I
nte
rna
t
io
na
l J
o
urna
l o
f
E
lect
rica
l a
nd
Co
m
p
ute
r
E
ng
in
ee
ring
(
I
J
E
CE
)
Vo
l.
11
,
No
.
4
,
A
u
g
u
s
t
2021
,
p
p
.
3
2
2
9
~
3
2
4
0
I
SS
N:
2
0
8
8
-
8708
,
DOI
: 1
0
.
1
1
5
9
1
/
i
j
ec
e
.
v
1
1
i
4
.
pp
3
2
2
9
-
3
2
4
0
3229
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ij
ec
e.
ia
esco
r
e.
co
m
Predic
tion
o
f
no
d
es
m
o
bili
ty in
3
-
D
spa
ce
M
o
ha
m
m
a
d Al
-
H
a
t
t
a
b,
Nuh
a
H
a
m
a
da
Co
ll
e
g
e
o
f
En
g
in
e
e
rin
g
,
A
l
A
in
U
n
iv
e
rsity
,
Un
it
e
d
A
ra
b
E
m
irate
s
Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
J
u
l 1
2
,
2
0
2
0
R
ev
i
s
ed
Dec
1
4
,
2
0
2
0
A
cc
ep
ted
Dec
2
9
,
2
0
2
0
Re
c
e
n
tl
y
,
m
o
b
il
it
y
p
re
d
ictio
n
re
se
a
rc
h
e
s
a
tt
ra
c
ted
in
c
re
a
sin
g
in
tere
sts,
e
sp
e
c
iall
y
f
o
r
m
o
b
il
e
n
e
tw
o
rk
s
w
h
e
re
n
o
d
e
s
a
re
f
re
e
to
m
o
v
e
in
th
e
t
h
re
e
-
d
im
e
n
sio
n
a
l
sp
a
c
e
.
A
c
c
u
ra
te
m
o
b
il
it
y
p
re
d
icti
o
n
lea
d
s
to
a
n
e
ff
i
c
ien
t
d
a
ta
d
e
li
v
e
r
y
f
o
r
re
a
l
ti
m
e
a
p
p
li
c
a
ti
o
n
s
a
n
d
e
n
a
b
les
th
e
n
e
tw
o
rk
to
p
lan
f
o
r
f
u
tu
re
tas
k
s
su
c
h
a
s
ro
u
te
p
lan
n
in
g
a
n
d
d
a
ta
tran
sm
issio
n
in
a
n
a
d
e
q
u
a
te
ti
m
e
a
n
d
a
su
it
a
b
le
sp
a
c
e
.
In
th
is
p
a
p
e
r,
w
e
p
ro
p
o
se
d
,
tes
ted
a
n
d
v
a
li
d
a
t
e
d
a
n
a
lg
o
rit
h
m
th
a
t
p
re
d
icts
t
h
e
f
u
tu
re
m
o
b
il
it
y
o
f
m
o
b
il
e
n
e
tw
o
rk
s
in
t
h
re
e
-
d
i
m
e
n
sio
n
a
l
sp
a
c
e
.
T
h
e
p
re
d
ictio
n
tec
h
n
iq
u
e
u
se
s
p
o
ly
n
o
m
i
a
l
re
g
re
ss
io
n
to
m
o
d
e
l
th
e
sp
a
ti
a
l
re
latio
n
o
f
a
se
t
o
f
p
o
in
ts
a
lo
n
g
t
h
e
m
o
b
il
e
n
o
d
e
’s
p
a
t
h
a
n
d
th
e
n
p
ro
v
id
e
s
a
ti
m
e
-
sp
a
c
e
m
a
p
p
in
g
f
o
r
e
a
c
h
o
f
th
e
th
re
e
c
o
m
p
o
n
e
n
ts
o
f
th
e
n
o
d
e
’s
l
o
c
a
ti
o
n
c
o
o
r
d
i
n
a
tes
a
lo
n
g
th
e
traje
c
to
ry
o
f
th
e
n
o
d
e
.
T
h
e
p
ro
p
o
se
d
a
lg
o
rit
h
m
w
a
s
t
e
ste
d
a
n
d
v
a
li
d
a
ted
in
M
A
TL
A
B
si
m
u
latio
n
p
latf
o
rm
u
sin
g
re
a
l
a
n
d
c
o
m
p
u
ter
g
e
n
e
ra
ted
l
o
c
a
ti
o
n
d
a
ta.
