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J
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[
1
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d
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n
th
is
r
esear
c
h
,
s
ta
b
ilit
y
p
r
o
b
le
m
s
w
er
e
p
lace
d
as
m
a
in
i
s
s
u
es
w
h
e
n
d
ev
e
lo
p
in
g
t
h
e
h
o
v
er
cr
af
t.
I
n
Dh
a
le
et
al.
’
s
r
e
s
ea
r
ch
[
6
]
,
cu
s
h
io
n
p
r
es
s
u
r
e
was si
m
p
l
y
g
e
n
er
ated
f
r
o
m
to
tal
w
eig
h
t
p
er
ar
ea
o
f
cu
s
h
io
n
w
ith
o
u
t
co
n
s
id
er
in
g
th
e
w
ei
g
h
t
o
f
ea
c
h
co
m
p
o
n
en
t
o
n
ea
c
h
s
p
o
t
o
f
h
o
v
er
cr
af
t.
As
a
r
es
u
lt,
t
h
e
h
o
v
er
cr
af
t
b
ec
o
m
e
u
n
s
tab
le
w
h
ile
d
o
in
g
m
an
e
u
v
er
.
T
o
r
ed
u
ce
in
s
tab
il
it
y
p
r
o
b
le
m
s
,
th
er
e
ar
e
s
ev
er
al
ad
d
itio
n
al
co
n
s
id
er
atio
n
s
u
s
e
d
in
t
h
is
r
e
s
ea
r
c
h
,
s
u
c
h
as
d
eter
m
in
in
g
p
r
o
p
er
p
lace
f
o
r
ea
ch
h
o
v
er
cr
a
f
t
co
m
p
o
n
e
n
t
s
to
k
ee
p
h
o
v
er
cr
af
t
in
b
alan
ce
,
o
p
ti
m
izi
n
g
p
h
y
s
ical
d
esi
g
n
o
f
th
e
d
ev
elo
p
ed
h
o
v
er
cr
af
t,
an
d
m
ater
ial
s
elec
tio
n
.
C
o
n
s
id
er
in
g
t
h
e
ca
p
ab
ilit
y
o
f
h
o
v
er
cr
af
t,
th
i
s
r
esear
c
h
ai
m
s
to
d
ev
elo
p
a
r
e
m
o
te
co
n
tr
o
l
(
R
C
)
h
o
v
er
cr
af
t
v
e
h
icle
s
eq
u
ip
p
ed
w
it
h
I
-
B
io
lo
g
y
ca
l
E
n
z
y
m
e
(
I
-
B
E
)
B
io
s
en
s
o
r
s
.
B
io
s
en
s
o
r
is
an
a
n
al
y
tical
to
o
l
th
at
co
n
v
er
t
b
io
ch
e
m
ical
s
i
g
n
al
u
s
in
g
tr
an
d
u
ce
r
[
7
]
,
[
8
]
to
d
eliv
er
i
n
f
o
r
m
atio
n
ab
o
u
t
t
h
e
lev
el
o
f
a
p
ar
ticu
lar
ch
e
m
ical
s
u
b
s
ta
n
ce
i
n
an
e
n
v
ir
o
n
m
e
n
t
s
u
c
h
as
w
ater
a
n
d
air
.
A
s
I
-
B
E
b
io
s
en
s
o
r
’
s
ca
r
r
ie
r
,
th
e
h
o
v
er
cr
a
f
t
is
d
esig
n
ed
w
i
th
s
tr
o
n
g
li
f
t
p
o
w
er
to
tr
an
s
p
o
r
t
b
io
s
en
s
o
r
o
v
er
th
e
w
ater
w
it
h
o
u
t
s
ac
r
if
icin
g
i
ts
s
tab
ilit
y
a
n
d
ca
n
b
e
co
n
tr
o
lled
r
em
o
tel
y
,
u
p
to
1
5
0
0
m
eter
s
i
n
d
is
ta
n
ce
in
n
o
n
-
b
ar
r
ier
s
ar
ea
.
I
n
ad
d
itio
n
,
w
i
th
it
s
lig
h
t
m
ater
ial
s
(
f
ib
er
)
,
th
is
v
e
h
icle
ca
n
s
a
v
e
b
atter
y
co
n
s
u
m
e
w
it
h
tr
av
el
ti
m
e
d
u
r
atio
n
u
p
to
2
0
m
i
n
u
tes.
T
h
e
r
est
o
f
th
i
s
p
ap
er
is
o
r
g
an
ized
as
f
o
llo
w
s
:
Sectio
n
2
a
n
d
3
p
r
esen
t
liter
atu
r
e
r
ev
ie
w
an
d
r
esear
ch
m
et
h
o
d
,
r
esp
ec
tiv
el
y
.
Sectio
n
4
d
is
cu
s
s
es
ab
o
u
t
r
esear
c
h
r
esu
lt
w
h
ile
co
n
c
lu
s
io
n
s
ar
e
d
r
a
w
n
a
n
d
s
u
g
g
ested
r
esp
ec
tiv
el
y
in
Sec
tio
n
5
.
