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o
llo
w
s
:
Sect
io
n
2
in
tr
o
d
u
ce
s
t
h
r
ee
s
y
s
te
m
s
t
h
at
ar
e
m
o
s
t
r
elate
d
to
t
h
e
p
r
o
p
o
s
ed
o
n
e.
Sectio
n
3
d
escr
ib
es
t
h
e
p
r
o
p
o
s
ed
s
y
s
te
m
d
esi
g
n
.
Sect
io
n
4
elab
o
r
ates
th
e
s
y
s
te
m
i
m
p
le
m
en
tatio
n
,
an
d
i
ts
co
m
p
ar
is
o
n
s
w
i
th
o
th
er
r
el
ated
s
y
s
te
m
s
.
Fi
n
all
y
,
th
e
p
ap
er
is
co
n
clu
d
ed
in
Sectio
n
5
.
2.
RE
L
AT
E
D
WO
RK
S
ma
r
tPD
R
[
3
]
is
a
s
m
ar
tp
h
o
n
e
-
b
a
s
ed
p
ed
estr
ia
n
d
ea
d
r
ec
ko
n
in
g
(
P
DR
)
s
y
s
te
m
th
a
t
tr
ac
k
s
i
n
d
o
o
r
u
s
er
'
s
lo
ca
tio
n
.
S
m
ar
tP
DR
e
m
p
lo
y
s
t
y
p
ical
d
ea
d
r
ec
k
o
n
i
n
g
ap
p
r
o
ac
h
,
w
h
ic
h
is
w
id
el
y
ad
o
p
ted
in
lo
ca
lizatio
n
s
y
s
te
m
s
to
s
o
lv
e
t
h
e
lo
ca
tin
g
p
r
o
b
lem
s
f
o
r
an
o
n
y
m
o
u
s
p
lace
s
in
in
d
o
o
r
en
v
ir
o
n
m
e
n
t
s
.
Sm
ar
tP
DR
is
b
ased
o
n
th
e
u
s
e
o
f
ac
ce
ler
o
m
eter
,
m
a
g
n
eto
m
eter
,
an
d
g
y
r
o
s
co
p
e
in
a
s
m
ar
tp
h
o
n
e,
w
h
ic
h
ar
e
ab
le
to
o
b
s
er
v
e
th
e
p
ed
estrian
m
o
v
e
m
en
t.
S
m
ar
tP
DR
p
r
o
v
id
es
an
i
n
d
o
o
r
lo
ca
lizatio
n
m
o
d
el
th
at
co
m
p
u
te
s
th
e
d
is
p
lace
m
e
n
t
th
r
o
u
g
h
s
tep
e
v
e
n
t
d
etec
tio
n
,
h
ea
d
in
g
d
ir
ec
tio
n
esti
m
at
io
n
,
an
d
s
tep
le
n
g
t
h
es
ti
m
atio
n
.
T
h
e
m
ai
n
d
i
f
f
icu
lt
y
o
f
th
e
s
y
s
te
m
i
s
c
o
p
in
g
w
it
h
s
it
u
atio
n
s
th
at
t
h
e
m
ap
d
atab
ase
i
s
u
n
k
n
o
w
n
in
ad
v
a
n
ce
a
n
d
a
v
ailab
le
s
e
n
s
o
r
s
ar
e
in
ac
cu
r
ate.
T
h
e
p
ed
estr
ia
n
g
u
id
a
n
ce
fo
r
p
u
b
lic
tr
a
n
s
p
o
r
ta
tio
n
(
P
GP
T)
s
y
s
te
m
[
4
]
is
a
s
y
s
te
m
f
o
r
in
d
o
o
r
n
av
i
g
atio
n
in
p
u
b
lic
tr
an
s
p
o
r
t
atio
n
tr
an
s
f
er
b
u
ild
i
n
g
s
.
I
t
is
an
ele
m
e
n
t
o
f
a
d
y
n
a
m
ic
s
ea
m
le
s
s
m
o
b
ili
t
y
p
lan
n
i
n
g
an
d
tr
av
el
g
u
id
an
ce
ap
p
licatio
n
f
o
r
p
u
b
lic
tr
an
s
p
o
r
tatio
n
n
et
w
o
r
k
s
o
f
m
e
tr
o
p
o
litan
ar
ea
s
.
I
n
d
o
o
r
n
av
i
g
atio
n
i
s
a
k
e
y
ele
m
e
n
t
o
f
m
u
lti
-
m
o
d
al
d
o
o
r
to
d
o
o
r
j
o
u
r
n
e
y
s
,
e
s
p
ec
iall
y
d
u
r
i
n
g
tr
an
s
f
er
e
v
en
ts
b
et
w
ee
n
p
u
b
lic
tr
an
s
p
o
r
t
atio
n
v
eh
icles
at
co
m
p
le
x
s
tatio
n
b
u
ild
in
g
s
.