T
h
e
a
lg
o
rit
h
m
a
c
h
iev
e
d
a
n
a
c
c
u
ra
te
m
o
b
il
it
y
p
re
d
ictio
n
w
i
th
m
in
i
m
a
l
e
rro
r
a
n
d
p
ro
v
id
e
s
p
ro
m
isin
g
re
su
lt
s f
o
r
m
a
n
y
a
p
p
li
c
a
ti
o
n
s.
K
ey
w
o
r
d
s
:
Mo
b
ile
n
et
w
o
r
k
s
P
o
ly
n
o
m
ial
r
e
g
r
ess
io
n
T
o
p
o
lo
g
y
p
r
ed
ictio
n
T
h
is i
s
a
n
o
p
e
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
:
Mo
h
a
m
m
ad
A
l
-
Hattab
C
o
lleg
e
o
f
E
n
g
in
ee
r
i
n
g
A
l
Ain
U
n
i
v
er
s
it
y
Ha
m
d
an
B
i
n
Mo
h
a
m
m
ad
St,
A
l
Ain
U
n
ited
A
r
ab
E
m
ir
ates
E
m
ail:
m
o
h
a
m
m
ad
.
alh
attab
@
aa
u
.
ac
.
ae
1.
I
NT
RO
D
UCT
I
O
N
Var
io
u
s
ap
p
licatio
n
s
in
v
e
h
ic
u
lar
n
et
w
o
r
k
s
a
n
d
m
o
b
ile
n
et
w
o
r
k
s
r
eq
u
ir
e
a
p
r
io
r
k
n
o
w
le
d
g
e
o
f
t
h
e
ex
ac
t
n
o
d
e’
s
r
o
u
te
(
tr
aj
ec
to
r
y
)
to
ac
co
m
p
lis
h
s
p
ec
if
ied
g
o
a
ls
.
T
h
e
k
n
o
w
led
g
e
o
f
t
h
e
f
u
t
u
r
e
co
n
n
ec
ti
v
it
y
o
f
s
u
c
h
n
et
w
o
r
k
s
ca
n
b
e
e
m
p
l
o
y
ed
to
e
n
s
u
r
e
h
ig
h
er
p
er
f
o
r
m
an
ce
in
ter
m
s
o
f
d
ata
d
el
iv
er
y
[
1
]
,
r
eso
u
r
ce
m
an
a
g
e
m
e
n
t
a
n
d
tr
ip
p
lan
n
i
n
g
[
2
]
.
T
h
e
lak
e
o
f
th
i
s
k
n
o
w
led
g
e
ca
n
lead
to
d
ela
y
s
in
d
eliv
e
r
in
g
r
ea
l
ti
m
e
d
at
a
an
d
ca
u
s
e
f
r
eq
u
e
n
t c
o
n
n
ec
ti
v
it
y
is
s
u
e
s
.
T
h
e
p
r
ed
icted
to
p
o
lo
g
y
ca
n
b
e
u
s
ed
b
y
w
id
e
v
ar
iet
y
o
f
a
p
p
licatio
n
s
i
n
cl
u
d
in
g
b
u
t
n
o
t
li
m
ited
to
p
lan
n
i
n
g
o
f
ef
f
icie
n
t
d
ata
ex
ch
a
n
g
e
b
et
w
ee
n
m
o
b
ile
n
o
d
es,
d
etec
tio
n
o
f
an
y
p
o
ten
tial
d
an
g
er
w
h
il
e
m
o
n
ito
r
i
n
g
o
il
a
n
d
g
as
p
ip
e
lin
es,
ac
cid
e
n
ts
a
n
d
tr
af
f
ic
m
an
a
g
e
m
e
n
t,
r
o
ad
s
af
et
y
a
n
d
tr
af
f
ic
a
n
al
y
s
is
,
in
tell
i
g
e
n
t tr
an
s
p
o
r
t s
y
s
te
m
,
ea
r
l
y
w
ar
n
i
n
g
s
y
s
te
m
s
a
n
d
m
a
n
y
o
th
er
ap
p
licatio
n
s
[
3
]
.
Mo
b
ilit
y
p
r
ed
ictio
n
p
r
o
v
id
es
m
an
y
b
e
n
e
f
its
to
v
ar
io
u
s
t
y
p
es
o
f
n
et
w
o
r
k
s
.
