
in
later
s
tag
e
o
f
th
e
ir
li
f
e
p
r
o
v
id
ed
th
at
t
h
e
y
w
il
l
h
a
v
e
a
p
r
o
p
er
tr
ain
in
g
in
u
s
i
n
g
th
e
d
e
v
ice
w
h
ile
n
av
i
g
atin
g
in
th
e
p
h
y
s
ical
e
n
v
ir
o
n
m
en
t.
T
h
ese
f
ac
to
r
s
th
er
ef
o
r
e
af
f
ec
t
t
h
e
r
esu
lts
o
f
th
e
ev
al
u
atio
n
an
d
f
o
u
n
d
th
at
f
o
r
th
e
d
ev
ice
to
p
er
f
o
r
m
ef
f
icien
tl
y
,
t
h
e
u
s
er
n
ee
d
s
p
r
o
p
er
tr
ain
in
g
i
n
u
s
i
n
g
th
e
d
ev
ice.
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
ac
k
n
o
w
led
g
e
C
av
ite
State
Un
iv
er
s
it
y
R
E
C
E
T
S
f
o
r
f
u
n
d
i
n
g
th
e
p
u
b
licatio
n
o
f
t
h
is
j
o
u
r
n
al.
RE
F
E
R
E
NC
E
S
[1
]
Cu
rh
a
m
K.
&
W
o
lfe
A
,
“
N
a
v
ig
a
ti
o
n
Us
in
g
a
Ha
p
ti
c
Ha
n
d
-
M
o
u
n
ted
D
e
v
ice
f
o
r
th
e
V
isu
a
ll
y
I
m
p
a
ir
e
d
,
”
P
re
se
n
tati
o
n
p
re
se
n
ted
a
t;
2
0
1
2
;
Un
iv
e
rsit
y
o
f
S
o
u
th
F
lo
rid
a
.
[2
]
Zh
a
o
C,
W
e
n
ji
n
H,
L
i
K,
X
ia
o
S
,
“
El
e
c
tro
n
ic Bl
i
n
d
G
u
id
i
n
g
-
S
ti
c
k
,
”
Eu
ro
p
e
a
n
;
CN
2
0
3
9
3
5
3
9
0
(U),
2
0
1
4
.
[3
]
P
o
o
ja
V
e
las
k
a
r,
A
lv
a
ro
V
a
rg
a
s
-
Clara
,
Os
a
m
a
J
a
m
e
e
l,
S
a
n
g
ra
m
R
e
d
k
a
r
,
“
G
u
id
e
d
Na
v
ig
a
ti
o
n
Co
n
tr
o
l
o
f
a
n
Un
m
a
n
n
e
d
G
ro
u
n
d
V
e
h
icle
u
sin
g
G
lo
b
a
l
P
o
sit
io
n
in
g
S
y
ste
m
s
a
n
d
In
e
rti
a
l
Na
v
ig
a
ti
o
n
S
y
st
e
m
s
,”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
El
e
c
trica
l
a
n
d
C
o
mp
u
t
e
r E
n
g
i
n
e
e
rin
g
(
IJ
ECE
)
Vo
l.
4
,
(
3
),
p
p
.
3
2
9
-
3
4
2
,
Ju
n
e
2
0
1
4
.
[4
]
Zh
a
n
g
F
,
“
El
e
c
tr
o
n
ic
n
a
v
ig
a
ti
o
n
b
li
n
d
-
g
u
i
d
i
n
g
stick
,
”
Eu
ro
p
e
a
n
;
C
N2
0
2
3
6
6
1
1
7
(U),
2
0
1
1
.
[5
]
M
ig
u
e
l
He
rn
a
n
d
e
z
,
“
El
e
c
tro
n
ic
Ca
n
e
f
o
r
A
s
sistin
g
w
it
h
M
o
b
il
it
y
o
f
V
isu
a
ll
y
I
m
p
a
ired
P
e
o
p
le,”
Eu
r
o
p
e
a
n
;
ES
2
4
4
1
6
7
0
,
2
0
1
4
.