I
n
d
o
o
r
p
o
s
itio
n
in
g
an
d
n
a
v
i
g
atio
n
s
er
v
ices
ar
e
r
ea
lized
b
y
v
ar
io
u
s
co
m
p
o
n
e
n
ts
o
f
an
An
d
r
o
id
s
m
ar
tp
h
o
n
e
a
p
p
licatio
n
.
T
h
e
s
y
s
te
m
in
te
g
r
a
tes
t
h
e
s
en
s
ed
d
ata
of
ca
m
er
a
s
,
W
iFi
,
GP
S,
an
d
B
lu
eto
o
th
d
ev
ices.
I
t
also
in
teg
r
ate
s
th
e
p
r
ess
u
r
e
s
e
n
s
o
r
an
d
th
e
in
er
tial
m
ea
s
u
r
e
m
e
n
t
u
n
it
f
o
r
P
DR
an
d
2
.
5
D
n
av
i
g
atio
n
in
ar
b
i
tr
ar
y
b
u
ild
in
g
s
tr
u
ct
u
r
es.
M
ap
s
o
f
m
u
lti
-
le
v
el
b
u
ild
in
g
s
ar
e
co
llected
f
r
o
m
escap
e/r
escu
e
f
lo
o
r
m
ap
s
a
n
d
Op
en
S
tr
ee
tMa
p
d
ata
ar
e
d
is
p
lay
ed
.
I
t
p
r
o
v
id
es
in
d
o
o
r
r
o
u
te
s
o
v
er
m
u
ltip
le
le
v
els,
ele
v
ato
r
s
,
s
tair
s
a
n
d
esca
lato
r
s
,
w
h
ic
h
ar
e
ca
lc
u
lated
b
y
th
e
co
m
b
in
atio
n
o
f
a
r
o
u
te
s
ea
r
c
h
al
g
o
r
ith
m
an
d
a
g
r
id
b
ased
p
at
h
f
in
d
i
n
g
al
g
o
r
ith
m
.
T
h
e
o
v
er
all
o
b
j
ec
tiv
e
o
f
t
h
e
s
y
s
te
m
i
s
t
o
ac
co
m
p
li
s
h
a
m
u
lti
-
m
o
d
al
d
o
o
r
-
to
-
d
o
o
r
j
o
u
r
n
ey
p
la
n
n
i
n
g
an
d
n
av
i
g
ati
n
g
ap
p
licatio
n
.
T
h
e
Su
n
Ma
p
+
s
y
s
te
m
[
5
]
r
u
n
n
i
n
g
o
n
An
d
r
o
id
s
m
ar
tp
h
o
n
es
ca
n
aid
u
s
er
s
to
r
ea
ch
th
e
ir
in
ten
d
ed
d
esti
n
atio
n
s
in
in
d
o
o
r
en
v
ir
o
n
m
e
n
t
s
.
T
h
e
s
y
s
te
m
is
u
s
e
d
as
a
v
ir
tu
al
g
u
i
d
e
t
h
at
d
is
p
lay
s
t
h
e
Su
n
w
a
y
Un
i
v
er
s
it
y
ca
m
p
u
s
3
D
f
lo
o
r
m
ap
an
d
la
y
o
u
t
v
ia
th
e
AR
in
ter
f
ac
e.
I
n
o
r
d
er
t
o
id
en
tify
t
h
e
cu
r
r
en
t
lo
ca
tio
n
o
f
th
e
u
s
er
in
t
h
e
3
D
m
ap
,
t
h
e
i
m
ag
e
r
ec
o
g
n
itio
n
tec
h
n
iq
u
e
i
s
ap
p
lied
to
in
it
ialize
a
n
d
id
en
t
if
y
lo
ca
tio
n
s
i
n
th
e
Su
n
w
a
y
c
a
m
p
u
s
.
Af
ter
u
s
er
lo
ca
tio
n
i
s
d
eter
m
i
n
ed
i
n
iti
all
y
t
h
r
o
u
g
h
t
h
e
v
is
u
al
r
ec
o
g
n
i
tio
n
,
Su
n
Ma
p
+
co
n
tin
u
es
tr
ac
k
i
n
g
th
e
u
s
er
’
s
m
o
v
e
m
e
n
t
t
h
r
o
u
g
h
t
h
e
P
DR
s
ch
e
m
e,
w
h
ich
i
s
r
eg
ar
d
ed
as
a
co
m
p
le
m
e
n
tar
y
s
o
lu
tio
n
o
f
th
e
i
m
a
g
e
r
ec
o
g
n
i
tio
n
lo
ca
lizatio
n
tec
h
n
iq
u
e.