I
n
ce
ll
u
lar
n
e
t
w
o
r
k
s
,
a
n
ac
cu
r
ate
p
r
ed
ictio
n
o
f
t
h
e
u
s
e
r
m
o
b
ilit
y
e
n
s
u
r
es
e
f
f
icie
n
t
r
eso
u
r
ce
m
a
n
a
g
e
m
e
n
t,
lo
ca
tio
n
-
b
ased
m
an
a
g
e
m
en
t
an
d
s
m
o
o
t
h
an
d
f
a
s
t
h
a
n
d
o
v
e
r
d
ec
is
io
n
[
4
]
.
I
t
also
ca
lcu
lates
th
e
p
er
io
d
o
f
ti
m
e
f
o
r
th
e
m
o
b
ile
d
ev
ice
to
r
e
m
ain
u
n
d
er
th
e
co
v
er
a
g
e
o
f
th
e
ce
ll,
in
ad
d
itio
n
to
th
e
p
r
ed
ictio
n
o
f
th
e
n
e
x
t
ce
ll
w
h
er
e
th
e
m
o
b
ile
n
o
d
e
is
m
o
v
i
n
g
to
w
ar
d
[
5
-
8
]
.
I
n
v
eh
i
cu
lar
n
et
w
o
r
k
s
,
h
is
to
r
ical
v
eh
icu
lar
m
o
v
e
m
en
t
s
w
er
e
u
s
ed
to
ex
tr
ac
t
m
o
b
ilit
y
p
atter
n
s
to
d
e
v
elo
p
tr
aj
ec
to
r
y
p
r
ed
ictio
n
to
ac
h
ie
v
e
a
n
i
m
p
r
o
v
ed
d
ata
d
eliv
er
y
[
9
-
1
1
]
.
I
n
u
n
m
a
n
n
ed
ae
r
ial
v
eh
ic
le
(
U
A
V
s
)
n
u
m
er
o
u
s
c
iv
ilian
,
co
m
m
er
cia
l,
m
ilit
ar
y
,
a
n
d
ae
r
o
s
p
ac
e
ap
p
licatio
n
s
s
u
ch
as
b
o
r
d
er
s
ec
u
r
it
y
,
f
ir
ef
ig
h
ti
n
g
an
d
e
m
er
g
e
n
c
y
r
escu
e
o
p
er
atio
n
s
,
m
o
n
i
to
r
in
g
o
f
a
g
r
ic
u
lt
u
r
e
cr
o
p
s
,
o
il
an
d
g
a
s
p
ip
elin
e
s
u
r
v
eilla
n
ce
,
p
u
b
lic
p
lace
s
s
u
r
v
eilla
n
ce
a
n
d
m
a
n
y
o
th
er
ap
p
licatio
n
s
[
1
2
]
,
th
e
p
r
io
r
k
n
o
w
l
ed
g
e
o
f
t
h
e
U
AV
s
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.
11
,
No
.
4
,
A
u
g
u
s
t 2
0
2
1
:
3
2
2
9
-
3240
3230
f
l
y
in
g
p
ath
s
ca
n
lead
to
an
ef
f
icie
n
t
ex
c
h
an
g
e
o
f
th
e
g
ath
er
ed
in
f
o
r
m
atio
n
b
et
w
ee
n
th
e
U
A
V
s
in
t
h
e
p
r
o
p
er
ti
m
e
a
n
d
in
t
h
e
s
u
itab
le
s
p
ac
e.
I
n
th
e
li
ter
atu
r
e,
m
an
y
m
o
b
ilit
y
p
r
ed
ictio
n
tec
h
n
iq
u
es
w
it
h
d
i
f
f
er
e
n
t
ca
p
ab
ilit
y
a
n
d
v
ar
io
u
s
co
m
p
le
x
it
y
w
er
e
u
s
ed
.
T
h
ese
tech
n
iq
u
es
v
ar
y
d
ep
en
d
in
g
o
n
th
e
n
atu
r
e
o
f
th
e
n
o
d
e
m
o
b
il
it
y
,
th
e
s
ize
o
f
t
h
e
n
et
w
o
r
k
s
,
th
e
t
y
p
e
o
f
th
e
n
et
wo
r
k
s
an
d
t
h
e
ap
p
licatio
n
s
o
f
t
h
ese
n
et
w
o
r
k
s
.