[6
]
Un
iv
e
rsit
y
o
f
Be
ih
a
n
g
,
“
In
telli
g
e
n
t
b
li
n
d
g
u
i
d
in
g
stic
k
b
a
se
d
o
n
i
m
a
g
e
id
e
n
ti
f
ica
ti
o
n
,
”
Eu
ro
p
e
a
n
;
CN1
0
3
6
3
7
9
0
0
,
2
0
1
4
.
[7
]
Ra
il
w
a
y
T
e
c
h
n
ic
a
l
Re
s In
st,
“
L
e
a
d
in
g
G
u
id
i
n
g
S
y
ste
m
f
o
r
V
isu
a
ll
y
-
Im
p
a
ired
,
”
Ch
in
e
se
;
4
3
9
6
8
9
1
,
2
0
0
5
.
[8
]
W
a
k
h
y
u
D
w
io
n
o
,
“
S
isk
a
No
v
it
a
P
o
sm
a
,
A
rif
G
u
n
a
w
a
n
.
E
m
b
e
d
d
e
d
S
y
ste
m
A
p
p
li
c
a
ti
o
n
f
o
r
Bli
n
d
P
e
o
p
l
e
Na
v
ig
a
ti
o
n
T
o
o
l
,”
T
EL
KOM
NIK
A
(
T
e
lec
o
mm
u
n
ica
ti
o
n
Co
m
p
u
ti
n
g
El
e
c
tro
n
ics
a
n
d
C
o
n
tr
o
l
)
,
Vo
l.
1
2
,
(8
)
,
p
p
.
6
0
8
3
–
6
0
8
7
,
A
u
g
u
st 2
0
1
4
.
[9
]
Ch
e
n
g
Ja
n
C,
Re
n
-
Ch
y
u
a
n
L
,
Ch
u
n
-
Ch
i
L
,
“
El
e
c
tro
n
ic
Bli
n
d
-
Na
v
ig
a
ti
o
n
De
v
ice
a
n
d
E
lec
tr
o
n
ic
Bl
in
d
-
Na
v
ig
a
ti
o
n
Ca
n
e
,
”
Ch
in
e
se
;
2
0
1
1
0
0
5
4
7
7
3
,
2
0
1
1
.
[1
0
]
Bo
g
g
a
ra
p
u
Ka
n
th
a
Ra
o
,
Da
sa
ri
Ra
m
e
sh
,
Ja
rp
u
la
R
a
ji
n
i
Ba
i,
“
Bl
in
d
V
isu
a
ll
y
I
m
p
a
ired
&
Wea
ra
b
le
Eq
u
i
p
m
e
n
t
W
e
a
r
a
b
le
S
y
st
e
m
Us
in
g
P
h
y
sic
a
l
a
n
d
S
e
n
so
ry
Disa
b
il
it
ies
,”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
n
S
c
ien
ti
fi
c
E
n
g
i
n
e
e
rin
g
a
n
d
Res
e
a
rc
h
,
Vo
l.
0
4
(
1
3
)
,
p
p
.
2
4
3
5
-
2
4
3
9
,
M
a
y
2
0
1
5
.
[1
1
]
e
-
G
i
z
m
o
G
iz
Du
in
o
A
Tm
e
g
a
3
2
8
P
v
e
rsio
n
5
[
I
n
tern
e
t
]
.
E
-
g
izm
o
.
c
o
m
.
2
0
1
5
[
c
it
e
d
2
3
A
u
g
u
st
2
0
1
5
]
.
Av
a
il
a
b
le
f
ro
m
:
h
tt
p
:
//
ww
w
.
e
-
gi
z
m
o
.
c
o
m
/KI
T
/g
iz
d
u
i
n
o
v
.
h
tm
l
[1
2
]
e
-
G
i
z
m
o
P
e
rso
n
a
l
F
M
Bro
a
d
c
a
ste
r
[
In
tern
e
t
].
