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T
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actio
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k
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m
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Op
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p
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s
Acceler
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Op
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°
C
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-
30 …
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Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
A
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88
14
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35
A
c
t
u
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t
i
n
g
m
e
c
h
a
n
i
s
m
s
of
t
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d
r
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l
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s
el
ect
r
i
c
v
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cl
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f
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l
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w
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:
l
i
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e
a
r
act
u
at
o
r
s
;
s
e
r
vo
dr
i
ve
uni
t
;
s
t
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e
r
i
n
g
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l
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c
t
r
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a
m
p
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um
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d
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l
es
s
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r
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s
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or
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f
l
i
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a
r
m
ot
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ons
of
a
c
t
ua
t
or
s
;
l
i
n
e
a
r
p
o
t
e
n
t
i
o
m
e
t
e
r
.
T
he
f
ol
l
o
wi
n
g
c
om
pone
nt
s
a
r
e
us
e
d
i
n t
he
m
ach
i
n
e v
i
s
i
o
n
s
y
s
t
em
of
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ot
i
on
c
o
nt
r
ol
o
f
d
r
i
v
e
r
l
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s
s
el
ect
r
i
c
v
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i
cl
e
:
A
X
IS
P
I
34
6
v
i
d
e
o
cam
er
a
;
S
L
R
1
l
i
d
a
r
;
ul
t
r
a
s
o
un
d
s
e
ns
o
r
s
.
D
ri
v
e
rl
e
s
s
e
l
e
c
t
r
i
c
ve
hi
c
l
e
o
p
e
r
a
t
e
s
i
n
t
hr
e
e
c
ont
r
ol
m
ode
s
:
1.
"D
r
i
v
er
"
m
o
d
e
I
n
t
h
i
s
m
o
d
e
t
h
e
d
r
i
v
e
r
l
e
s
s
e
l
e
c
t
r
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c
v
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h
i
c
l
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s
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d
a
s
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o
m
m
o
n
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l
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c
t
r
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c
v
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h
i
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w
i
t
h
o
u
t
a
n
y
r
e
s
t
r
i
c
t
i
o
n
s
.
2.
"
Re
m
o
t
e
c
o
n
t
r
o
l
"
m
ode
I
n
t
h
i
s
m
o
d
e d
r
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v
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l
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s
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ec
t
r
i
c v
eh
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cl
e c
an
b
e co
n
t
r
o
l
l
ed
b
y
P
C
w
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t
h
s
p
eci
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i
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s
o
f
t
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ar
e
o
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b
y
de
di
c
a
t
e
d
joy
s
t
i
c
k.
3.
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A
ut
on
om
ous
m
oti
on"
m
ode
T
h
i
s
m
ode
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s
d
r
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v
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r
l
e
s
s
c
ont
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of
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t
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m
ean
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sy
st
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m
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act
u
at
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s
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ri
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t
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r
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m
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p
ar
k
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g
.
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r
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p
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s
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o
n
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t
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h
e
N
A
M
I
d
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es
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el
ect
r
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c v
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cl
e
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s
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o
l
ect
r
i
a A
zu
r
e D
y
n
am
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cs
7
0 kW
th
r
e
e
-
pha
s
e
a
s
y
nc
hr
on
o
us
e
ngi
ne
wi
t
h a
i
r
c
o
ol
i
n
g e
qui
ppe
d
w
i
t
h a
D
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C
4
45
i
n
ve
r
t
or
.
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e
t
or
que
fr
o
m
t
r
a
c
t
i
o
n
e
l
e
c
t
r
i
c
m
ot
or
t
o
v
e
h
i
c
l
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d
r
ive
w
h
eel
s
i
s
t
ra
n
s
fe
rre
d
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y
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e
a
n
s
o
f re
d
u
c
e
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t
h
d
i
f
fe
re
n
t
i
a
l
.
In
or
de
r
t
o
a
voi
d
ove
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ca
p
a
b
l
e t
o
b
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d
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p
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f
t
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s
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e
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d
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s
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a
f
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t
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c
t
i
o
n
e
l
e
c
t
r
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c
m
ot
or
by
ove
r
l
oa
d c
ou
pl
i
n
g
.