2.
H
O
VE
RCRA
F
T
P
RINC
I
P
L
E
A
h
o
v
er
cr
af
t
is
a
s
el
f
-
p
r
o
p
elled
v
eh
icle,
d
y
n
a
m
icall
y
s
u
p
p
o
r
ted
b
y
a
s
el
f
-
g
en
er
ated
cu
s
h
io
n
o
f
s
lo
w
m
o
v
i
n
g
,
h
i
g
h
p
r
ess
u
r
e
air
w
h
ich
i
s
ej
ec
ted
ag
ain
s
t
t
h
e
s
u
r
f
ac
e
b
elo
w
a
n
d
co
n
tai
n
ed
w
it
h
in
a
f
lex
ib
le
s
k
ir
t
s
u
c
h
t
h
at
is
to
tall
y
a
m
p
h
ib
io
u
s
an
d
h
a
s
s
o
m
e
ab
ilit
y
to
tr
av
el
o
v
er
le
s
s
t
h
a
n
p
er
f
ec
t
s
u
r
f
a
ce
s
[
9
]
.
B
asicall
y
,
h
o
v
er
cr
af
t
f
lo
at
o
v
er
t
h
e
g
r
o
u
n
d
s
u
r
f
ac
e
o
n
a
c
u
s
h
io
n
o
f
air
w
h
ic
h
i
s
p
r
o
v
id
ed
b
y
t
h
e
lif
t
f
a
n
[
1
0
]
.
T
h
e
cu
s
h
io
n
p
r
es
s
u
r
e
eli
m
i
n
ates
al
l
k
i
n
d
o
f
f
r
ictio
n
a
n
d
ea
s
es
o
f
th
e
m
o
v
e
m
en
t
o
f
h
o
v
er
cr
af
t
[
6
]
an
d
th
e
p
r
ess
u
r
e
s
tab
ilit
y
m
ain
tain
s
s
u
f
f
icie
n
t
lif
t
[
9
]
.
Ho
r
izo
n
tal
d
iv
id
er
s
ep
er
ates
th
e
air
g
e
n
er
a
ted
f
r
o
m
p
r
o
p
eller
in
to
p
r
ess
u
r
ized
air
u
s
ed
f
o
r
th
e
air
cu
s
h
io
n
w
h
i
le
th
e
m
o
m
e
n
t
u
m
u
s
ed
f
o
r
th
r
u
s
t.
Du
e
to
m
o
v
e
m
e
n
t
o
f
air
,
th
e
s
k
ir
t
g
ets
in
f
lated
a
n
d
th
e
b
o
d
y
is
p
u
s
h
ed
an
d
li
f
ted
w
h
en
th
e
lif
t
f
o
r
ce
b
ig
g
er
th
a
t th
e
w
ei
g
h
t
o
f
t
h
e
b
o
d
y
.
T
h
e
ex
ten
d
ed
s
k
ir
t
p
r
o
v
id
es
co
n
t
ain
m
en
t,
i
m
p
r
o
v
e
s
b
alan
ce
a
n
d
m
a
k
e
s
t
h
e
cr
af
t
p
o
s
s
ib
le
to
tr
av
el
o
n
v
ar
ied
ter
r
ain
.
Af
ter
t
h
e
cr
af
t
i
s
li
f
te
d
,
an
i
n
co
r
p
o
r
ated
b
lo
w
er
i
n
t
h
r
u
s
t
e
n
g
in
e
ex
er
ts
air
i
n
b
ac
k
w
ar
d
d
ir
ec
tio
n
.
T
o
co
n
tr
o
l
d
ir
ec
tio
n
o
f
t
h
e
cr
af
t
t
o
m
o
v
e
f
o
r
w
ar
d
,
b
ac
k
w
ar
d
,
r
ig
h
t
an
d
le
f
t,
m
icr
o
co
n
tr
o
ller
is
u
s
ed
.
T
h
is
t
y
p
e
o
f
v
eh
ic
le
ca
n
eq
u
all
y
r
id
e
o
v
er
ice,
w
ater
,
m
ar
s
h
,
o
r
r
elativ
el
y
le
v
el
la
n
d
[
1
1
]
.
B
ec
au
s
e
th
er
e
is
n
o
d
ir
ec
t
co
n
tig
u
it
y
b
et
w
ee
n
h
o
v
er
cr
af
t
an
d
t
h
e
g
r
o
u
n
d
s
u
r
f
ac
e,
t
h
e
f
r
ictio
n
w
ill
d
ec
r
ea
s
e
s
o
t
h
at
h
o
v
er
cr
af
t
ca
n
m
o
v
e
w
it
h
a
h
ig
h
s
p
ee
d
.