E
-
g
izm
o
.
c
o
m
.
2
0
1
2
[
c
it
e
d
2
3
A
u
g
u
st
2
0
1
5
].
Av
a
il
a
b
le
f
ro
m
:
h
tt
p
:
//
ww
w
.
e
-
g
iz
m
o
.
c
o
m
/KI
T
/F
M
%
2
0
Bro
a
d
c
a
ste
r.
h
tm
[1
3
]
e
-
G
i
z
m
o
V
o
ice
k
it
2
[
In
tern
e
t
]
.
E
-
g
izm
o
.
c
o
m
.
2
0
1
7
[
c
it
e
d
2
4
A
u
g
u
st
2
0
1
5
]
.
A
v
a
il
a
b
le
f
ro
m
:
h
tt
p
:/
/w
ww
.
e
-
g
iz
m
o
.
c
o
m
/KI
T
/
v
o
ice
k
it
2
.
h
tm
l
[1
4
]
Ho
w
to
S
ize
a
W
a
lk
in
g
S
ti
c
k
|
T
o
p
&
De
rb
y
[
In
tern
e
t
]
.
T
o
p
&
De
rb
y
.
2
0
1
7
[
c
it
e
d
2
4
A
u
g
u
st
2
0
1
5
].
A
v
a
il
a
b
le
f
ro
m
:
h
tt
p
s://
w
ww
.
to
p
a
n
d
d
e
r
b
y
.
c
o
m
/p
a
g
e
s/si
z
in
g
[1
5
]
e
-
G
i
z
m
o
P
o
si
ti
v
e
DC
DC
Co
n
v
e
rter
[
In
ter
n
e
t].
E
-
g
iz
m
o
.
c
o
m
.
2
0
1
7
[
c
it
e
d
2
3
A
u
g
u
st
2
0
1
5
]
.
A
v
a
il
a
b
le
f
ro
m
:
h
tt
p
:
//
ww
w
.
e
-
g
iz
m
o
.
c
o
m
/KI
T
/P
OSIT
IV
E%
2
0
DC%
2
0
DC.
h
tm
l
[1
6
]
A
rd
u
in
o
-
S
o
f
twa
re
[
In
ter
n
e
t].
A
rd
u
i
n
o
.
c
c
.
2
0
1
7
[
c
it
e
d
2
3
A
u
g
u
st
2
0
1
5
]
.
A
v
a
il
a
b
le
f
ro
m
:
h
tt
p
s:/
/www
.
a
rd
u
in
o
.
c
c
/en
/m
a
in
/so
f
twa
re
.
[1
7
]
L
a
u
rie
W
.
T
e
stin
g
Ov
e
r
v
ie
w
a
n
d
Blac
k
-
Bo
x
Tes
ti
n
g
Tec
h
n
iq
u
e
s
[
In
ter
n
e
t
]
.
1
st
e
d
.
Re
a
lse
a
rc
h
g
ro
u
p
.
c
o
m
;
2
0
0
6
[
c
it
e
d
2
0
Ju
ly
2
0
1
5
]
.
A
v
a
il
a
b
le f
r
o
m
:
h
tt
p
:/
/ag
il
e
.
c
sc
.
n
c
su
.
e
d
u
/S
E
M
a
teria
ls/Bl
a
c
k
Bo
x
.
p
d
f
.
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.
8
,
No
.
1
,
Feb
r
u
ar
y
201
8
:
1
0
4
–
1
1
2
112
B
I
O
G
RAP
H
I
E
S
O
F
AUTH
O
RS
E
m
e
li
n
e
C.