I
n
d
ea
d
-
r
ec
k
o
n
in
g
tec
h
n
iq
u
e
s
t
h
e
m
o
b
il
it
y
p
r
ed
ictio
n
s
ch
e
m
e
s
p
r
ed
ict
th
e
f
u
tu
r
e
lo
ca
tio
n
o
f
th
e
m
o
b
ile
n
o
d
e
b
ased
o
n
th
e
s
p
ee
d
an
d
th
e
d
ir
ec
tio
n
o
f
th
e
m
o
b
ile
p
r
ev
io
u
s
m
o
v
e
m
e
n
t
[
1
3
,
1
4
]
.
P
atter
n
m
a
tch
i
n
g
p
r
ed
ictio
n
s
ch
e
m
e
s
in
[
1
5
,
1
6
]
s
ea
r
ch
p
ast
m
o
b
ili
t
y
tr
ac
es
o
f
th
e
n
o
d
e
f
o
r
a
m
atc
h
ed
m
o
b
ilit
y
p
at
ter
n
to
p
r
ed
ict
t
h
e
f
u
t
u
r
e
n
et
w
o
r
k
m
o
b
ili
t
y
.
T
h
e
au
th
o
r
s
in
[
1
7
]
u
s
e
t
h
e
ce
ll
s
eq
u
en
ce
h
is
to
r
y
to
p
r
ed
ict
th
e
n
ex
t
ce
ll
a
n
d
t
h
e
tr
aj
ec
to
r
y
o
f
t
h
e
m
o
b
ile
n
o
d
e.
Ma
ch
i
n
e
lear
n
in
g
tec
h
n
iq
u
e
s
ar
e
also
u
s
ed
i
n
p
r
ed
ictin
g
n
o
d
e’
s
f
u
tu
r
e
lo
ca
ti
o
n
i
n
ce
llu
la
r
n
et
w
o
r
k
s
[
1
8
-
2
0
]
.
C
las
s
i
f
icatio
n
o
f
t
h
e
s
p
atia
l
tr
aj
ec
t
o
r
y
tech
n
iq
u
e
s
w
er
e
u
s
ed
to
ac
h
ie
v
e
an
ac
cu
r
ate
lo
ca
tio
n
p
r
ed
ictio
n
[
2
1
]
.
I
t
is
p
o
s
s
ib
le
to
co
m
b
i
n
e
m
o
r
e
th
a
n
o
n
e
p
r
ed
ictio
n
s
c
h
e
m
e
to
p
r
o
d
u
ce
co
n
s
is
ten
t,
a
cc
u
r
ate,
an
d
u
s
e
f
u
l
p
r
ed
ictio
n
s
.
Mo
b
ilit
y
p
r
ed
ictio
n
m
ea
s
u
r
e
m
en
ts
ar
e
es
s
e
n
tial
to
d
eter
m
i
n
e
t
h
e
p
er
f
o
r
m
a
n
ce
o
f
th
e
p
r
ed
ictio
n
m
et
h
o
d
.
Ma
n
y
m
etr
ics
ar
e
u
s
ed
to
ev
alu
ate
t
h
e
p
r
ed
ictio
n
ac
cu
r
ac
y
an
d
to
d
ec
id
e
w
h
e
th
er
th
e
p
r
ed
i
ctio
n
m
et
h
o
d
is
v
alid
o
r
n
o
t
[
2
2
]
.
I
n
s
o
m
e
ca
s
e
s
,
d
eter
m
i
n
in
g
wh
eth
er
a
p
r
ed
ictio
n
is
ac
cu
r
at
e
o
r
n
o
t
is
n
o
t
ea
s
y
.
Su
b
s
eq
u
e
n
tl
y
,
er
r
o
r
m
ea
s
u
r
e
m
en
ts
ar
e
u
s
ed
to
ev
al
u
ate
th
e
c
l
o
s
en
es
s
o
f
t
h
e
ex
p
ec
ted
p
r
ed
ic
tio
n
an
d
t
h
e
u
s
er
’
s
m
o
b
il
it
y
[
2
3
].
E
n
tr
o
p
y
i
s
u
s
ed
to
ca
p
tu
r
e
th
e
d
eg
r
ee
o
f
p
r
e
d
ictio
n
ch
ar
ac
ter
izin
g
a
ti
m
e
s
er
ies.