N
av
ig
a
t
io
n
p
at
h
s
to
g
u
id
e
t
h
e
u
s
er
s
to
r
ea
ch
t
h
eir
in
te
n
d
ed
d
esti
n
atio
n
s
ar
e
also
p
r
o
v
id
ed
alo
n
g
w
i
th
t
h
e
3
D
f
l
o
o
r
m
ap
s
.
3.
P
RO
P
O
SE
D
SYS
T
E
M
T
h
e
E
n
g
f
i G
ate
in
d
o
o
r
g
u
id
a
n
ce
s
y
s
te
m
ar
c
h
itect
u
r
e
is
ill
u
s
t
r
ated
in
Fig
u
r
e
1
.
Fig
u
r
e
1.
T
h
e
Sy
s
te
m
A
r
c
h
ite
ctu
r
e
o
f
t
h
e
P
r
o
p
o
s
ed
I
n
d
o
o
r
Gu
id
an
ce
S
y
s
te
m
I
n
visi
bl
e
Ma
r
k
er
(B
LE
Be
ac
on)
V
i
si
bl
e
Ma
r
k
er
(Q
R
c
ode)
Cyber
Ph
y
si
c
al
I
n
t
er
acti
on
Short
es
t
P
a
t
h
Fin
di
ng
AR
Gener
a
t
i
on
(
V
uf
or
i
a
SDK)
Use
r
Loc
al
iz
a
ti
on
Eng
f
i
Ga
t
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Eng
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Compensa
t
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W
eig
h
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Cen
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I
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P
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P
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Mana
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Li
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Sensor
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Phone
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Mark
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Ph
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sical
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S
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P
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S
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ooth
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Head
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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
2
0
1
8
:
3
4
–
42
36
A
m
ar
k
er
is
s
o
m
eth
i
n
g
u
s
ed
a
s
a
m
ar
k
o
r
a
n
i
n
d
icatio
n
,
s
u
ch
as a
b
o
o
k
m
ar
k
a
n
d
a
m
ile
s
to
n
e
[
8
]
.
T
h
e
p
r
o
p
o
s
ed
s
y
s
te
m
u
s
e
s
t
w
o
t
y
p
es o
f
m
ar
k
er
s
:
th
e
v
i
s
ib
le
m
ar
k
er
an
d
t
h
e
in
v
i
s
ib
le
m
ar
k
er
.
Vis
ib
le
m
ar
k
er
s
h
o
ld
d
ata
in
th
e
f
o
r
m
a
t
o
f
i
m
a
g
e
-
b
ased
co
d
es,
s
u
ch
as
th
e
Q
u
ic
k
R
esp
o
n
s
e
(
Q
R
)
co
d
e,
w
h
ic
h
ca
n
b
e
r
ec
o
g
n
ized
b
y
th
e
ca
m
er
a.
I
n
v
is
ib
le
m
ar
k
er
s
h
o
ld
m
e
s
s
a
g
es
th
a
t
ar
e
s
en
t
p
er
io
d
ically
b
y
w
ir
eles
s
co
m
m
u
n
icat
io
n
d
ev
ices,
s
u
c
h
a
s
B
l
u
eto
o
th
L
o
w
E
n
er
g
y
(
B
L
E
)
d
ev
ices
a
n
d
I
E
E
E
8
0
2
.
1
1
W
iFi
d
ev
ices,
a
n
d
r
ec
ei
v
ed
p
r
o
p
er
ly
b
y
u
s
er
d
ev
ices,
s
u
c
h
a
s
s
m
ar
tp
h
o
n
e
s
.
I
n
th
e
C
P
I
s
y
s
te
m
,
t
h
e
r
o
le
o
f
m
ar
k
er
s
i
s
to
b
r
id
g
e
t
h
e
c
y
b
er
an
d
t
h
e
p
h
y
s
ical
en
v
ir
o
n
m
e
n
t
s
.
Fo
r
ex
a
m
p
le,
w
h
en
a
u
s
er
’
s
d
ev
ice
r
ec
o
g
n
ize
s
a
QR
co
d
e
o
r
r
ec
eiv
es
a
B
L
E
m
es
s
ag
e
p
r
o
p
er
ly
,
h
e/s
h
e
ca
n
b
e
a
w
ar
e
o
f
h
is
/
h
er
p
o
s
itio
n
an
d
r
elate
d
s
p
atial
in
f
o
r
m
atio
n
.