G
u
e
v
a
r
r
a
is
a
n
As
sista
n
t
P
r
o
f
e
ss
o
r
II
in
Co
ll
e
g
e
o
f
En
g
in
e
e
rin
g
a
n
d
In
f
o
r
m
a
ti
o
n
T
e
c
h
n
o
lo
g
y
–
De
p
a
rt
m
e
n
t
o
f
Co
m
p
u
ter
a
n
d
El
e
c
tro
n
ics
En
g
in
e
e
rin
g
a
t
Ca
v
it
e
S
tate
Un
iv
e
rsit
y
,
In
d
a
n
g
,
Ca
v
it
e
.
S
h
e
re
c
e
i
v
e
d
h
e
r
BS
d
e
g
re
e
in
Co
m
p
u
ter
En
g
in
e
e
rin
g
f
ro
m
P
o
ly
tec
h
n
ic
Un
iv
e
rsi
t
y
o
f
th
e
P
h
il
ip
p
in
e
s
i
n
1
9
9
7
.
S
h
e
o
b
tain
e
d
h
e
r
M
S
d
e
g
re
e
in
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
m
a
jo
r
in
Co
m
p
u
ter
En
g
in
e
e
rin
g
a
t
T
e
c
h
n
o
lo
g
ica
l
Un
iv
e
rsity
o
f
th
e
P
h
il
ip
p
i
n
e
s
M
a
n
il
a
i
n
2
0
1
1
a
n
d
o
b
tain
e
d
4
8
u
n
it
s
f
o
r
Do
c
to
r
o
f
Tec
h
n
o
lo
g
y
in
th
e
sa
m
e
sc
h
o
o
l
th
e
re
a
f
ter.
He
r
re
se
a
rc
h
in
tere
st
a
n
c
h
o
rs
in
Ne
tw
o
rk
D
e
sig
n
a
n
d
Im
p
le
m
e
n
tat
io
n
.
M
a
r
c
k
I
v
a
n
R.
Ca
m
a
m
a
f
in
ish
e
d
h
is
Ba
c
h
e
lo
r’s d
e
g
re
e
in
Co
m
p
u
ter E
n
g
in
e
e
rin
g
in
M
a
y
2
0
1
7
i
n
De
p
a
rtme
n
t
o
f
Co
m
p
u
ter
a
n
d
El
e
c
tro
n
ics
En
g
in
e
e
rin
g
a
t
Ca
v
it
e
S
tate
Un
iv
e
rsit
y
–
Do
n
S
e
v
e
rin
o
De
las
A
las
Ca
m
p
u
s,
In
d
a
n
g
,
Ca
v
it
e
.
His
re
se
a
rc
h
in
tere
sts
a
re
in
a
re
a
s
o
f
in
tern
e
t
o
f
th
in
g
s,
so
f
t
w
a
re
e
n
g
in
e
e
rin
g
,
in
stru
m
e
n
ta
ti
o
n
a
n
d
n
e
tw
o
rk
s.
G
e
o
n
e
l
V
.
Cr
u
z
a
d
o
c
o
m
p
lete
d
h
is
Ba
c
h
e
lo
rs
d
e
g
re
e
in
Co
m
p
u
ter
En
g
in
e
e
rin
g
in
De
c
e
m
b
e
r
2
0
1
6
in
De
p
a
rtm
e
n
t
o
f
Co
m
p
u
ter an
d
E
lec
tro
n
ics
En
g
in
e
e
ri
n
g
a
t
Ca
v
it
e
S
tate
Un
iv
e
rsity
–
Do
n
S
e
v
e
rin
o
De
las
A
l
a
s
C
a
m
p
u
s,
In
d
a
n
g
,
Ca
v
it
e
.
His
re
s
e
a
rc
h
in
tere
sts
a
re
in
th
e
a
re
a
s
o
f
e
lec
tro
n
ics
,
n
e
t
w
o
rk
s
a
n
d
sig
n
a
l
p
ro
c
e
ss
in
g
.
Evaluation Warning : The document was created with Spire.PDF for Python.