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h
e
r
e
d
u
c
e
r
s
h
e
l
l
i
s
r
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g
i
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o
n
n
e
c
t
e
d
w
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t
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t
h
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s
h
e
l
l
o
f
t
r
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c
t
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o
n
e
l
e
c
t
r
i
c
m
o
t
o
r
.
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e
t
r
a
c
t
i
o
n
e
l
e
c
t
r
i
c
m
ot
or
w
i
t
h
t
h
e
r
ed
u
ce
r
i
n
ve
hi
c
l
e
m
ot
or
co
m
p
ar
t
m
en
t
i
s
m
ount
e
d us
i
n
g
t
h
r
e
e
-
p
oi
nt
m
ount
i
ng
s
y
s
t
e
m
of
p
owe
r
uni
t
.
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l
e
c
t
r
i
c
i
t
y
a
c
c
u
m
u
l
a
t
i
o
n
sy
st
e
m
i
s
c
om
pr
i
s
e
d of
e
i
ght
m
odul
e
s
,
e
a
c
h
c
o
nt
a
i
ns
t
we
l
ve
A
MP
20
M
1
H
D
-
A
b
a
t
t
e
r
i
e
s
-
96
b
a
t
t
e
r
y
c
e
l
l
s
i
n
t
o
t
a
l
.
N
om
i
na
l
vol
t
a
ge
:
3
16.
8
V
,
i
n
t
e
r
n
a
l
i
m
p
ed
an
ce
:
57.
6
µ
Ω
.
Co
n
t
r
o
l
s
y
s
t
e
m
o
f
b
a
t
t
e
r
y
c
e
l
l
i
s
l
o
c
a
t
e
d
i
n
t
h
e
t
o
p
p
a
r
t
.
I
t
i
s
c
om
pr
i
s
e
d
of
f
ou
r
b
oa
r
ds
,
e
a
c
h
boa
r
d
c
ont
r
ol
s
1
2
c
e
l
l
s
.
Th
e
c
o
nt
r
ol
sy
st
e
m
i
s
i
nt
e
nde
d
f
or
m
an
ag
em
en
t
an
d
b
al
an
ci
n
g
of
b
at
t
er
y
c
e
l
l
s
,
f
or
c
he
c
ki
ng
o
f
i
nt
e
gr
i
t
y
o
f
b
a
t
t
e
r
y
c
i
r
c
u
i
t
s
,
v
o
l
t
a
g
e a
n
d
t
em
p
er
at
u
r
e o
f
cel
l
s
,
an
d
f
o
r
d
at
a t
r
an
s
f
er
t
o
b
at
t
er
y
m
an
ag
em
en
t
s
y
s
t
e
m
(
B
MS
).
S
p
eci
a
l
s
o
ft
w
a
re
pr
ov
id
e
s
c
o
n
n
ect
i
o
n
,
ad
j
u
s
t
m
en
t
,
an
d
d
i
ag
n
o
s
t
i
cs
o
f
b
at
t
er
y
m
an
ag
em
en
t
s
y
s
t
e
m
f
r
o
m
P
C
v
i
a
CO
M
p
o
r
t
(
U
SA
R
T
1
)
or
СА
N
.
E
n
vi
r
o
nm
e
nt
a
l
s
a
f
e
t
y
of
pa
s
s
e
nge
r
s
i
n
t
h
e
N
A
M
I
d
r
i
v
er
l
e
s
s
el
ect
r
i
c v
eh
i
cl
e
i
s
pr
ovi
de
d
by
t
w
o a
i
r
cl
ean
i
n
g
s
y
s
t
em
s
i
n pa
s
s
e
n
g
e
r
c
om
pa
r
tm
e
nt
.
T
h
ey
ar
e
l
o
c
a
t
e
d
i
n
l
u
gg
a
ge
co
m
p
ar
t
m
en
t
(
F
i
g
ur
e
2
)
.
Cl
e
a
n
a
i
r
f
ro
m
t
h
e
sy
st
e
m
s
i
s
s
uppl
i
e
d
v
i
a
du
c
ts
l
o
cat
ed
i
n
s
i
d
e
t
h
e
p
as
s
en
g
er
co
m
p
ar
t
m
en
t
n
ear
fro
n
t
s
eat
s
.