T
h
er
e
ar
e
f
o
u
r
m
ain
co
n
ce
r
n
s
w
h
e
n
d
ev
e
lo
p
in
g
a
h
o
v
er
cr
af
t:
th
e
h
u
ll,
ce
n
ter
o
f
g
r
av
it
y
,
l
if
t
s
y
s
te
m
,
an
d
th
e
s
k
ir
t
[
1
0
]
.
T
h
e
h
u
ll
’
s
d
esig
n
d
ep
en
d
s
o
n
th
e
lo
a
d
th
at
w
i
ll
b
e
ca
r
r
ied
b
y
th
e
h
o
v
er
cr
af
t
w
h
ic
h
d
eter
m
in
e
s
t
h
e
d
i
m
en
s
io
n
o
f
t
h
e
h
u
l
l.
Af
ter
k
n
o
w
i
n
g
t
h
e
lo
a
d
o
f
h
o
v
er
cr
af
t,
it
is
n
ec
e
s
s
ar
y
to
la
y
o
u
t
p
o
s
itio
n
o
f
ea
ch
lo
ad
to
g
et
th
e
ce
n
ter
o
f
g
r
av
it
y
an
d
to
ca
lcu
late
t
h
e
d
ea
d
w
ei
g
h
t
o
n
t
h
e
h
u
ll.
O
n
c
e
th
e
d
ea
d
w
ei
g
h
t
is
d
eter
m
in
ed
,
th
e
li
f
t
s
y
s
te
m
n
e
ed
s
to
b
e
s
et
s
o
th
at
it
ca
n
g
e
n
er
ate
p
r
o
p
er
p
r
ess
u
r
e
to
lif
t
t
h
e
h
o
v
er
cr
af
t.
T
h
en
,
th
e
s
k
ir
t
m
u
s
t
b
e
ab
le
to
s
u
s
tain
th
e
p
r
es
s
u
r
e
n
ee
d
ed
an
d
p
u
s
h
th
e
cr
a
f
t
u
p
.
A
s
a
n
u
n
m
a
n
n
ed
v
e
h
icle,
co
m
m
o
n
l
y
h
o
v
er
cr
af
t
ca
n
b
e
co
n
tr
o
lled
b
y
r
e
m
o
te
co
n
tr
o
l
o
r
s
elf
-
d
r
iv
i
n
g
,
u
s
i
n
g
a
n
e
u
r
al
n
et
w
o
r
k
n
av
ig
at
io
n
tech
n
iq
u
e
[
1
2
]
.
Mo
r
eo
v
er
,
s
ev
er
al
ap
p
r
o
ac
h
es
ca
n
b
e
u
t
il
ized
r
eg
ar
d
in
g
to
en
h
a
n
ce
s
p
ee
d
co
n
tr
o
l
s
u
c
h
a
s
p
r
o
p
o
r
tio
n
al
in
teg
r
al
(
P
I
)
,
p
r
o
p
o
r
tio
n
al
in
teg
r
al
d
er
itativ
e
(
P
I
D)
,
Fu
zz
y
L
o
g
ic
C
o
n
tr
o
ller
o
r
co
m
b
in
atio
n
b
et
w
ee
n
th
e
m
[
1
3
]
.
3.
RE
S
E
ARCH
M
E
T
H
O
D
3
.
1
.
G
ener
a
l R
eq
uire
m
e
nts a
nd
M
a
t
er
ia
ls
Select
io
n
Ma
in
l
y
,
t
h
e
h
o
v
er
cr
a
f
t
i
s
d
es
i
g
n
ed
to
ca
r
r
y
a
t
w
o
k
ilo
g
r
a
m
s
I
-
B
y
lo
g
ical
E
n
z
y
m
e
(I
-
B
E
)
b
io
s
en
s
o
r
w
h
ic
h
i
s
u
s
ed
to
m
ea
s
u
r
e
th
e
lev
el
o
f
w
ater
p
o
ll
u
tio
n
f
r
o
m
f
ac
to
r
y
’
s
liq
u
id
w
as
te.
He
n
ce
,
t
h
e
h
o
v
er
cr
af
t’
s
ab
ilit
y
to
f
lo
at
o
v
er
th
e
w
ater
s
u
r
f
ac
e,
esp
ec
iall
y
o
n
a
r
iv
er
o
r
m
er
e.
B
y
co
n
s
id
er
i
n
g
t
h
e
wid
e
o
f
t
h
e
m
ea
s
u
r
ed
ar
ea
,
th
e
h
o
v
er
cr
af
t
s
h
o
u
ld
b
e
ab
le
to
b
e
co
n
tr
o
lled
r
em
o
t
el
y
an
d
i
n
t
h
is
ca
s
e,
it
is
s
et
to
1
0
0
0
m
eter
s
i
n
d
is
tan
ce
.
T
o
s
av
e
b
atte
r
y
co
n
s
u
m
p
tio
n
an
d
to
in
cr
ea
s
e
its
m
an
eu
v
er
s
ab
ilit
y
,
lig
h
t
an
d
s
tr
o
n
g
m
a
ter
ials
,
f
ib
er
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
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8
8
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8708
I
J
E
C
E
Vo
l.
