I
nte
rna
t
io
na
l J
o
urna
l o
f
Adv
a
nces in Applie
d Science
s
(
I
J
AAS)
Vo
l.
9
,
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4
,
Dec
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r
2
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270
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SS
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Be
c
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ti
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ted
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t
h
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first
trai
n
t
o
a
v
o
id
a
c
o
ll
i
sio
n
.
K
ey
w
o
r
d
s
:
An
ti
-
co
llis
io
n
Ar
d
u
in
o
NANO
E
lectr
ical
tr
ain
Ultr
aso
n
ic
s
en
s
o
r
T
h
is i
s
a
n
o
p
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n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Ah
m
ed
R
.
I
b
r
a
h
im
,
Co
ll
e
g
e
o
f
sc
ien
c
e
,
Al
-
M
u
sta
n
siri
y
a
h
Un
iv
e
rsity
,
B
ag
h
d
ad
,
I
r
aq
.
E
m
ail:
ah
m
ed
.
r
ash
ee
d
8
6
@
y
ah
o
o
.
co
m
1.
I
NT
RO
D
UCT
I
O
N
Dec
is
io
n
m
ak
in
g
s
y
s
tem
s
ar
e
wid
ely
u
s
ed
au
to
m
atica
lly
a
t
p
lace
s
th
at
h
u
m
an
ca
n
’
t
d
e
al
with
it
alo
n
e,
o
r
p
lace
s
th
at
n
ec
ess
ar
i
ly
m
o
r
e
ca
r
e,
s
af
ety
a
n
d
ac
cid
en
t
av
o
i
d
an
ce
.
Sm
ar
t
au
t
o
m
at
ic
d
ec
is
io
n
-
m
ak
i
n
g
s
y
s
tem
s
ar
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cla
s
s
if
ied
a
s
s
y
s
te
m
s
o
r
d
ev
ice
th
at
h
u
m
an
in
d
e
p
en
d
en
t
s
y
s
tem
s
wh
ich
d
o
esn
't
r
eq
u
ir
e
an
y
en
te
r
f
o
r
h
u
m
an
,
wh
ich
ar
e
p
r
o
g
r
a
m
m
ed
an
d
d
esig
n
ed
to
o
p
e
r
at
e
in
d
ep
en
d
e
n
tly
.
An
ti
-
co
llis
io
n
s
y
s
tem
s
ar
e
s
m
ar
t
s
y
s
tem
s
th
at
ar
e
u
s
ed
with
in
v
eh
icles,
tr
ain
s
an
d
air
p
la
n
es
to
av
o
id
ac
cid
en
t
p
r
o
b
lem
s
.
T
h
e
s
e
s
y
s
tem
s
m
u
s
t
b
e
p
o
ten
t a
n
d
d
ep
e
n
d
ab
le
i
n
o
r
d
e
r
to
av
o
i
d
m
is
tak
es a
n
d
ca
tast
r
o
p
h
es [
1
]
.
I
n
g
en
e
r
al,
tr
af
f
ic
ad
m
in
is
tr
ati
o
n
an
d
tr
ac
k
in
g
d
ec
r
ea
s
e
th
e
a
m
o
u
n
t
o
f
ac
cid
e
n
ts
th
at
h
ap
p
e
n
in
r
o
ad
s
o
r
o
n
r
ailway
s
.
E
s
p
ec
ially
,
tr
ain
co
llis
io
n
av
o
id
an
ce
is
to
b
e
co
n
s
id
er
ed
in
th
is
p
r
o
j
ec
t.
T
h
e
r
ailway
is
a
p
o
p
u
lar
m
o
d
e
an
d
E
co
-
Frie
n
d
ly
o
f
T
r
an
s
p
o
r
t
in
lar
g
est
cities
in
th
e
wo
r
ld
.
On
e
o
f
th
e
m
o
s
t
co
m
f
o
r
tab
le
a
n
d
wid
ely
u
s
ed
o
f
th
e
t
r
an
s
p
o
r
tat
io
n
s
y
s
tem
is
tr
ain
.
As
th
e
r
ailway
n
etwo
r
k
is
co
n
s
id
er
ed
to
b
e
th
e
s
af
est
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d
ea
s
iest
n
etwo
r
k
.
Mo
r
e
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1
0
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illi
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1
0
5
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illi
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ai
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n
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m
.