In
a
d
d
i
t
i
o
n
,
ga
s
a
na
l
y
z
e
r
f
or
m
oni
t
or
i
ng
of
i
m
pur
i
t
y
c
o
nt
e
nt
i
n t
he
a
i
r
i
s
pl
a
c
e
d i
n
t
he
c
om
pa
r
t
m
e
nt
.
Co
n
t
r
o
l
l
e
r
o
f
a
i
r
cl
ean
i
n
g
s
y
s
t
e
m
i
s
co
n
n
ect
e
d
t
o
t
h
e
g
as
a
n
al
y
zer
an
d
t
h
e s
y
s
t
e
m
i
t
s
el
f
.
T
h
e
l
a
t
t
e
r
o
p
e
r
a
t
e
s
i
n
r
e
c
i
r
c
u
l
a
t
i
o
n
m
o
d
e
,
t
h
a
t
i
s
,
i
t
i
n
t
ak
es
ai
r
f
r
o
m
t
h
e
p
as
s
en
g
er
c
o
m
p
ar
t
m
e
n
t
,
cl
ean
s
t
h
e
a
i
r
an
d
s
u
p
p
l
i
es
t
h
e
cl
ean
ed
ai
r
t
o
t
h
e
pa
s
s
e
nge
r
c
om
pa
r
t
m
e
nt
.
Th
e
g
as
a
n
al
y
zer
t
ra
n
s
fe
rs
t
h
e
da
ta
on
a
i
r
c
o
m
pos
i
t
i
on t
o t
he
c
ont
r
ol
l
e
r
w
hi
c
h
c
o
n
s
t
a
n
t
l
y
an
al
y
zes
co
n
t
en
t
o
f
h
ar
m
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I
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SN
:
2
252
-
88
14
IJ
A
A
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36
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A
XIS
P
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346
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Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
A
A
S
I
S
S
N
:
225
2
-
88
14
D
e
v
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l
o
p
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t
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Th
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m
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m
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c
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:
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C
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c
t
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w
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x
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r
n
a
l
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s
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B
LU
ET
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,
G
PS
,
a
nd
ot
he
r
);
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A
c
q
ui
r
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m
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ge
of
s
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d
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r
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c
t
r
i
c
v
e
h
i
c
l
e
(
r
a
d
a
rs
,
l
i
d
a
rs
,
v
i
d
eo
cam
er
as
,
pa
r
kt
r
oni
c
s
)
a
n
d
i
t
s
s
ub
s
e
q
ue
n
t
pr
oc
e
s
s
i
ng
;
3.
A
c
q
ui
r
i
ng
i
n
f
o
r
m
a
t
i
o
n
a
bo
ut
s
ho
r
t
r
a
n
ge
s
ur
r
o
u
ndi
n
g f
r
om
ul
t
r
a
s
ou
nd
s
e
ns
or
s
a
nd
i
t
s
s
ubs
e
que
n
t
pr
oc
e
s
s
i
ng
;
4.
D
a
t
a
pr
o
c
e
s
s
ing
f
ro
m
a
l
l
se
n
so
r
s
of
t
h
e
sy
st
e
m
;
5.
C
a
l
c
u
l
a
t
i
o
n
of
m
oti
on pa
r
a
m
e
t
e
r
s
of
N
A
M
I d
r
i
v
er
l
es
s
el
ect
r
i
c v
eh
i
cl
e
i
n
r
eal
t
i
m
e
i
n
acco
r
d
a
n
ce w
i
t
h
t
h
e
p
r
e
s
e
t
a
l
g
o
r
i
t
h
m
s
;
6.
G
e
n
e
r
a
t
i
o
n
of
c
ont
r
ol
c
om
m
a
nds
t
o
ex
t
er
n
a
l
act
u
at
o
r
s
i
n
acco
r
d
a
n
ce
w
i
t
h
cu
r
r
en
t
s
t
at
e an
d
m
o
t
i
o
n
a
l
g
o
r
i
t
h
m
.
I
nt
e
gr
a
t
i
o
n
of
t
he
c
o
nt
r
ol
s
y
s
t
e
m
i
nt
o ve
hi
c
l
e
i
s
pr
ovi
de
d by
a
n
ot
he
r
de
vi
c
e
:
M
e
c
h
a
ni
s
m
c
ont
r
ol
uni
t
.