7
,
No
.
4
,
A
u
g
u
s
t
2017
:
2
0
0
2
–
2
0
0
7
2004
an
d
ac
r
y
lic
,
ar
e
s
elec
ted
a
s
m
ain
m
ater
ial
s
to
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u
ild
t
h
e
h
o
v
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cr
af
t.
Mo
r
eo
v
er
,
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er
e
ar
e
s
e
v
er
al
ad
v
a
n
ta
g
es
b
y
u
s
i
n
g
th
o
s
e
m
ater
ials
,
s
u
ch
as
lo
w
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co
s
t,
ca
n
b
e
ac
q
u
ir
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s
il
y
,
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o
t
r
ea
cted
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n
l
ig
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t,
n
o
n
-
to
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ic,
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esis
ta
n
t to
ch
e
m
ical
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ea
ctio
n
,
an
d
ea
s
y
to
m
ain
tain
.
3
.
2
.
H
a
rdw
a
re
Desig
n
A
t
m
e
g
a
8
5
3
5
is
an
8
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b
it
m
icr
o
co
n
tr
o
ller
th
at
is
at
tach
ed
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n
th
e
h
o
v
er
cr
af
t a
s
a
ce
n
tr
al
p
r
o
ce
s
s
i
n
g
u
n
i
t
(
C
P
U)
o
f
h
o
v
er
cr
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t
s
y
s
te
m
an
d
is
p
lace
d
o
n
A
r
d
u
in
o
U
NO
b
o
ar
d
.
C
o
m
m
an
d
s
f
r
o
m
r
e
m
o
te
co
n
tr
o
l
is
tr
an
s
m
itted
a
n
d
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ec
ei
v
ed
b
y
6
ch
a
n
n
e
ls
T
r
an
s
m
itter
R
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ei
v
er
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d
in
t
h
is
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s
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i
t
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s
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l
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th
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h
an
n
els
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s
ed
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en
d
s
ig
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al
s
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P
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an
d
r
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ce
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b
y
A
r
d
u
in
o
p
in
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ter
f
a
ce
3
,
2
,
an
d
7
.
Me
an
w
h
ile,
A
r
d
u
in
o
p
in
i
n
ter
f
ac
e
9
,
6
,
an
d
5
is
co
n
n
ec
ted
to
s
er
v
o
,
E
lectr
ic
Sp
ee
d
C
o
n
tr
o
l (
E
SC
)
T
h
r
u
s
t,
a
n
d
E
S
C
h
o
v
er
r
esp
ec
tiv
el
y
w
h
i
c
h
ar
e
u
s
ed
to
co
n
tr
o
l
t
h
e
h
o
v
er
cr
af
t
’
s
m
o
v
e
m
e
n
t.
Fu
r
t
h
er
m
o
r
e,
th
e
d
etail
i
n
f
o
r
m
atio
n
ab
o
u
t
r
elatio
n
b
et
w
ee
n
A
r
d
u
i
n
o
p
i
n
i
n
ter
f
ac
e
an
d
o
t
h
er
co
m
p
o
n
en
t
s
’
s
p
i
n
ca
n
b
e
s
ee
n
i
n
T
ab
le
1
.
Nex
t,
s
er
v
o
is
u
s
ed
to
d
ir
ec
t
th
e
h
o
v
er
cr
af
t
t
u
r
n
le
f
t
an
d
r
ig
h
t
w
h
ile
p
r
o
p
eller
th
r
u
s
t
to
m
a
k
e
h
o
v
er
cr
af
t
to
m
o
v
e
f
o
r
w
ar
d
an
d
b
ac
k
w
ar
d
.
T
h
en
,
to
m
ak
e
t
h
e
h
o
v
er
cr
af
t
f
lo
at
o
v
er
th
e
s
u
r
f
ac
e
o
f
th
e
w
a
ter
,
th
is
f
u
n
ct
io
n
is
s
er
v
ed
b
y
p
r
o
p
eller
h
o
v
er
.
T
h
e
r
elatio
n
b
et
w
ee
n
co
m
p
o
n
e
n
t
s
i
n
th
e
h
o
v
er
cr
af
t c
an
b
e
s
h
o
w
n
in
Fi
g
u
r
e
1
.
F
ig
u
r
e
1
.
Har
d
w
ar
e
B
lo
ck
Diag
r
a
m
T
ab
le
1
.
R
elatio
n
b
et
w
ee
n
I
n
t
er
f
ac
e
P
in
o
f
A
r
d
u
i
n
o
an
d
C
o
m
p
o
n
en
ts
A
r
d
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i
n
o
P
i
n
I
n
t
e
r
f
a
c
e
C
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n
t
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f
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c
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0
(
R
X
0
)
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S
B
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r
i
a
l
1
(
T
X
0
)
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S
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r
i
a
l
2
(
I
n
t
e
r
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p
t
0
)
C
H
5
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e
c
e
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v
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r
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h
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l
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I
n
t
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r
u
p
t
1
)
C
H
3
R
e
c
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v
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h
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n
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l
4
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5
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r
6
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T
h
r
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(
I
n
t
e
r
r
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p
t
5
)
C
H
3
R
e
c
e
i
v
e
r
3
.