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r
an
s
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o
r
t b
y
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ailway
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r
ep
lac
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b
le
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o
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r
d
aily
m
o
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er
n
life
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b
o
th
f
o
r
b
u
s
in
ess
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d
p
r
iv
ate
u
s
er
s
[
2
]
.
T
o
d
ay
,
r
ail
n
etwo
r
k
s
ac
r
o
s
s
th
e
wo
r
ld
b
ec
o
m
e
d
ea
ls
with
t
r
ain
s
th
at
tr
av
ellin
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f
aster
an
d
ca
r
r
y
i
n
g
m
o
r
e
p
ass
en
g
er
s
a
n
d
h
ea
v
ier
lo
ad
s
th
an
e
v
er
b
e
f
o
r
e.
Fo
r
th
ese
f
ac
to
r
s
th
e
ex
is
tin
g
in
f
r
astru
ctu
r
e
h
as
p
u
t
u
n
d
er
co
n
s
id
er
a
b
le
p
r
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u
r
e,
wh
ich
lead
in
g
to
in
c
r
ea
s
ed
r
e
q
u
est
in
th
e
m
ain
ten
an
ce
an
d
ch
ec
k
o
f
r
ail
ass
ets.
B
u
t
n
o
wad
ay
s
,
it
is
n
o
t
th
at
m
u
ch
s
af
er
as
th
e
lo
t
o
f
ac
cid
en
t
s
o
cc
u
r
d
u
e
to
im
p
r
o
p
e
r
co
m
m
u
n
icatio
n
b
etwe
en
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ad
v
Ap
p
l Sci
I
SS
N:
2252
-
8
8
1
4
I
mp
leme
n
ta
tio
n
o
f
a
n
ti
-
co
llis
io
n
tr
a
in
p
r
o
to
typ
e
b
a
s
ed
o
n
a
r
d
u
in
o
micro
co
n
tr
o
ller
(
A
h
med
R
.
I
b
r
a
h
im
)
271
th
e
n
etwo
r
k
,
wr
o
n
g
s
ig
n
alin
g
,
wo
r
s
t
we
ath
er
co
n
d
itio
n
o
r
im
m
ed
iate
r
o
u
te
ch
a
n
g
e.
T
h
e
p
r
o
p
er
in
f
o
r
m
atio
n
d
o
esn
'
t g
et
to
th
e
tr
ain
d
r
iv
er
o
n
tim
e
an
d
b
ef
o
r
e
tim
e,
s
o
th
e
p
r
o
b
a
b
ilit
y
o
f
ac
cid
e
n
ts
o
cc
u
r
is
h
ig
h
[
3
]
.
Du
e
to
in
cr
ea
s
e
in
th
e
u
s
ed
o
f
th
e
elec
tr
ic
tr
ain
s
in
th
e
wo
r
ld
an
d
th
e
h
ig
h
s
p
ee
d
with
th
e
lo
w
f
ar
es
m
o
r
e
p
e
o
p
le
p
r
ef
er
to
u
s
e
tr
ai
n
b
u
t
with
m
an
y
r
is
k
s
in
th
e
tr
ain
ac
cid
en
ts
.
I
n
th
is
p
a
p
er
a
p
r
o
to
t
y
p
e
will
b
e
d
esig
n
ed
an
d
im
p
lem
e
n
ted
f
o
r
tr
ain
c
o
llis
io
n
av
o
i
d
an
ce
s
y
s
tem
u
s
in
g
Ar
d
u
in
o
NANO
an
d
an
u
ltra
s
o
n
i
c
s
en
s
o
r
to
r
ed
u
ce
th
e
o
cc
u
r
r
en
c
e
o
f
ac
cid
en
ts
b
etwe
en
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ain
s
o
n
th
e
r
ailway
s
d
u
e
to
m
an
y
r
ea
s
o
n
s
th
at
m
ay
b
e
tech
n
ical
o
r
h
u
m
an
m
ad
e
er
r
o
r
s
.
2.
T
RAI
N
CO
L
L
I
S
I
O
NS
C
o
llis
io
n
s
ar
e
th
e
wo
r
s
t
ac
ci
d
en
ts
.
Du
e
to
s
p
ee
d
m
o
v
in
g
o
f
tr
ain
s
it
will
b
e
v
er
y
d
if
f
icu
lt
to
s
to
p
s
u
ch
a
co
llis
io
n
,
wh
ich
n
ee
d
a
lead
d
is
tan
ce
to
s
to
p
.