I
t
w
a
s
s
h
o
w
n
t
h
at
s
tr
o
n
g
r
eg
u
lar
it
y
ex
is
t
s
i
n
d
ail
y
v
eh
ic
u
lar
m
o
b
i
lit
y
an
d
th
e
m
o
b
il
it
y
o
f
h
u
m
a
n
s
i
n
b
o
th
te
m
p
o
r
al
a
n
d
s
p
atia
l
d
i
m
en
s
io
n
s
[
2
4
]
.
T
h
is
i
m
p
l
ies
t
h
at
p
r
ed
ictio
n
ca
n
p
r
o
ce
ed
at
a
h
i
g
h
d
e
g
r
ee
o
f
ac
cu
r
ac
y
.
Mo
s
t
o
f
t
h
e
p
r
ed
ictio
n
tech
n
iq
u
es
r
eq
u
ir
e
co
m
p
le
x
a
n
al
y
s
i
s
,
in
te
n
s
i
v
e
co
m
p
u
tatio
n
an
d
th
e
i
n
v
o
lv
e
m
e
n
t
o
f
h
id
d
en
f
r
ee
p
ar
a
m
eter
s
s
u
c
h
as
m
ac
h
i
n
e
lear
n
in
g
m
et
h
o
d
s
,
n
e
u
r
al
n
et
w
o
r
k
s
an
d
s
u
p
p
o
r
t
v
ec
to
r
r
eg
r
ess
io
n
m
et
h
o
d
s
,
w
h
ile
o
t
h
er
s
ca
n
ac
cu
m
u
late
er
r
o
r
d
u
r
in
g
th
e
p
r
ed
ictio
n
c
y
cle
d
esp
ite
t
h
eir
s
i
m
p
licit
y
s
u
ch
a
s
d
ea
d
-
r
ec
k
o
n
i
n
g
tec
h
n
iq
u
e
s
[
2
5
].
I
n
th
i
s
p
ap
er
,
w
e
p
r
o
v
id
e
a
n
o
v
el
m
et
h
o
d
o
f
p
r
ed
ictio
n
w
h
ic
h
is
s
i
m
p
le,
e
f
f
ic
ien
t
a
n
d
p
r
o
v
id
es
ac
cu
r
ate
r
esu
lt
s
.
T
h
e
alg
o
r
ith
m
p
r
ed
icts
th
e
f
u
t
u
r
e
m
o
b
ilit
y
o
f
m
o
b
ile
n
et
w
o
r
k
s
i
n
t
h
r
ee
-
d
i
m
e
n
s
io
n
al
s
p
ac
e
u
s
i
n
g
p
o
l
y
n
o
m
ial
r
e
g
r
ess
io
n
th
e
n
p
r
o
d
u
ce
s
a
f
u
n
c
tio
n
t
h
at
r
elate
s
t
h
e
lo
c
atio
n
an
d
th
e
ti
m
e
f
o
r
ea
c
h
co
m
p
o
n
e
n
t
o
f
t
h
e
lo
ca
tio
n
.
T
h
e
r
est
o
f
t
h
e
p
ap
er
is
o
r
g
a
n
i
ze
d
as
f
o
llo
w
s
.
Sectio
n
2
p
r
esen
t
s
t
h
e
p
r
ed
ictio
n
alg
o
r
ith
m
an
d
t
h
e
m
et
h
o
d
o
lo
g
y
o
f
m
ap
p
in
g
th
e
lo
ca
tio
n
an
d
ti
m
e.
Sectio
n
3
d
is
cu
s
s
e
s
ev
al
u
atio
n
o
f
t
h
e
alg
o
r
ith
m
a
n
d
th
e
s
i
m
u
latio
n
r
esu
lt
s
.
T
h
e
co
n
clu
s
io
n
o
f
t
h
e
p
ap
er
is
p
r
esen
ted
in
Sectio
n
4
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
2
.
1
.
P
ro
po
s
ed
predict
io
n a
rc
hite
ct
ure
T
h
is
p
ap
er
is
an
ex
te
n
s
io
n
o
f
o
u
r
p
r
ev
io
u
s
w
o
r
k
[
2
6
]
,
w
h
er
e
w
e
p
r
o
p
o
s
ed
a
f
r
a
m
e
w
o
r
k
to
p
r
ed
ict
th
e
m
o
b
ile
n
o
d
es
lo
ca
tio
n
i
n
th
r
e
e
-
d
i
m
e
n
s
io
n
al
s
p
ac
e.