3
.
M
icr
o
co
ntr
o
ller
P
ro
g
ra
mm
i
ng
I
n
itiall
y
,
t
h
e
m
icr
o
co
n
tr
o
ller
in
t
h
e
h
o
v
er
cr
af
t
i
s
s
et
to
r
ec
e
iv
e
s
i
g
n
als
f
r
o
m
tr
an
s
m
i
tter
a
n
d
p
ass
es
th
e
s
i
g
n
a
ls
t
h
r
o
u
g
h
h
o
v
er
,
th
r
est
an
d
s
teer
in
g
ch
a
n
n
el.
A
f
ter
w
ar
e,
th
ese
s
ig
n
al
s
ar
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p
r
o
ce
s
s
ed
an
d
is
s
e
n
t
to
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ch
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elate
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p
r
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p
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d
s
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r
v
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to
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tr
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l
h
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cr
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t
’
s
m
o
v
e
m
e
n
t
b
ased
o
n
tr
a
n
s
m
itter
’
s
co
m
m
a
n
d
s
.
Fo
r
m
o
r
e
d
etail,
t
h
e
m
icr
o
co
n
tr
o
ll
er
p
r
o
g
r
am
f
lo
w
c
h
ar
t c
a
n
b
e
s
ee
n
in
F
ig
u
r
e
2
.
4.
RE
SU
L
T
S AN
D
AN
AL
Y
SI
S
A
u
n
it
tes
tin
g
is
i
n
ten
d
ed
to
e
x
a
m
in
e
w
h
eter
th
e
h
o
v
er
cr
a
f
t
’
s
h
ar
d
w
ar
e
s
y
s
te
m
is
to
w
o
r
k
p
r
o
p
er
ly
as
it
is
d
esig
n
ed
.
T
h
e
h
ar
d
w
ar
e
s
y
s
te
m
n
ee
d
s
a
1
1
Vo
lt
DC
in
p
u
t
t
h
at
is
s
u
p
p
lied
u
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n
g
L
i
-
P
o
b
atter
ay
.
Firstl
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,
th
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ex
a
m
i
n
atio
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s
to
ch
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k
t
h
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co
m
p
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n
e
n
ts
’
co
m
m
u
n
ica
tio
n
o
n
t
h
e
elec
tr
o
n
ic
b
o
ar
d
s
.
I
f
th
er
e
is
n
o
s
h
o
r
t
cir
cu
it,
t
h
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li
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h
t
-
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m
it
tin
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d
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d
e
(
L
E
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la
m
p
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n
.
Nex
t,
th
e
te
s
ti
n
g
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s
f
o
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co
n
tr
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llin
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h
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h
o
v
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cr
af
t
b
y
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s
r
e
m
o
te
co
n
tr
o
l.
A
s
m
e
n
tio
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ed
p
r
ev
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u
s
l
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,
alth
o
u
g
h
t
h
er
e
ar
e
s
ix
a
v
ailab
le
ch
a
n
n
el
s
i
n
t
h
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tr
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s
m
itter
-
r
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eiv
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,
t
h
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h
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cr
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s
co
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l
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l
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d
s
t
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r
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ch
an
n
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(
C
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,
C
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,
an
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C
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)
.
Gen
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all
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ch
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s
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g
n
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m
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tick
s
p
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s
:
b
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tto
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,
to
p
,
m
id
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lef
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a
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d
r
ig
h
t.
T
h
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co
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b
in
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o
f
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ec
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f
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’
s
r
e
s
p
o
n
s
e
ar
e
d
escr
ib
ed
i
n
T
ab
le
2
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
E
C
E
I
SS
N:
2
0
8
8
-
8708
R
C
Ho
ve
r
cra
ft:
A
n
I
-
B
ylo
g
ica
l
E
n
z
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(
I
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B
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)
B
io
s
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s
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r
C
a
r
r
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(
R
in
ta
K
r
id
a
lu
kma
n
a
)
2005
T
ab
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2
.
Ma
n
u
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C
o
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tr
o
l Re
s
p
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T
esti
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g
H
o
v
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C
H
3
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h
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R
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Fig
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2
.
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y
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te
m
F
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w
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h
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Af
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D
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4
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I
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s
[
6
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s
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g
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est
io
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o
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cr
af
t
p
h
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s
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ili
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p
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ated
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icate
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t to
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ter
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an
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lo
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ta
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.
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M
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w
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as
s
u
p
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ted
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n
er
al
Dir
ec
to
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ate
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f
I
n
d
o
n
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Hi
g
h
er
E
d
u
ca
tio
n
I
n
d
o
n
esia
(
DI
KT
I
-
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n
d
o
n
esia)
th
r
o
u
g
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titi
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er
: 0
2
2
/SP
2
H/L
T
/DR
P
M/I
I
/2
0
1
6
.