I
t
s
m
a
i
n
f
u
n
c
t
i
o
n
s
a
r
e
a
s
f
o
l
l
o
w
s
:
1.
P
r
o
c
e
s
s
i
n
g
of
pos
i
t
i
o
n
s
e
ns
or
s
o
f
c
ont
r
ol
m
e
c
ha
ni
s
m
s
of
N
A
M
I
d
r
i
v
er
l
es
s
el
ect
r
i
c
v
e
h
i
cl
e;
2.
C
ont
r
ol
a
c
t
i
o
ns
f
or
a
c
t
ua
t
o
r
s
o
f
N
A
M
I
d
r
i
v
e
r
l
e
s
s
e
l
e
c
t
r
i
c
v
e
h
i
c
l
e
;
3.
D
a
t
a
t
r
an
s
f
er
co
n
c
er
n
i
n
g
s
t
a
t
e
o
f
c
ont
r
ol
m
e
c
ha
ni
s
m
s
of
N
A
M
I
d
r
i
v
e
r
l
e
s
s
e
l
e
c
t
r
i
c
v
e
h
i
c
l
e
;
4.
O
bt
a
i
ni
ng
o
f
c
ont
r
ol
c
om
m
a
n
ds
f
r
om
c
e
nt
r
a
l
p
r
oc
e
s
s
i
n
g
uni
t
.
M
e
c
ha
ni
s
m
c
ont
r
ol
uni
t
p
r
o
v
i
de
s
i
nt
e
g
r
a
t
i
o
n wi
t
h t
he
f
ol
l
ow
i
ng m
e
c
ha
n
i
s
m
s
a
nd uni
t
s
of
N
A
M
I
d
r
i
v
er
l
es
s
el
ect
r
i
c
v
e
h
i
cl
e:
1.
A
c
t
u
a
t
o
r
s
of
ac
cel
er
at
o
r
pe
da
l
,
pr
im
a
r
y
a
n
d
pa
r
k
i
n
g
br
a
k
i
n
g
s
ys
te
m
s
,
c
l
u
t
c
h
;
2.
S
t
e
e
r
i
n
g
d
r
ive
;
3.
T
r
a
c
t
i
o
n
i
n
ve
r
t
or
;
4.
L
i
g
h
t
i
n
g
c
o
nt
r
ol
(
p
os
i
t
i
on
l
a
m
ps
,
l
ow
a
n
d
h
i
gh
be
a
m
s
);
5.
W
i
p
e
r
an
d
w
as
h
er
c
o
nt
r
ol
;
6.
W
i
nd
ow
r
ai
s
er
c
o
nt
r
ol
.
D
a
t
a
e
xc
ha
nge
b
et
w
ee
n
t
h
e
d
ev
i
ces
i
s
p
e
rf
o
rm
e
d
by
CA
N
bus
,
i
t
pr
o
vi
de
s
h
igh
t
r
an
s
f
e
r
r
e
l
i
a
b
i
l
i
t
y
as
w
e
l
l
as
i
n
t
er
f
er
en
ce
p
r
o
t
e
c
t
i
o
n
i
n
e
l
e
c
t
r
i
c
a
l
s
y
s
t
e
m
.
T
he
s
y
s
t
e
m
i
s
pow
e
r
e
d by
ba
t
t
e
r
y
c
e
l
l
s
of
N
AM
I
d
r
i
v
er
l
es
s
el
ect
r
i
c
v
e
h
i
cl
e.
E
l
ect
r
o
m
ech
an
i
c
dr
i
ve
i
n
t
h
e
br
a
ki
n
g
sy
st
e
m
c
ont
r
ol
s
a
pp
l
i
c
a
t
i
on of
br
a
ke
p
e
da
l
a
n
d h
a
nd
pa
r
ki
n
g
br
a
ke
.
S
A
N
V
-
10
act
u
at
o
r
en
ab
l
es
f
as
t
a
p
p
l
i
c
a
t
i
o
n
of
p
ri
m
a
ry
br
a
ke
a
nd
pa
r
ki
n
g
br
a
ke
,
h
e
n
ce,
f
as
t
v
eh
i
cl
e
s
t
op
pa
ge
.