T
h
e
m
ar
k
er
-
b
ased
C
P
I
s
y
s
te
m
g
et
s
i
n
p
u
t
s
f
r
o
m
v
i
s
ib
le
m
ar
k
er
s
,
s
u
ch
as
th
e
QR
co
d
e,
an
d
in
v
is
ib
le
m
ar
k
er
s
,
s
u
ch
as B
L
E
m
es
s
ag
es se
n
t b
y
t
h
e
te
m
p
er
at
u
r
e,
li
g
h
t,
h
u
m
id
it
y
,
a
n
d
s
o
u
n
d
s
e
n
s
o
r
s
.
So
,
th
e
s
y
s
te
m
i
s
m
ar
k
er
-
b
ased
an
d
i
s
a
w
ar
e
o
f
en
v
ir
o
n
m
e
n
tal
co
n
d
itio
n
s
.
Mo
r
eo
v
er
,
th
e
C
P
I
s
y
s
te
m
also
co
n
n
ec
t
s
to
ac
tu
ato
r
s
,
s
o
it
ca
n
co
n
tr
o
l
p
h
y
s
ical
d
e
v
ices
as
s
o
ciate
d
w
ith
th
e
ac
tu
ato
r
s
.
T
h
e
C
P
I
s
y
s
te
m
also
co
n
n
ec
ts
t
o
w
eb
o
r
g
a
m
e
s
er
v
ice
s
,
w
h
ich
cr
ea
te
a
v
ir
t
u
al
e
n
v
ir
o
n
m
e
n
t
o
r
w
eb
p
ag
e
s
co
r
r
esp
o
n
d
in
g
to
th
e
p
h
y
s
ical
w
o
r
ld
.
I
n
ter
n
et
u
s
er
s
ca
n
r
o
a
m
i
n
t
h
e
v
ir
tu
a
l e
n
v
ir
o
n
m
e
n
t o
r
b
r
o
w
s
e
th
e
p
ag
e
s
to
i
n
ter
ac
t
w
it
h
t
h
e
p
h
y
s
ical
w
o
r
ld
an
d
th
e
E
n
g
f
i
Gate
u
s
er
s
.
S
u
ch
i
n
t
er
ac
tio
n
s
ar
e
s
i
m
ilar
to
t
h
o
s
e
o
cc
u
r
r
in
g
in
m
ix
ed
r
ea
l
it
y
en
v
ir
o
n
m
e
n
ts
[
9
]
.
T
h
e
w
eb
o
r
g
a
m
e
s
er
v
ice
s
ca
n
also
ac
ce
s
s
d
atab
ases
,
s
o
cy
b
er
co
n
d
itio
n
s
(
e.
g
.
,
u
s
er
s
ch
ed
u
les
an
d
p
r
o
f
iles
)
ca
n
b
e
r
etr
iev
ed
an
d
s
to
r
ed
w
h
e
n
u
s
er
in
ter
ac
tio
n
s
p
r
o
ce
ed
.
T
h
e
IP
s
y
s
te
m
u
tili
ze
s
o
n
e
o
r
m
o
r
e
m
ar
k
er
s
,
eith
er
v
is
ib
le
o
r
in
v
i
s
ib
le,
to
d
ec
id
e
th
e
p
o
s
itio
n
o
f
th
e
u
s
er
.
O
n
th
e
o
n
e
h
an
d
,
w
h
en
a
v
is
ib
le
m
ar
k
er
is
r
ec
o
g
n
ized
,
th
e
u
s
er
is
a
s
s
u
m
ed
to
h
a
v
e
t
h
e
s
a
m
e
p
o
s
it
io
n
as
th
e
m
ar
k
er
.
O
n
t
h
e
o
th
er
h
a
n
d
,
w
h
en
t
h
r
ee
o
r
m
o
r
e
i
n
v
is
i
b
le
m
ar
k
er
s
ar
e
r
ec
eiv
ed
,
th
e
u
s
er
d
eter
m
in
e
s
it
s
p
o
s
itio
n
b
y
th
e
W
C
L
al
g
o
r
ith
m
.
T
h
e
I
P
s
y
s
te
m
al
s
o
u
s
es
D
ij
k
s
tr
a’
s
al
g
o
r
ith
m
to
f
i
n
d
t
h
e
s
h
o
r
tes
t
p
ath
f
r
o
m
th
e
u
s
er
’
s
cu
r
r
en
t p
o
s
tio
n
to
h
i
s
/h
er
i
n
ten
d
ed
d
esti
n
atio
n
,
as
d
escr
ib
ed
later
in
Sectio
n
I
V.
T
h
e
A
R
s
y
s
te
m
p
r
o
v
id
es
t
w
o
d
is
p
la
y
m
o
d
es:
t
h
e
p
h
o
n
e
m
o
d
e
an
d
th
e
h
ea
d
m
o
u
n
ted
d
is
p
la
y
(
HM
D)
m
o
d
e.