T
h
e
x
,
y
,
an
d
z
co
o
r
d
in
ates
o
f
ea
ch
p
r
ed
icted
lo
ca
tio
n
ar
e
th
en
m
ap
p
ed
in
to
a
ti
m
e
f
u
n
ct
io
n
.
P
ar
am
etr
ic
eq
u
atio
n
s
ar
e
u
s
ed
to
d
escr
ib
e
ea
ch
n
o
d
e
i
n
th
e
n
e
t
w
o
r
k
alo
n
g
its
tr
aj
ec
to
r
y
.
M
u
lti
v
ar
iate
p
o
l
y
n
o
m
ial
r
eg
r
es
s
io
n
is
co
n
s
tr
u
cted
to
f
i
t
t
h
ese
p
o
in
t
s
as
s
h
o
w
n
i
n
Fi
g
u
r
e
1
.
T
h
is
p
ap
er
v
alid
ates
th
e
p
r
o
p
o
s
ed
f
r
a
m
e
w
o
r
k
t
h
r
o
u
g
h
s
i
m
u
latio
n
an
d
s
h
o
w
s
h
o
w
th
e
p
r
ed
ictio
n
s
ch
e
m
e
i
s
u
s
ed
to
p
r
ed
ict
th
e
f
u
t
u
r
e
to
p
o
lo
g
y
o
f
t
h
e
m
o
b
ile
n
et
w
o
r
k
.
T
h
e
p
r
ed
icted
m
o
b
ilit
y
m
o
d
el
is
b
u
ilt
f
o
r
t
h
e
w
h
o
l
e
n
et
w
o
r
k
b
y
co
n
t
in
u
o
u
s
m
o
d
i
f
i
ca
tio
n
o
f
th
e
p
r
ed
icted
lo
ca
tio
n
m
atr
i
x
o
f
ea
c
h
n
o
d
e.
T
h
is
w
ill
b
e
ex
p
lain
ed
in
d
etail
th
r
o
u
g
h
o
u
t th
e
p
ap
er
.
I
n
Fig
u
r
e
2
,
co
n
s
id
er
a
m
o
b
ile
n
o
d
e
at
p
o
in
t
A
w
it
h
(
1
,
1
,
1
)
co
o
r
d
in
ates
at
ti
m
e
1
.
A
f
ter
a
b
r
ie
f
in
ter
v
a
l o
f
t
i
m
e
,
th
e
m
o
b
ile
n
o
d
e
w
ill r
ea
ch
p
o
i
n
t B
w
ith
co
o
r
d
in
ates (
,
,
)
.
L
et
T
b
e
th
e
d
if
f
e
r
en
ce
in
ti
m
e
b
et
w
ee
n
1
.
T
w
ill
r
ep
r
esen
t
th
e
p
r
ed
ictio
n
p
er
io
d
.
A
s
s
u
m
e
th
at
t
h
e
s
p
ee
d
o
f
th
e
n
o
d
e
is
co
n
s
ta
n
t
d
u
r
in
g
th
e
p
r
ed
ictio
n
p
er
io
d
b
et
w
e
e
n
p
o
in
t
A
to
p
o
in
t
B
.
Kn
o
w
in
g
t
h
e
co
o
r
d
in
ates
a
n
d
ti
m
e
d
i
f
f
er
e
n
ce
b
et
w
ee
n
t
w
o
p
r
ev
io
u
s
co
n
s
ec
u
ti
v
e
p
o
in
ts
lead
s
to
t
h
e
ca
lc
u
latio
n
o
f
th
e
s
p
ee
d
an
d
th
e
in
i
tial
d
ir
ec
tio
n
o
f
th
e
m
o
v
e
m
e
n
t.
T
h
e
v
elo
cit
y
o
f
t
h
e
n
o
d
e
w
h
ic
h
d
escr
ib
es
th
e
c
h
an
g
e
i
n
th
e
s
p
ee
d
,
th
e
d
ir
ec
tio
n
o
r
b
o
th
is
a
v
ec
to
r
w
it
h
t
h
r
ee
co
m
p
o
n
e
n
ts
as e
x
p
r
ess
ed
in
(
1
)
.