RE
F
E
R
E
NC
E
S
[1
]
Ha
rd
in
P
J,
Je
n
se
n
RR,
“
S
m
a
ll
-
sc
a
le
Un
m
a
n
n
e
d
A
e
rial
V
e
h
icle
s
in
En
v
iro
n
m
e
n
tal
Re
m
o
te
S
e
n
sin
g
:
Ch
a
ll
e
n
g
e
s
a
n
d
O
p
p
o
r
tu
n
it
ies
”
,
GIS
c
ien
c
e
&
Rem
o
te S
e
n
si
n
g
,
2
0
1
1
Ja
n
1
;4
8
(1
)
:9
9
-
1
1
1
.
[2
]
Wa
tt
s
A
C,
Am
b
ro
sia
V
G
,
Hin
k
ley
E
A
,
“
Un
m
a
n
n
e
d
A
ircr
a
f
t
S
y
st
e
m
s
in
Re
m
o
te
S
e
n
sin
g
a
n
d
S
c
ien
ti
f
ic
Re
se
a
rc
h
:
Clas
sif
ic
a
ti
o
n
a
n
d
C
o
n
sid
e
ra
ti
o
n
s
o
f
u
se
”
,
Rem
o
te S
e
n
si
n
g
,
2
0
1
2
Ju
n
8
;
4
(6
)
:1
6
7
1
-
9
2
.
[3
]
L
e
lo
n
g
CC,
Bu
rg
e
r
P
,
Ju
b
e
li
n
G
,
Ro
u
x
B,
L
a
b
b
é
S
,
Ba
r
e
t
F
,
“
A
ss
e
ss
m
e
n
t
o
f
Un
m
a
n
n
e
d
Ae
rial
V
e
h
icle
s
I
m
a
g
e
r
y
f
o
r
Qu
a
n
ti
tativ
e
M
o
n
it
o
r
in
g
o
f
wh
e
a
t
C
ro
p
in
sm
a
ll
p
lo
ts
”
,
S
e
n
s
o
rs
,
2
0
0
8
M
a
y
2
6
;8
(
5
):3
5
5
7
-
8
5
.
[4
]
M
c
Co
rm
a
c
k
ED,
T
re
p
a
n
ier
T
,
“
T
h
e
u
se
o
f
S
m
a
ll
U
n
m
a
n
n
e
d
A
i
rc
ra
f
t
b
y
th
e
W
a
sh
in
g
to
n
S
tate
De
p
a
rtme
n
t
o
f
T
ra
n
sp
o
rtatio
n
”
,
W
a
sh
in
g
to
n
S
tat
e
De
p
a
rtme
n
t
o
f
T
ra
n
sp
o
rtatio
n
;
2
0
0
8
J
u
n
.
[5
]
Am
i
ru
d
d
in
A
K,
S
a
p
u
a
n
S
M
,
Ja
a
fa
r
AA
,
“
D
e
v
e
lo
p
m
e
n
t
o
f
a
Ho
v
e
rc
ra
f
t
P
r
o
to
ty
p
e
w
it
h
a
n
A
lu
m
in
iu
m
Hu
ll
b
a
se
”
,
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
P
h
y
sic
a
l
S
c
ien
c
e
s
,
2
0
1
1
S
e
p
2
;6
(
1
7
)
:4
1
8
5
-
94.
[6
]
Dh
a
le
A
,
A
h
u
ja
A
,
Ch
a
n
c
h
a
l
P
,
G
u
p
ta
R,
Ku
sh
w
a
h
a
M
,
“
De
sig
n
a
n
d
De
v
e
lo
p
m
e
n
t
o
f
Ho
v
e
rc
ra
f
t
”
,
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
S
c
ien
ti
f
ic
Res
e
a
rc
h
in
S
c
ien
c
e
,
En
g
in
e
e
rin
g
a
n
d
T
e
c
h
n
o
lo
g
y
,
IS
S
N
:
2
3
9
4
-
4
0
9
9
,
v
o
l.
2
(
2
),
p
p
.
7
0
9
-
7
1
2
,
2
0
1
6
[7
]
S
.
F
.
D’S
o
u
z
a
,
“
M
icro
b
ial
b
i
o
se
n
s
o
rs,
Bio
se
n
s”
,
Bi
o
e
lec
tro
n
,
v
o
l.