I
n
t
h
e
p
h
o
n
e
m
o
d
e,
t
h
e
g
u
id
a
n
ce
i
n
f
o
r
m
atio
n
i
s
s
u
p
er
i
m
p
o
s
ed
in
to
t
h
e
en
v
ir
o
n
m
e
n
tal
i
m
a
g
es
a
n
d
th
e
u
s
er
u
s
es
b
u
tto
n
s
o
n
th
e
p
h
o
n
e
s
cr
ee
n
to
i
n
ter
ac
t
w
i
th
t
h
e
s
y
s
te
m
.
I
n
t
h
e
HM
D
m
o
d
e,
u
s
er
’
s
p
h
o
n
e
is
e
m
b
ed
d
ed
in
to
a
HM
D
d
e
v
ice
f
o
r
u
s
er
s
to
h
av
e
3
D
v
ie
w
o
f
en
v
ir
o
n
m
e
n
tal
i
m
ag
e
s
.
T
h
e
g
u
id
an
ce
in
f
o
r
m
a
tio
n
lo
o
k
s
lik
e
f
lo
ati
n
g
ab
o
v
e
t
h
e
i
m
ag
e
s
,
an
d
t
h
e
u
s
er
u
s
e
t
h
e
v
i
r
tu
al
b
u
tto
n
to
in
ter
ac
t
w
it
h
t
h
e
s
y
s
te
m
.
4.
RE
SU
L
T
S
A
ND
AN
AL
Y
SI
S
T
h
is
s
ec
tio
n
d
e
s
cr
ib
es
a
r
es
u
lt
s
an
d
a
n
al
y
s
is
o
f
i
m
p
le
m
en
tat
io
n
o
f
t
h
e
ab
o
v
e
-
m
en
t
io
n
ed
E
n
g
f
i
Gate
s
y
s
te
m
d
es
ig
n
,
an
d
also
s
h
o
w
s
th
e
co
m
p
ar
is
o
n
s
o
f
t
h
e
s
y
s
te
m
w
it
h
o
th
er
r
elate
d
s
y
s
te
m
s
.
4
.
1
.
H
a
rdw
a
re
/So
f
t
wa
re
Sp
ec
if
ica
t
io
ns
T
h
e
h
ar
d
w
ar
e/so
f
t
w
ar
e
s
p
ec
if
i
ca
tio
n
s
o
f
t
h
e
E
n
g
f
i
Gate
s
y
s
t
e
m
i
m
p
le
m
e
n
tatio
n
ar
e
d
escr
ib
ed
b
elo
w
.
T
h
e
s
y
s
te
m
is
i
m
p
le
m
e
n
ted
o
n
a
n
An
d
r
o
id
-
b
ased
s
m
ar
tp
h
o
n
e
(
A
s
u
s
Z
en
Fo
n
e
2
L
aser
,
Z
E
5
5
0
KL
,
r
u
n
n
i
n
g
An
d
r
o
id
5
.
0
L
o
llip
o
p
)
s
u
p
p
o
r
t
in
g
B
l
u
eto
o
th
4
.
0
.
So
m
e
R
a
s
p
b
er
r
y
P
i
B
+
d
ev
ices,
eq
u
ip
p
ed
w
it
h
te
m
p
er
at
u
r
e,
h
u
m
id
it
y
,
li
g
h
t,
an
d
s
o
u
n
d
s
e
n
s
o
r
s
,
ar
e
d
ep
lo
y
ed
i
n
a
b
u
i
ld
in
g
to
s
en
s
e
p
h
y
s
ical
w
o
r
ld
en
v
ir
o
n
m
e
n
tal
d
ata
.
T
h
e
R
asp
b
er
r
y
P
i
B
+
d
ev
ice
s
ar
e
also
eq
u
ip
p
ed
w
it
h
B
l
u
eto
o
th
L
o
w
E
n
er
g
y
(
B
L
E
)
USB
d
o
n
g
les
to
s
e
n
d
o
u
t
th
e
s
e
n
s
ed
d
ata
th
r
o
u
g
h
B
L
E
b
ea
co
n
m
ess
a
g
es
v
ia
B
L
E
ad
v
er
tis
e
m
e
n
t
p
ac
k
et
s
.
So
m
e
See
k
c
y
d
ev
ices
(
m
o
d
el
M0
L
)
[
10
]
,
s
u
p
p
o
r
tin
g
B
L
E
4
.
0
,
ar
e
also
d
ep
lo
y
ed
in
t
h
e
b
u
i
ld
in
g
to
b
r
o
ad
ca
s
t
B
L
E
b
ea
co
n
m
ess
a
g
es
f
o
r
t
h
e
p
u
r
p
o
s
e
o
f
in
d
o
o
r
p
o
s
itio
n
i
n
g
.