0
⃗
⃗
⃗
=
⃗
⃗
⃗
+
⃗
⃗
⃗
+
⃗
⃗
⃗
(
1
)
w
h
er
e
⃗
⃗
⃗
=
=
′
(
)
⃗
⃗
⃗
=
=
′
(
)
,
an
d
⃗
⃗
⃗
=
=
′
(
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2
0
8
8
-
8708
P
r
ed
ictio
n
o
f n
o
d
es mo
b
ilit
y
in
3
-
D
s
p
a
ce
(
Mo
h
a
mma
d
A
l
-
Ha
tta
b
)
3231
T
h
e
m
a
g
n
it
u
d
e
o
f
th
e
s
p
ee
d
|
0
⃗
⃗
⃗
|
[2
7
].
|
0
⃗
⃗
⃗
|
=
√
(
′
(
)
)
2
+
(
′
(
)
)
2
+
(
′
(
)
)
2
(
2
)
Fig
u
r
e
1
.
A
s
et
o
f
k
n
o
w
n
p
o
in
ts
alo
n
g
th
e
p
at
h
o
f
th
e
m
o
b
ile
n
o
d
e
Fig
u
r
e
2
.
T
h
e
co
o
r
d
in
ates o
f
t
h
e
m
o
b
ile
n
o
d
e
w
it
h
ti
m
e
Is
ass
u
m
ed
co
n
s
tan
t
o
n
[
1
,
1
+
]
w
h
i
le
th
e
x
,
y
a
n
d
z
co
m
p
o
n
en
ts
o
f
th
e
v
elo
cit
y
V
0
ar
e
v
ar
iab
le
.
Hen
ce
,
t
h
e
d
ir
ec
tio
n
o
f
t
h
e
n
o
d
e’
s
m
o
v
e
m
e
n
t
is
v
ar
iab
le
to
o
.
T
h
e
tr
aj
ec
to
r
y
(
p
ath
)
f
r
o
m
A
to
B
is
r
ep
r
esen
ted
b
y
a
s
et
o
f
p
o
in
ts
(
1
,
1
,
1
)
,
(
2
,
2
,
2
)
,
…
,
(
,
,
)
.
T
h
e
p
o
ly
n
o
m
ial
=
(
,
)
th
at
fi
ts
all
p
o
in
ts
(
1
,
1
,
1
)
,
(
2
,
2
,
2
)
,
…
,
(
,
,
)
m
u
s
t
b
e
co
n
s
tr
u
cted
u
s
in
g
s
ec
o
n
d
o
r
d
er
m
u
lt
ip
le
p
o
ly
n
o
m
ial
r
eg
r
ess
io
n
[
2
8
,
29
]
as in
(
3
)
:
z
i
=
a
0
+
a
1
x
i
+
a
2
y
i
+
a
3
x
i
2
+
a
4
y
i
2
+
a
5
x
i
y
i
+
ε
i
(
3
)
w
h
er
e,
i=
1
,
2
,
…,
n
a
1
,
a
2
ar
e
ca
lled
lin
ea
r
ef
f
ec
t p
ar
am
eter
s
.
a
3
,
a
4
ar
e
ca
lled
q
u
ad
r
atic
ef
f
ec
t p
ar
a
m
eter
s
.
a
5
is
ca
lled
an
i
n
ter
ac
tio
n
e
f
f
ec
t p
ar
am
eter
.
T
h
e
r
eg
r
ess
io
n
f
u
n
ctio
n
i
s
:
(
)
=
a
0
+
a
1
x
i
+
a
2
y
i
+
a
3
x
i
2
+
a
4
y
i
2
+
a
5
x
i
y
i
(
4
)
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.
11
,
No
.
4
,
A
u
g
u
s
t 2
0
2
1
:
3
2
2
9
-
3240
3232
T
h
e
m
atr
i
x
f
o
r
m
is
r
ep
r
esen
te
d
as:
=
+
,
w
h
er
e
is
a
ze
r
o
m
ea
n
r
an
d
o
m
er
r
o
r
.
Z
=
(
z
1
z
2
⋮
z
n
)
ℎ
,
(
5
)
A
=
(
a
0
a
2
⋮
a
5
)
ℎ
(
6
)
X
=
(
1
x
1
y
1
x
1
2
y
1
2
x
1
y
1
1
x
2
y
2
x
2
2
y
2
2
x
2
y
2
⋮
1
x
n
y
n
x
n
2
y
n
2
x
n
y
n
)
ℎ
.