Tw
o
S
A
N
V
-
10
act
u
at
o
r
s
ar
e
u
s
ed
i
n
t
h
e
br
a
ki
n
g
sy
st
e
m
.
O
ne
of
t
he
m
i
s
i
ns
ta
l
l
e
d i
n e
n
gi
ne
r
o
om
a
nd
t
he
ot
he
r
i
n
t
u
n
ne
l
as
s
em
b
l
y
.
M
o
t
i
o
n
c
ont
r
o
l
sy
st
e
m
p
e
rfo
rm
s
g
en
er
al
c
om
put
a
t
i
ons
of
v
e
h
i
c
l
e
m
o
t
i
o
n
:
p
os
i
t
i
on c
oo
r
di
na
t
e
s
,
r
e
c
o
g
ni
t
i
on o
f
ob
je
c
t
s
a
r
o
u
nd
t
he
ve
hi
c
l
e
,
d
e
t
e
c
t
i
o
n
o
f
o
b
s
t
r
u
c
t
i
o
n
s
.
C
e
nt
r
a
l
p
r
oc
e
s
s
i
n
g
uni
t
i
s
c
o
nne
c
t
e
d t
o
t
h
e
s
y
s
t
e
m
o
f
o
r
i
e
n
t
a
t
i
o
n
a
n
d
n
a
v
i
g
a
t
i
o
n
i
n
o
r
de
r
t
o
p
r
oc
e
s
s
a
n
d
obt
a
i
n
gl
o
ba
l
c
o
o
r
di
na
t
e
s
of
ve
hi
c
l
e
p
os
i
t
i
on
,
i
t
c
o
m
m
u
n
i
c
a
t
e
s
w
i
t
h
e
x
t
e
r
n
a
l
d
e
v
i
c
e
s
v
i
a
B
l
ue
t
oot
h
a
nd
i
s
e
qui
pp
e
d wi
t
h da
t
a
s
t
or
a
ge
uni
t
.
I
m
a
g
e
r
e
c
o
g
n
i
t
i
o
n
uni
t
i
s
co
n
n
ect
ed
t
o
cam
er
as
w
h
i
ch
i
n
s
p
ect
s
u
r
r
o
u
n
d
i
n
g
o
b
j
ect
s
.
H
i
g
h
r
a
t
e
of
i
m
a
g
e
r
e
c
o
gni
t
i
on
i
s
s
up
p
or
t
e
d by
p
a
r
a
l
l
e
l
c
om
put
a
t
i
ons
.
O
bs
t
r
u
c
t
i
ons
a
r
e
de
t
e
c
t
e
d
by
m
e
a
ns
o
f
r
a
da
r
c
o
nt
r
ol
u
ni
t
a
nd
t
w
o l
i
da
r
u
n
i
t
s
.
A
l
l
u
n
i
t
s
ar
e
co
n
n
e
c
t
ed
t
o
c
om
m
on
CA
N
bu
s
,
w
h
i
c
h
en
a
b
l
es
c
o
n
t
r
o
l
l
i
n
g
a
c
t
i
o
n
s
a
n
d
d
a
t
a
a
c
q
u
i
s
i
t
i
o
n
.
Th
e
s
o
ft
w
a
re
of
m
o
t
i
o
n
c
ont
r
ol
sy
st
e
m
of
ex
p
er
i
m
en
t
al
N
A
M
I
d
r
i
v
e
r
l
e
s
s
e
l
e
c
t
r
i
c
v
e
h
i
c
l
e
ex
ecu
t
es
m
a
i
n
f
un
c
tion
s
of
m
o
t
i
o
n
c
o
nt
r
ol
,
i
n
c
lud
ing
m
a
i
n
t
a
i
n
i
n
g
of
s
af
e
s
p
eed
,
s
a
f
e
d
i
s
t
an
ce
t
o
v
e
h
i
cl
e
ah
ead
,
m
ot
i
on
pa
t
h
w
i
t
h
r
e
ga
r
d
t
o
pr
e
s
e
t
o
ne
,
c
o
n
t
r
ol
of
t
ur
n
i
ndi
c
a
t
or
s
,
a
ud
io
a
n
d
li
ght
s
t
o
p
a
l
a
r
m
s
,
a
s
w
e
l
l
a
s
s
o
l
u
t
i
o
n
o
f
n
a
v
i
g
a
t
i
o
n
t
a
s
k
r
e
s
e
r
v
e
d
b
y
s
a
t
e
l
l
i
t
e
s
y
s
t
e
m
.