VR
B
o
x
Vir
t
u
al
R
ea
lit
y
[
11
]
,
as
s
h
o
w
n
in
Fi
g
u
r
e
2
,
i
s
u
s
ed
a
s
t
h
e
HM
D.
Un
it
y
3
D
g
a
m
e
en
g
i
n
e
is
u
s
ed
to
s
y
n
t
h
esize
3
D
s
ce
n
e
s
to
b
e
d
is
p
ly
ed
as
A
R
m
ater
ial
s
.
Fu
r
th
er
m
o
r
e,
Vu
f
o
r
ia
SDK
[
12
]
is
u
s
ed
f
o
r
A
R
g
en
er
atio
n
,
w
h
ile
Go
o
g
le
Vir
t
u
al
R
ea
lit
y
(
GV
R
)
SDK
[
13
]
is
u
s
ed
f
o
r
th
e
HM
D
g
en
er
atio
n
.
T
h
e
E
n
g
f
i
Ga
te
s
y
s
te
m
also
i
n
v
o
lv
e
s
a
w
eb
s
er
v
er
u
s
i
n
g
t
h
e
C
o
d
eig
n
iter
P
HP
f
r
a
m
e
w
o
r
k
a
n
d
th
e
M
y
SQ
L
d
atab
ase.
Fig
u
r
e
2
.
VR
B
o
x
Vir
tu
al
R
ea
lit
y
Hea
d
Mo
u
n
ted
Dis
p
la
y
(
H
MD
)
[
1
3
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
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&
C
o
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p
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I
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N:
2
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8
8
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8708
E
n
g
fi Ga
te:
A
n
I
n
d
o
o
r
Gu
id
a
n
ce
S
ystem
u
s
in
g
Ma
r
ke
r
-
b
a
s
ed
C
yb
er
-
P
h
ysica
l …
.
(
Ha
n
a
s
S
u
b
a
kti)
37
4.
2.
M
a
rk
er
-
b
a
s
ed
CP
I
Sy
s
t
e
m
I
m
p
le
m
e
nta
t
io
n
W
ith
t
h
e
h
elp
o
f
m
ar
k
er
s
,
t
h
e
m
ar
k
er
-
b
ased
C
P
I
s
y
s
te
m
is
p
er
f
o
r
m
ed
to
co
n
n
ec
t
c
y
b
er
an
d
p
h
y
s
ica
l
en
v
ir
o
n
m
e
n
t
s
.
T
h
er
e
ar
e
tw
o
t
y
p
e
s
o
f
m
ar
k
er
s
u
s
ed
i
n
th
e
s
y
s
te
m
: v
i
s
ib
le
m
ar
k
er
s
an
d
i
n
v
i
s
ib
le
m
ar
k
er
s
.
4
.
2
.
1
.
Vis
ibl
e
M
a
rk
er
:
Q
R
C
o
de
I
n
th
e
s
y
s
te
m
i
m
p
le
m
en
tatio
n
of
v
is
ib
le
m
ar
k
er
,
i
m
a
g
e
o
f
a
QR
c
o
d
e
is
u
s
ed
.
w
e
e
n
co
d
e
th
e
f
lo
o
r
n
u
m
b
er
,
X
a
n
d
Y
co
o
r
d
in
ate
s
in
to
a
Q
R
co
d
e,
as
ill
u
s
tr
ated
in
Fi
g
u
r
e
3
.
T
h
e
en
co
d
in
g
is
q
u
ite
s
i
m
p
le.
T
h
er
e
ar
e
th
r
ee
v
alu
e
s
w
h
ich
ar
e
s
e
p
ar
ated
b
y
s
ep
ar
ated
b
y
t
h
e
h
ash
s
ig
n
“
#
”.
T
h
e
f
ir
s
t
v
al
u
e
i
s
th
e
f
lo
o
r
n
u
m
b
er
,
th
e
s
ec
o
n
d
is
th
e
X
co
o
r
d
in
ate
,
an
d
th
e
th
ir
d
v
al
u
e
is
th
e
Y
c
o
o
r
d
in
ate
.
T
h
is
t
y
p
e
o
f
m
ar
k
e
r
is
v
er
y
u
s
e
f
u
l
f
o
r
d
eter
m
in
i
n
g
th
e
p
o
s
itio
n
o
f
t
h
e
u
s
er
.
Fig
u
r
e
3
.
T
h
e
QR
C
o
d
e
E
n
co
d
in
g
o
f
th
e
Flo
o
r
Nu
m
b
er
,
X
an
d
Y
C
o
o
r
d
in
ates
4
.
2
.
2
.