1
6
,
p
p
3
3
7
–
3
5
3
,
2
0
0
1
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
E
C
E
I
SS
N:
2
0
8
8
-
8708
R
C
Ho
ve
r
cra
ft:
A
n
I
-
B
ylo
g
ica
l
E
n
z
yme
(
I
-
B
E
)
B
io
s
en
s
o
r
C
a
r
r
ier
(
R
in
ta
K
r
id
a
lu
kma
n
a
)
2007
[8
]
Ba
y
ra
m
Ez
g
i,
A
k
y
il
m
a
z
Ero
l,
“
De
v
e
lo
p
m
e
n
t
Of
A
N
e
w
M
icro
b
ial
B
io
se
n
so
r
Ba
se
d
O
n
Co
n
d
u
c
ti
v
e
P
o
ly
m
e
r/
M
u
lt
iw
a
ll
e
d
Ca
rb
o
n
N
a
n
o
tu
b
e
A
n
d
Its
A
p
p
li
c
a
ti
o
n
T
o
P
a
ra
c
e
tam
o
l
De
ter
m
in
a
ti
o
n
”
,
S
e
n
s
o
rs
a
n
d
Actu
a
t
o
rs
B
:
C
h
e
mic
a
l,
v
o
l
.
2
3
3
,
p
p
.
4
0
9
-
4
1
8
,
2
0
1
6
.
[9
]
A
n
a
n
d
h
a
k
u
m
a
r
A
,
G
a
n
e
sa
n
S
,
G
o
u
t
h
a
m
S
,
P
a
su
p
a
t
h
i
K
,
“
De
sig
n
a
n
d
F
a
b
rica
ti
o
n
o
f
Ho
v
e
rc
h
a
rf
t”
,
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
In
n
o
v
a
ti
v
e
Res
e
a
rc
h
in
S
c
ien
c
e
,
En
g
i
n
e
e
rin
g
a
n
d
T
e
c
h
n
o
lo
g
y
,
IS
S
N:
2
3
1
9
–
8
7
5
3
,
V
o
l
4
(
6
),
5
9
7
-
6
0
1
[1
0
]
Ok
a
f
o
r
BE,
“
D
e
v
e
lo
p
m
e
n
t
o
f
a
H
o
v
e
rc
ra
f
t
P
ro
to
ty
p
e
”
,
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
En
g
in
e
e
rin
g
a
n
d
T
e
c
h
n
o
l
o
g
y
,
2013
M
a
r;3
(3
).
[1
1
]
T
i
w
a
ri.
Am
it
,
“
T
o
S
tu
d
y
A
n
d
F
a
b
rica
ti
o
n
Of
A
ir
Cu
sh
io
n
V
e
h
icle
”,
I
n
t
e
rn
a
t
io
n
a
l
J
o
u
rn
a
l
Of
Res
e
a
rc
h
-
Gr
a
n
th
a
a
l
a
y
a
h
,
3(
3
):
M
a
rc
h
,
2
0
1
5
.
[1
2
]
S
e
lm
a
B,
Ch
o
u
rq
a
u
i
S
,
“
Ne
u
ra
l
Ne
t
w
o
rk
N
a
v
i
g
a
ti
o
n
T
e
c
h
n
iq
u
e
f
o
r
Un
m
a
n
n
e
d
V
e
h
icle
”,
Bu
l
letin
o
f
El
e
c
trica
l
En
g
i
n
e
e
rin
g
a
n
d
I
n
fo
rm
a
ti
c
s
.
2
0
1
4
S
e
p
tem
b
e
r
;
3
(
3
):
1
9
5
.
[1
3
]
M
o
h
i
u
d
d
i
n
M
S
,
“
P
e
rf
o
rm
a
n
c
e
C
o
m
p
a
riso
n
o
f
Co
n
v
e
n
ti
o
n
a
l
Co
n
tr
o
ll
e
r
w
it
h
F
u
z
z
y
L
o
g
ic
Co
n
tro
ll
e
r
u
sin
g
Ch
o
p
p
e
r
Circu
it
a
n
d
F
u
z
z
y
T
u
n
e
d
P
ID
Co
n
tro
ll
e
r
”,
In
d
o
n
e
sia
n
J
o
u
rn
a
l
o
f
El
e
c
trica
l
En
g
i
n
e
e
rin
g
a
n
d
In
f
o
r
ma
ti
c
s
(
I
J
EE
I)
.
2
0
1
4
De
c
1
;
2
(4
)
:1
8
9
-
2
0
0
.
B
I
O
RAP
H
I
E
S
O
F
AU
T
H
O
RS
Rin
ta
K
r
id
a
l
u
k
m
a
n
a
wa
s
b
o
rn
in
S
e
m
a
ra
n
g
,
In
d
o
n
e
sia
in
1
9
7
7
,
h
e
g
o
t
h
is
ti
tl
e
a
s
Co
m
p
u
ter
Ba
c
h
e
lo
r
f
ro
m
De
p
a
rt
m
e
n
t
o
f
In
f
o
r
m
a
ti
o
n
S
y
st
e
m
in
S
ti
k
u
b
a
n
k
S
e
m
a
r
a
n
g
in
2
0
0
3
a
n
d
M
a
g
ister
ti
tl
e
f
ro
m
S
T
EI
IT
B
(S
c
h
o
o
l
o
f
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
a
n
d
In
f
o
r
m
a
ti
c
s,
B
a
n
d
u
n
g
In
stit
u
te T
e
c
h
n
o
lo
g
y
)
in
2
0
0
7
.