C
o
llis
io
n
s
ar
e
h
ap
p
e
n
in
g
d
u
e
to
h
u
m
an
er
r
o
r
s
an
d
/o
r
f
au
lty
eq
u
i
p
m
en
t.
T
h
er
e
ar
e
t
wo
ty
p
es
o
f
co
llis
io
n
s
ar
e
av
ai
lab
le.
A
Hea
d
-
On
co
llis
io
n
is
o
n
e
wh
er
e
th
e
f
r
o
n
t
en
d
s
o
f
two
s
h
ip
s
,
tr
ai
n
s
,
p
lan
es o
r
v
eh
icles h
it e
ac
h
o
th
er
[
4
]
.
Fig
u
r
e
1
illu
s
tr
ates th
e
Hea
d
-
On
C
o
llis
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n
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A
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f
ten
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a
s
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as illu
s
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ated
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Fig
u
r
e
2
.
Fig
u
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Fig
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2
.
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3.
ANTI
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CO
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RA
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SYS
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M
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o
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th
e
u
s
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h
ar
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war
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to
im
p
lem
en
t
th
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p
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p
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s
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,
s
u
ch
as
th
e
Ar
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ller
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m
o
to
r
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3
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I
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N
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9
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4
,
Dec
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r
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tin
u
ally
m
e
asu
r
es
th
e
d
is
ta
n
ce
b
etwe
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th
em
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d
wh
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th
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a
s
ig
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F
ig
u
r
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9
.
Sh
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n
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-
On
ca
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p
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at
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d
is
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ce
.
Fig
u
r
e
9
.
Hea
d
-
o
n
a
n
ti
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co
llis
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ca
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e
At
th
e
R
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r
-
E
n
d
an
ti
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c
o
llis
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ca
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e
also
,
t
h
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u
ltra
s
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ic
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s
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is
p
lan
te
d
o
n
t
h
e
h
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d
o
f
th
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t
r
ain
.
W
h
en
a
r
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n
in
g
tr
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a
p
p
r
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tr
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ap
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co
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a
lly
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with
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f
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tr
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T
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if
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As
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Fig
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1
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Fig
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R
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ad
v
Ap
p
l Sci
I
SS
N:
2252
-
8
8
1
4
I
mp
leme
n
ta
tio
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f
a
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ti
-
co
llis
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tr
a
in
p
r
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to
typ
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a
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in
o
micro
co
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tr
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ller
(
A
h
med
R
.
I
b
r
a
h
im
)
275
5.
CO
NCLU
SI
O
N
T
h
e
s
y
s
tem
is
im
p
lem
en
ted
i
n
th
e
p
r
o
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ty
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e
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ailway
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etw
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r
k
s
;
tr
ain
ac
cid
e
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ts
ca
n
b
e
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r
ev
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T
h
is
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llis
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b
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tr
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s
is
ca
lcu
lated
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d
co
llid
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r
ain
s
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e
aler
ted
.
T
h
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p
r
o
p
o
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tem
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th
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p
ap
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o
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e
d
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ce
t
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tr
ain
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,
m
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u
m
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li
v
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b
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in
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tem
b
ec
au
s
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if
s
o
m
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s
tu
ck
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r
wan
ts
to
cr
o
s
s
th
e
r
ail
way
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etwo
r
k
,
th
e
u
ltra
s
o
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ic
s
en
s
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r
will
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s
ig
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al
Ar
d
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Ar
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ak
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ain
en
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e
s
lo
w
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p
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ai
n
.
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e
s
ce
n
ar
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f
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in
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r
ain
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d
u
e
to
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llis
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will b
e
co
n
tr
o
lled
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th
e
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f
th
i
s
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ap
er
.
T
h
e
HC
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SR
0
5
u
ltra
-
s
o
n
ic
m
o
d
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le
s
en
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was
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s
ed
in
th
e
d
esig
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m
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s
u
r
in
g
s
m
all
r
an
g
e
o
f
d
is
tan
ce
,
b
u
t
ca
n
d
e
v
elo
p
t
h
is
wo
r
k
in
p
r
ac
tice
s
h
o
u
ld
u
s
in
g
th
e
"L
I
DAR lite V
3
"
th
is
ty
p
e
th
at
m
ea
s
u
r
es a
d
is
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ce
o
f
u
p
to
4
0
m
with
h
ig
h
ac
cu
r
ac
y
.