I
nv
is
i
ble M
a
rk
er
:
B
L
E
B
ea
co
n M
ess
a
g
e
T
h
er
e
ar
e
t
w
o
t
y
p
es
o
f
d
e
v
ice
s
to
s
e
n
d
o
u
t
t
h
e
b
ea
co
n
m
e
s
s
ag
es
a
s
i
n
v
is
b
le
m
ar
k
er
.
T
h
e
f
ir
s
t
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s
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ip
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w
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h
a
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L
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USB
d
o
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s
h
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in
F
ig
u
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4
.
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ch
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ar
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s
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all
y
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w
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ata
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n
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o
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e
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lled
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r
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m
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ir
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t
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en
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d
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te
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e
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s
o
r
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On
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n
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,
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e
u
s
er
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i.e
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e
s
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ar
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n
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iev
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p
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ical
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n
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itio
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s
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g
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5
s
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ts
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o
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Seek
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Fig
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A
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lef
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eq
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h
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ig
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Fig
u
r
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5
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ate
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o
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2
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3
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Cy
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P
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s
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mm
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c
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as
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in
Fig
u
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.
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s
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s
m
ar
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42
38
ar
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i
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v
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o
r
in
s
tr
u
c
tio
n
s
.
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er
ta
i
n
l
y
,
t
h
e
n
e
w
s
t
u
d
en
t
ca
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o
r
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tain
in
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ad
v
is
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s
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r
in
s
tr
u
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s
.
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r
s
p
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ial
ev
en
ts
,
s
u
ch
as
t
h
e
f
r
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h
m
a
n
o
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tatio
n
,
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e
d
ep
ar
t
m
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t
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h
ai
r
(
if
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n
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)
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n
in
v
ite
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n
e
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t
u
d
en
t
s
to
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m
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ca
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t
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m
w
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m
e
m
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a
g
es
b
y
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s
i
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g
th
e
p
r
iv
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g
ed
b
r
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ad
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s
t
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u
lticast
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u
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ctio
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th
r
o
u
g
h
th
e
I
n
t
er
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et
ac
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s
s
.
4.
3.
I
nd
o
o
r
P
o
s
it
io
nin
g
(
I
P
)
Sy
s
t
e
m
T
h
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I
P sy
s
te
m
u
tili
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s
ei
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v
is
ib
le
m
ar
k
er
s
o
r
in
v
is
ib
le
m
ar
k
er
s
to
d
eter
m
i
n
e
th
e
p
o
s
itio
n
o
f
th
e
u
s
er
.
T
h
e
p
o
s
itio
n
in
g
p
r
o
ce
d
u
r
es a
r
e
d
escr
ib
ed
b
el
o
w
.
4
.
3
.
1
.
P
o
s
it
io
nin
g
w
it
h V
i
s
ibl
e
M
a
r
k
er
s
W
h
en
a
v
i
s
ib
le
m
ar
k
er
o
r
a
QR
co
d
e
i
m
ag
e
i
s
s
u
cc
ess
f
u
ll
y
s
ca
n
n
ed
b
y
a
u
s
er
d
ev
ice
’
s
ca
m
er
a,
th
e
s
y
s
te
m
ca
n
i
m
m
ed
iatel
y
d
eter
m
i
n
e
th
e
u
s
er
’
s
p
o
s
itio
n
b
y
r
etr
iev
in
g
t
h
e
p
o
s
itio
n
i
n
f
o
r
m
atio
n
en
co
d
ed
in
th
e
QR
c
ode
.
T
h
u
s
,
o
n
l
y
o
n
e
Q
R
co
d
e
ca
n
d
eter
m
i
n
e
th
e
u
s
er
’
s
p
o
s
itio
n
p
r
o
p
er
ly
.
T
h
e
ac
cu
r
ac
y
o
f
t
h
e
p
o
s
itio
n
in
g
d
ep
en
d
s
o
n
t
h
e
d
is
tan
ce
th
a
t a
QR
co
d
e
i
m
a
g
e
ca
n
b
e
s
ca
n
n
ed
an
d
r
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o
g
n
ized
s
u
cc
es
s
f
u
ll
y
b
y
t
h
e
ca
m
er
a.
4
.
3
.
2
.
P
o
s
it
io
nin
g
w
it
h In
v
is
ibl
e
M
a
rk
er
s
W
h
en
t
h
r
ee
o
r
m
o
r
e
d
if
f
er
en
t i
n
v
i
s
ib
le
m
ar
k
er
s
o
r
B
L
E
b
ea
co
n
m
es
s
a
g
es a
r
e
r
ec
eiv
ed
,
th
e
w
ei
g
h
ted
c
en
tr
o
id
l
o
ca
lizatio
n
(
W
C
L
)
a
lg
o
r
ith
m
ca
n
b
e
ap
p
lied
to
d
et
er
m
in
e
t
h
e
u
s
er
’
s
p
o
s
itio
n
b
y
u
s
i
n
g
th
e
R
ec
eiv
ed
Sig
n
al
Stre
n
g
th
I
n
d
icato
r
(
R
S
SI)
v
alu
e
s
o
f
t
h
e
m
e
s
s
a
g
es.