No
w
,
h
e
is
o
n
e
o
f
th
e
m
e
m
b
e
rs
o
f
A
ss
o
c
iatio
n
f
o
r
Co
m
p
u
ti
n
g
M
a
c
h
in
e
ry
a
n
d
a
lec
tu
re
r
a
t
th
e
P
ro
g
ra
m
o
f
Co
m
p
u
ter
S
y
st
e
m
,
F
a
c
u
lt
y
o
f
En
g
in
e
e
rin
g
,
Dip
o
n
e
g
o
ro
Un
iv
e
rsit
y
sin
c
e
2
0
0
8
.
T
h
e
re
se
a
rc
h
f
ield
is
in
in
telli
g
e
n
t
sy
ste
m
,
in
f
o
r
m
a
ti
o
n
sy
ste
m
,
m
o
b
il
e
a
p
p
li
c
a
ti
o
n
a
n
d
sy
st
e
m
in
teg
ra
ti
o
n
.
B
u
d
i
Ca
h
y
o
S
.
P.
wa
s
b
or
n
in
S
e
m
a
ra
n
g
,
In
d
o
n
e
sia
in
1
9
9
2
.
H
e
is
in
tere
st
e
d
in
p
ro
g
ra
m
m
in
g
a
n
d
re
se
a
rc
h
a
b
o
u
t
e
m
b
e
d
d
e
d
e
n
g
in
e
e
rin
g
,
e
sp
e
c
iall
y
ro
b
o
ti
c
p
latf
o
rm
.
H
e
g
o
t
h
is
ti
tl
e
a
s
Co
m
p
u
ter Bac
h
e
lo
r
f
ro
m
De
p
a
rt
m
e
n
t
o
f
Co
m
p
u
ter
En
g
in
e
e
rin
g
in
Un
iv
e
rsitas
Dip
o
n
e
g
o
ro
S
e
m
a
r
a
n
g
in
2
0
1
6
.
T
h
e
re
se
a
rc
h
f
ield
is
in
e
m
b
e
d
d
e
d
s
y
ste
m
,
ro
b
o
ti
c
d
e
v
e
lo
p
m
e
n
t
a
n
d
I
o
T
a
p
p
li
c
a
ti
o
n
.
De
d
d
y
K
u
r
n
ia
w
a
n
W
i
k
a
n
t
a
wa
s
b
or
n
in
S
e
m
a
ra
n
g
,
In
d
o
n
e
sia
in
1
9
5
2
,
h
e
g
o
t
h
is
ti
tl
e
in
C
h
e
m
ic
a
l
Ba
c
h
e
lo
r
De
g
re
e
f
ro
m
Dip
o
n
e
g
o
ro
Un
iv
e
rsity
S
e
m
a
r
a
n
g
in
1
9
7
9
a
s
we
ll
a
s
th
e
M
a
g
ister
ti
tl
e
in
2
0
0
0
.
He
h
a
s
se
r
v
e
d
Dip
o
n
e
g
o
ro
U
n
i
v
e
rsit
y
a
s
a
le
c
tu
re
r
sin
c
e
1
9
8
1
a
t
Dip
lo
m
a
P
ro
g
ra
m
o
f
Ch
e
m
ic
a
l
En
g
in
e
e
rin
g
,
F
a
c
u
lt
y
o
f
En
g
in
e
e
rin
g
.
T
h
e
re
se
a
rc
h
f
i
e
ld
is
in
c
h
e
m
i
c
a
l
e
n
z
y
m
e
a
n
d
it
s ex
trac
ti
o
n
.
Fa
h
m
i
Ar
ifa
n
w
a
s
b
o
rn
in
1
9
8
0
in
P
e
m
a
lan
g
,
In
d
o
n
e
sia
.
In
2
0
0
3
,
h
e
g
ra
d
u
a
t
e
d
f
ro
m
Dip
o
n
e
g
o
ro
Un
iv
e
rsit
y
h
o
ld
in
g
th
e
ti
tl
e
o
f
Ba
c
h
e
lo
r
De
g
re
e
in
Ch
e
m
ica
l
En
g
in
e
e
rin
g
.
T
h
e
n
,
in
2
0
1
0
,
h
e
g
o
t
h
is
m
a
g
ister
ti
tl
e
f
ro
m
G
a
d
jah
M
a
d
a
Un
iv
e
rsit
y
.
H
e
is
o
n
e
o
f
th
e
lec
tu
re
s
a
t
th
e
Di
p
lo
m
a
P
ro
g
ra
m
o
f
Ch
e
m
ic
a
l
En
g
in
e
e
rin
g
,
F
a
c
u
lt
y
o
f
En
g
in
e
e
ri
n
g
,
Dip
o
n
e
g
o
ro
Un
iv
e
rsity
sin
c
e
2
0
0
5
.
T
h
e
re
se
a
rc
h
f
ie
ld
is
in
c
h
e
m
ica
l
tec
h
n
o
lo
g
y
.
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