RE
F
E
R
E
NC
E
S
[1
]
T.
S
a
ij
y
o
t
h
sn
a
,
P
.
Um
a
m
a
h
e
sw
a
ri,
“
Co
ll
isio
n
a
v
o
id
a
n
c
e
o
f
trai
n
s b
y
c
re
a
ti
n
g
m
u
t
u
a
l
c
o
m
m
u
n
ica
ti
o
n
u
sin
g
e
m
b
e
d
d
e
d
sy
ste
m
,
”
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
Co
mp
u
ter
a
n
d
C
o
mm
u
n
ica
ti
o
n
E
n
g
i
n
e
e
rin
g
,
v
o
l.
2
,
n
o
.
7
,
2
0
1
4
.
[2
]
M
.
G
a
n
a
p
a
th
i
,
G
.
P
ri
y
a
n
k
a
,
“
S
m
a
rt
sy
ste
m
fo
r
trai
n
c
ra
sh
a
v
o
i
d
a
n
c
e
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
I
n
n
o
v
a
ti
v
e
T
e
c
h
n
o
l
o
g
ies
,
v
o
l
.
0
4
,
no
.
1
1
,
p
p
.
2
0
4
1
-
2
0
4
2
,
2
0
1
6
.
[3
]
T.
Dh
a
n
a
b
a
l
u
,
S
.
S
u
g
u
m
a
r,
S
.
S
u
r
y
a
p
ra
k
a
sh
,
A.Vij
a
y
An
a
n
d
,
“
S
e
n
s
o
r
b
a
se
d
id
e
n
ti
fica
ti
o
n
s
y
ste
m
fo
r
train
c
o
ll
isi
o
n
a
v
o
id
a
n
c
e
,
”
IEE
E
S
p
o
n
so
re
d
2
n
d
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
I
n
n
o
v
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ti
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n
s
in
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n
fo
rm
a
ti
o
n
Emb
e
d
d
e
d
a
n
d
Co
mm
u
n
ica
ti
o
n
S
y
ste
ms
ICIIE
CS
’1
5
.
[4
]
K.
Ka
th
irv
e
l,
S
.
P
a
lan
iap
p
a
n
,
“
C
o
ll
isio
n
a
v
o
id
a
n
c
e
o
f
train
s
b
y
c
re
a
ti
n
g
m
u
t
u
a
l
c
o
m
m
u
n
ica
ti
o
n
u
sin
g
e
m
b
e
d
d
e
d
sy
ste
m
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Co
mp
u
ter
S
c
ien
c
e
a
n
d
M
o
b
il
e
Co
mp
u
ti
n
g
,
v
o
l.
4
no
.
4
,
p
p
.
3
1
-
35
,
2
0
1
5
.
[5
]
I.
O.
M
isir
u
k
,
O.
I.
Ti
m
o
s
h
e
n
k
o
,
V.
S
.
Tara
n
,
a
n
d
I
.
E
.
G
a
rk
u
s
h
a
,
“
Da
ta
a
c
q
u
isi
ti
o
n
s
y
ste
m
b
a
se
d
o
n
a
r
d
u
i
n
o
p
latfo
rm
f
o
r
lan
g
m
u
ir
p
ro
b
e
p
las
m
a
m
e
a
su
re
m
e
n
ts
,
”
2
0
1
6
2
n
d
In
t.
Y
o
u
n
g
S
c
i
.
F
o
ru
m
Ap
p
l.
Ph
y
s.
E
n
g
.
Y
S
F
2
0
1
6
-
Fo
ru
m P
r
o
c
.
,
p
p
.
1
2
8
-
1
3
1
,
2
0
1
6
.
[6
]
I.
A.
Tah
a
a
n
d
H.
M
.
M
a
rh
o
o
n
,
“
Im
p
lem
e
n
tatio
n
o
f
c
o
n
tr
o
ll
e
d
r
o
b
o
t
f
o
r
fire
d
e
tec
ti
o
n
a
n
d
e
x
ti
n
g
u
ish
to
c
lo
se
d
a
re
a
s
b
a
se
d
o
n
a
rd
u
i
n
o
,
”
T
e
l
k
o
mn
ika
(
T
e
lec
o
mm
u
n
ica
ti
o
n
C
o
mp
u
t.