B
elo
w
w
e
d
escr
ib
e
th
e
al
g
o
r
ith
m
d
etails.
T
h
e
W
C
L
al
g
o
r
ith
m
[
14
]
r
e
q
u
ir
es
th
e
u
s
er
d
ev
ice
to
r
ec
eiv
e
at
t
h
e
s
a
m
e
ti
m
e
t
h
e
B
L
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b
ea
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n
m
es
s
ag
e
s
s
e
n
t
b
y
th
r
ee
o
r
m
o
r
e
d
ev
ices
.
B
ef
o
r
e
d
escr
ib
in
g
th
e
al
g
o
r
ith
m
,
w
e
i
n
tr
o
d
u
ce
s
o
m
e
ter
m
i
n
o
lo
g
ie
s
.
B
elo
w
,
w
e
u
s
e
t
h
e
ter
m
“
a
n
ch
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r
n
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d
e
”
to
r
ef
er
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a
d
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s
en
d
in
g
o
u
t
B
L
E
b
ea
co
n
m
e
s
s
a
g
es
;
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e
u
s
e
“
u
n
kn
o
w
n
n
o
d
e
”
to
r
ef
er
to
a
d
ev
ice
w
h
o
s
e
p
o
s
it
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n
i
s
u
n
k
n
o
w
n
a
n
d
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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4
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4
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1
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M
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Un
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[
3
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4
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,
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[
5
].
T
h
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p
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lts
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s
h
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in
[
16
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.
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aj
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ased
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ased
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L
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2
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8708
I
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g
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Vo
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8
,
No
.
1
,
Feb
r
u
ar
y
2
0
1
8
:
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4
–
42
42
[
3
]
W
K
a
n
g
,
Y
H
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n
,
“
S
m
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rtP
DR:
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m
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rtp
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0
1
5
;
1
5
(
5
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9
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9
1
6
.
[
4
]
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Cz
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Na
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m
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1
5
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5
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5
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L
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2
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1
5
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.
[
6
]
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Ra
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1
6
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3
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2
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3
6
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[
7
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n
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.
2
0
1
3
;
2
(
3
):
10
-
1
5
.
[
8
]
Dic
ti
o
n
a
ry
.
c
o
m
ma
rk
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r
.
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n
Co
ll
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n
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ti
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ti
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:
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rp
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tt
p
:/
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.
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Ac
c
e
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d
:
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n
e
2
3
,
2
0
1
6
.
[
9
]
Y Oh
ta,
H T
a
m
u
ra
.
M
ixe
d
re
a
li
ty: M
e
rg
in
g
re
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l
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n
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v
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l
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2
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1
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0
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6
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1
1
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VR
Bo
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Rea
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rl:
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tt
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[
1
2
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Vu
fo
ri
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S
DK
t
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e
A
u
g
me
n
ted
re
a
li
ty
so
l
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ri
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De
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.
;
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rl:
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tt
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[
1
3
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Go
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;
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l:
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tt
p
s://
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4
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Qu
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.
[
1
5
]
W
Ya
h
y
a
,
A
Ba
su
k
i
,
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Jia
n
g
,
“
T
h
e
Ex
ten
d
e
d
Dijk
stra
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s
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b
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se
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d
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lan
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in
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f
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l
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w
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t
w
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rk
”,
In
ter
n
a
t
io
n
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l
J
o
u
rn
a
l
o
f
E
lec
trica
l
a
n
d
C
o
mp
u
ter
En
g
in
e
e
rin
g
(
IJ
EC
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.
2
0
1
5
;
5
(2
):
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8
9
~
2
9
6
.
[
1
6
]
Ha
n
a
s
S
u
b
a
k
ti
.
En
g
f
i
G
a
te
s
y
ste
m
d
e
m
o
v
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o
.
u
rl:
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tt
p
s://
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tt
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s://
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tu
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e
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A
c
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ly
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d
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tral
U
n
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a
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d
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1
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m
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a
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sp
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telli
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w
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g
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to
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re
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d
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p
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se
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tl
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w
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s
in
sig
n
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ss
in
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a
b
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to
ry
,
Un
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a
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H
is
re
s
e
a
rc
h
in
tere
st
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a
in
th
e
a
re
a
s o
f
si
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l
p
ro
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tec
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ten
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b
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ted
sy
ste
m
s,
a
n
d
so
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n
d
p
r
o
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e
ss
in
g
.
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