Th
e
s
o
ft
w
a
re
i
s
b
a
s
ed
on
I
nka
-
N
AM
I
p
ro
p
ri
e
t
a
ry
a
l
g
o
r
i
t
h
m
i
c
an
d
pr
o
gr
a
m
m
e
d
a
p
p
r
o
ach
es
ai
m
ed
at
p
r
e
v
e
n
t
i
n
g
o
f
v
e
h
i
c
l
e
c
o
l
l
i
s
i
o
n
w
i
t
h
c
o
n
s
t
r
i
c
t
i
o
n
s
.
Re
c
e
i
v
e
r
o
f
t
h
e
n
a
v
i
g
a
t
i
o
n
s
y
s
t
e
m
i
s
i
n
s
t
a
l
l
e
d
i
n pa
s
s
e
n
ge
r
c
om
pa
r
tm
e
nt
.
T
he
a
n
t
e
nna
out
pu
t
co
n
n
ect
o
r
i
s
i
n
acco
r
d
a
n
ce
w
i
t
h
S
MA
s
t
an
d
ar
d
.
T
h
e
a
n
t
e
n
n
a
i
s
i
n
s
t
a
l
l
e
d
i
n
t
h
e
r
o
o
f
c
e
n
t
e
r
.
E
f
f
i
c
i
e
n
t
o
p
e
r
a
t
i
o
n
of
a
nt
e
n
na
s
i
s
s
up
p
or
t
e
d by
t
he
im
por
t
a
nt
c
on
di
t
i
on:
s
ha
d
ow
ing
o
f
G
L
O
N
A
S
S
/
G
PS
s
a
t
e
l
l
i
t
e
s
b
y
a
t
l
e
a
s
t
14
0°
.
A
nt
e
nna
i
s
f
ed
by
h
igh
f
r
e
que
nc
y
co
ax
i
a
l
cab
l
e
.
P
o
w
e
ri
n
g
of
t
h
e
na
vi
ga
t
i
on
m
odul
e
f
ro
m
12
V
v
e
h
i
c
l
e
n
e
t
w
o
rk
i
s
pr
ov
id
e
d
by
a
s
our
c
e
of
s
e
co
n
d
ar
y
s
upp
ly
(
D
C
-
D
C
co
n
v
er
t
e
r
)
on
t
he
ba
s
i
s
of
D
A
1
T
ES
2
N
-
241
0
d
i
o
d
e
m
i
c
r
o
c
i
r
c
u
i
t
w
i
t
h
p
r
o
t
e
c
t
i
o
n
a
g
a
i
n
s
t
r
e
v
e
r
s
e
p
o
l
a
r
i
t
y
a
n
d
c
o
n
d
u
c
t
i
v
e
n
o
i
s
e
s
.
Th
e
n
a
v
i
g
a
t
i
o
n
sy
st
e
m
can
b
e p
o
w
er
e
d
f
r
o
m
a b
at
t
er
y
.
T
he
i
nt
e
r
c
o
nne
c
t
i
on be
t
we
e
n
t
he
r
e
c
e
i
ve
r
a
n
d ne
t
w
o
r
k e
q
ui
pm
e
nt
i
s
pr
ovi
de
d
b
y
A
DM
14
85
a
nd
7
4V
HC
04
m
i
c
r
o
c
i
r
c
u
i
t
s
.
A
u
se
r
of
n
a
v
i
g
a
t
i
o
n
d
a
t
a
can
d
i
r
e
c
t
l
y
c
on
ne
c
t
t
o f
ul
l
-
s
cal
e
N
V0
8
C
-
CS
M
-
BRD
na
vi
ga
t
i
on r
e
c
e
i
ve
r
.
A
l
l
c
om
pone
n
t
s
of
c
o
nt
r
ol
s
y
s
t
e
m
of
N
A
M
I
d
r
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xt
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al
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m
p
act
s
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ech
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i
cal
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ag
es
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
SN
:
2
252
-
88
14
IJ
A
A
S
V
o
l
.