El
e
c
tro
n
.
Co
n
tro
l.
,
v
o
l.
1
6
,
n
o
.
2
,
p
p
.
6
5
4
–
6
6
4
,
2
0
1
8
.
[7
]
M
a
rh
o
o
n
,
H.
M
.
,
M
a
h
d
i
,
M
.
I.
,
Hu
ss
e
in
,
E.
D.,
&
I
b
ra
h
im,
A.
R.
“
De
sig
n
in
g
a
n
d
imp
lem
e
n
ti
n
g
a
p
p
li
c
a
ti
o
n
s
o
f
sm
a
rt
h
o
m
e
a
p
p
li
a
n
c
e
s
,
”
M
o
d
e
rn
Ap
p
li
e
d
S
c
ie
n
c
e
,
v
o
l.
1
2
,
n
o
.
1
2
,
p
p
.
8
-
1
7
,
2
0
1
8
.
[8
]
OO
,
Ak
in
w
o
le.
“
De
sig
n
,
sim
u
lati
o
n
a
n
d
imp
lem
e
n
tatio
n
o
f
a
n
Ard
u
in
o
m
icro
c
o
n
tr
o
ll
e
r
b
a
se
d
a
u
t
o
m
a
ti
c
wa
te
r
lev
e
l
c
o
n
tro
ll
e
r
with
I2
C
LCD
d
isp
lay
,”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Ad
v
a
n
c
e
s
in
A
p
p
l
ied
S
c
ien
c
e
s
(IJ
AA
S
)
,
v
o
l.
9
,
n
o
.
2
,
p
p
.
77
-
84
,
2
0
2
0
.
[9
]
H.
M
.
M
a
rh
o
o
n
a
n
d
I
.
A.
Tah
a
,
“
D
e
sig
n
a
n
d
imp
lem
e
n
tatio
n
-
of
-
in
telli
g
e
n
t
-
c
ircu
it
-
b
re
a
k
e
r
-
fo
r
-
e
le
c
tri
c
a
l
c
u
rre
b
t
se
n
sin
g
a
n
d
m
o
n
it
o
rin
g
,”
In
te
rn
a
ti
o
n
a
l
J
o
u
r
n
a
l
Of
Co
re
E
n
g
i
n
e
e
rin
g
&
M
a
n
a
g
e
me
n
t
,
”
v
o
l.
4
,
n
o
.
2
,
p
p
.
3
9
–
4
9
,
2
0
1
8
.
[1
0
]
A.
Dim
it
ro
v
a
n
d
D.
M
in
c
h
e
v
,
“
Ultras
o
n
ic
se
n
so
r
e
x
p
lo
re
r,
”
2
0
1
6
1
9
t
h
In
t.
S
y
mp
.
El
e
c
tr.
Ap
p
a
r.
T
e
c
h
n
o
l
.
S
I
EL
A
2
0
1
6
,
2
0
1
6
.
[1
1
]
L.
P
e
tru
a
n
d
G
.
M
a
z
e
n
,
“
P
W
M
c
o
n
tr
o
l
o
f
a
DC
m
o
to
r
u
se
d
to
d
ri
v
e
a
c
o
n
v
e
y
o
r
b
e
lt
,
”
Pro
c
e
d
i
a
En
g
.
,
v
o
l.
1
0
0
,
n
o
.
Ja
n
u
a
ry
,
p
p
.
2
9
9
–
3
0
4
,
2
0
1
5
.
[1
2
]
A.
Y.
Yo
u
se
f
a
n
d
M
.
H.
M
o
sta
fa
,
“
Bid
irec
ti
o
n
a
l
sp
e
e
d
c
o
n
tro
l
o
f
DC
m
o
to
r
b
a
se
d
o
n
p
u
lse
wid
t
h
m
o
d
u
lati
o
n
u
sin
g
m
icro
c
o
n
tro
ll
e
r,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
S
c
ien
ti
fi
c
Res
e
a
rc
h
in
S
c
ien
c
e
a
n
d
T
e
c
h
n
o
l
o
g
y
,
v
o
l.
1
,
n
o
.
5
,
p
p
.
5
2
–
6
0
,
2
0
1
5
.
[1
3
]
Ah
m
e
d
,
S
h
a
k
ir
M
.
,
Ha
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