7
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39
2
38
F
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e
f
o
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l
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er
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r
l
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at
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m
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eas
t
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s
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h
e
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t
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n
t
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n
s
m
a
x
i
m
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m
dr
i
vi
ng
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p
eed
of
30 k
m
/h
;
r
e
c
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g
n
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t
i
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obs
t
r
uc
t
i
o
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-
ro
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d
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s
er
s
;
r
e
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o
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r
oa
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s
i
gns
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at
l
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t
3
0
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n
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de
t
e
c
t
i
on
of
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oa
d
m
a
r
ks
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m
a
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o
n s
t
r
a
i
ght
w
a
y
s
;
de
t
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t
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on of
ve
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l
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pos
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t
i
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-
w
i
t
h
t
h
e acc
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acy
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o
5
m
;
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a
i
nt
a
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ni
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pr
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s
e
t
d
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s
t
an
ce t
o
v
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cl
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t
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;
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f
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pe
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d
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t
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t
h
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o
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h;
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t
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l
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r
m
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pon
s
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te
up
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s
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h
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r
c
l
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m
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t
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1.
6.
1
33
8.
4.
R
ES
U
LTS
A
N
D
D
I
S
C
U
SSI
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N
Th
e
o
b
t
ai
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ed
ex
p
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r
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m
en
t
al
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s
u
l
t
s
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ai
m
ed
at
d
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R
&
D
an
d
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e
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l
d
s
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ci
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,
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ne
r
gy
s
a
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n
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ra
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s
p
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rt
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s
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y
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de
ve
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nt
pr
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c
ts
ai
m
ed
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im
pr
ove
m
e
nt
of
t
ra
ffi
c
s
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d
e
nvi
r
o
nm
e
nt
a
l
s
af
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a
s
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im
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t
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t
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a
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m
o
b
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p
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s
[
14
-
1
7
].
I
m
p
l
e
m
e
n
t
a
t
i
o
n
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t
h
e
ex
p
e
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t
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v
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l
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n
v
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r
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n
t
a
l
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t
r
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d
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r
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t
r
a
f
f
i
c
s
y
s
t
e
m
,
i
n
c
l
u
d
i
n
g
:
1.
I
m
pr
ove
m
e
nt
of
t
ra
ffi
c
s
af
et
y
due
t
o
d
e
cr
ea
s
e
i
n
t
ra
ffi
c
a
cci
d
en
t
s
by
m
e
a
n
s
o
f
a
p
p
l
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c
a
t
i
o
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f
d
r
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s
v
eh
i
cl
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c
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n
t
r
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l
an
d
ai
r
cl
ean
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n
g
i
n
p
a
s
s
en
g
e
r
co
m
p
ar
t
m
en
t
s
;
2.
I
m
pr
ove
m
e
nt
of
e
n
vi
r
o
nm
e
nt
a
l
p
er
f
o
r
m
an
ces
of
ve
hi
c
l
e
s
i
n c
om
pa
r
i
s
o
n w
i
t
h
e
xi
s
t
i
n
g o
ne
s
d
ue
t
o
a
p
p
l
i
c
a
t
i
o
n
o
f
e
l
e
c
t
r
i
c
t
r
a
c
t
i
o
n
a
n
d
d
r
i
v
e
r
l
e
s
s
c
o
nt
r
ol
;
3.
R
e
duc
t
i
o
n
of
ha
r
m
f
ul
im
pa
c
t
of
ve
hi
c
l
e
s
o
n e
n
vi
r
o
nm
e
nt due
t
o e
l
im
i
na
t
i
on o
f
h
a
r
m
f
ul
p
ol
l
ut
i
on
s
o
f
el
ect
r
i
c
v
eh
i
cl
e
;
4.
I
m
pr
ove
m
e
nt
of
e
n
vi
r
o
nm
e
nt
a
l
s
a
f
e
t
y
of
p
a
s
s
e
n
ge
r
s
by
m
e
a
ns
of
e
f
f
i
c
i
e
nt
a
i
r
c
l
e
a
ni
ng
i
n
p
as
s
en
g
er
co
m
p
ar
t
m
en
t
;
5.
I
m
pr
ove
m
e
nt
i
n
d
i
sp
o
sa
l
an
d
r
e
c
i
r
c
ul
a
t
i
o
n
r
a
t
e
of
ve
hi
c
l
e
s
i
n
c
om
pa
r
i
s
on
wi
t
h
t
he
e
xi
s
t
i
ng
o
ne
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
A
A
S
I
S
S
N
:
225
2
-
88
14
D
e
v
e
l
o
p
m
e
n
t
o
f
R
u
s
s
i
a
n
D
r
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l
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V
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n
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y
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ch
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2
39
5.
C
O
N
CL
U
S
I
O
N
S
Th
e
ach
i
e
v
ed
p
er
f
o
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m
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N
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M
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ect
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d
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odul
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,
m
o
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n
c
ont
r
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sy
st
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m
,
e
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c
t
r
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c
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t
y
a
c
c
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m
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l
a
t
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o
n
sy
s
t
e
m
)
ar
e
c
los
e
t
o
tho
s
e
of
gl
o
ba
l
an
al
o
g
s
an
d
i
s
s
up
e
r
i
o
r
t
o t
ho
s
e
of
R
us
s
i
a
n
a
na
l
o
gs
.
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e
ac
h
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er
f
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m
an
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r
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of
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kn
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ba
l
a
nd R
us
s
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a
n
a
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gs
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onc
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n
vi
r
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nm
e
nt
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l
s
a
f
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t
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s
s
e
nge
r
s
.
T
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de
v
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l
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d NA
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d
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ect
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t
t
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m
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i
n
g
l
o
b
a
l
p
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a
c
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e
.
A
C
K
N
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N
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i
s
w
or
k wa
s
s
up
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d
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a
gr
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nt
# 1
4.
62
5.
2
1.
00
06
wi
t
h t
he
M
i
ni
s
t
r
y
of
E
d
u
c
a
t
i
on a
n
d
S
ci
en
ce o
f
R
u
s
s
i
an
F
e
d
er
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e an
ex
p
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m
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t
al
m
o
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o
f
a
d
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v
e
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l
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s
s
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v
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m
e
n
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y
f
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l
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e
c
t
r
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c
v
e
h
i
c
l
e
.
R
EF
ER
E
N
C
ES
[1]
M
. Y
g
u
el
,
C
.
T
a
y
, M
. K
eat
, C
.
B
r
ai
l
l
o
n
, C
. L
a
u
g
i
er
an
d
O
. A
y
v
eh
i
c
l
ed
,
“
D
e
ns
e
Mappi
ng
f
or
t
e
l
e
m
e
t
r
i
c
s
e
ns
or
s
:
e
f
f
i
c
i
e
nt
a
l
gor
i
t
hm
s
and s
par
s
e
r
e
pr
e
s
e
nt
at
i
on,
”
In P
roc
e
e
di
ng
s
of Robot
i
c
s
:
S
c
i
e
nc
e
a
nd S
ys
t
e
m
s
Confe
re
n
c
e
,
2007.
[2]
B.
M
i
ha
i
l
ov
,
“
T
e
c
hni
c
al
v
i
s
i
on i
n c
ont
r
ol
s
y
s
t
e
m
s
of
m
obi
l
e
obj
e
c
t
s
,
”
In R.
R
.
N
a
z
i
rova
(
e
d.
)
,
P
roc
e
e
d
i
ngs
of t
he
S
c
i
e
nt
i
f
i
c
Confe
re
nc
e
-
W
orks
hop
.
Is
s
.
4,
M
os
c
ow
,
P
ubl
i
s
hi
ng hous
e
of L
om
on
os
o
v M
os
c
ow
s
t
a
t
e
uni
v
e
rs
i
t
y
,
p
p:
191
-
202,
2011
.
[3]
IS
O
15765
-
4:
20
11 (E
),
R
o
a
d
veh
i
cl
es
-
D
i
agnos
t
i
c
c
om
m
uni
c
at
i
o
n ov
e
r
Cont
r
ol
l
e
r
A
r
e
a Ne
t
wor
k
(
D
o
CA
N)
.
P
ar
t
4:
R
e
q
u
i
re
me
n
t
s f
o
r e
mi
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