(
7
)
T
h
e
m
o
d
el
th
a
t d
escr
ib
es th
e
m
u
lti
v
ar
iate
p
o
l
y
n
o
m
ial
r
eg
r
e
s
s
io
n
t
h
at
co
n
n
ec
t
s
all
p
o
in
ts
i
s
g
i
v
en
b
y
:
z
i
=
∑
∑
a
r
,
n
n
r
=
0
m
n
=
0
x
i
r
y
i
n
−
r
+
ε
i
(
8
)
w
h
er
e
(
i=1
,
2
,
…,
n
)
.
B
y
s
e
tti
n
g
t
h
e
r
an
d
o
m
er
r
o
r
v
alu
e
to
ze
r
o
an
d
s
u
b
s
tit
u
ti
n
g
th
e
p
o
in
ts
(
1
,
1
,
1
)
,
(
2
,
2
,
2
)
,
…
,
(
,
,
)
in
to
(
8
)
,
w
e
ca
n
f
i
n
d
t
h
e
v
al
u
es
o
f
t
h
e
co
n
s
ta
n
ts
,
.
T
o
f
in
d
o
u
t
h
o
w
th
e
lo
ca
tio
n
o
f
t
h
e
p
o
in
t
s
m
ap
p
ed
to
th
e
ti
m
e,
th
e
s
p
ee
d
|
0
⃗
⃗
⃗
|
is
ass
u
m
ed
co
n
s
ta
n
t
th
r
o
u
g
h
o
u
t
th
e
p
er
io
d
o
f
p
r
e
d
ictio
n
T
.
Ho
w
e
v
er
,
th
e
d
ir
ec
tio
n
o
f
m
o
v
e
m
en
t
is
n
o
t.
L
et
∅
b
e
th
e
a
n
g
le
o
f
t
h
e
n
o
d
e’
s
tr
aj
ec
to
r
y
w
it
h
x
y
-
p
la
n
e
an
d
b
e
th
e
an
g
le
o
f
p
r
o
j
ec
tio
n
o
f
in
s
ta
n
t
s
p
ee
d
v
ec
to
r
w
it
h
x
a
x
is
.
C
o
n
s
eq
u
e
n
tl
y
,
th
e
n
o
d
e’
s
m
o
v
e
m
e
n
t
h
as
a
d
i
r
ec
tio
n
in
ter
m
s
o
f
th
e
tan
g
e
n
t o
f
t
h
e
cu
r
v
e
ap
p
ea
r
s
in
(
9
)
,
(
1
0
)
:
∅
=
−
1
(
)
(
9
)
=
ta
n
−
1
(
1
0
)
T
h
e
v
elo
cit
y
o
f
a
n
y
m
o
v
i
n
g
o
b
j
ec
t
is
th
e
ch
a
n
g
e
i
n
it
s
s
p
ee
d
an
d
d
ir
ec
tio
n
o
f
m
o
v
e
m
e
n
t
w
h
ic
h
i
s
d
escr
ib
ed
b
y
th
e
r
ate
o
f
ch
an
g
e
o
f
its
lo
ca
tio
n
w
it
h
ti
m
e.
I
n
(
8
)
,
th
e
co
o
r
d
in
ates
ar
e
clea
r
ly
f
o
r
m
ed
.
C
o
n
s
eq
u
en
tl
y
,
th
e
p
ar
tial
d
er
i
v
a
ti
v
e
o
f
t
h
is
eq
u
atio
n
i
n
d
icat
es
h
o
w
o
n
e
v
ar
iab
le
c
h
an
g
e
s
w
it
h
r
esp
ec
t
to
t
h
e
o
th
er
.
T
h
e
s
lo
p
e
o
f
th
e
tan
g
en
t
p
lan
e
alo
n
g
t
h
e
c
u
r
v
e
d
escr
ib
es th
e
d
ir
ec
tio
n
o
f
m
o
v
e
m
e
n
t
o
f
th
e
n
o
d
e
an
d
ca
n
b
e
m
ap
p
ed
as
a
f
u
n
ct
io
n
o
f
ti
m
e.
A
s
s
h
o
w
n
i
n
1
an
d
2
ab
o
v
e
r
elate
t
h
e
co
m
p
o
n
e
n
ts
an
d
th
e
m
ag
n
it
u
d
e
o
f
t
h
e
s
p
ee
d
o
f
t
h
e
n
o
d
e,
Sin
ce
|
0
⃗
⃗
⃗
|
is
c
o
n
s
ta
n
t
o
n
[
1
,
1
+
]
,
th
er
ef
o
r
e,
th
e
ch
a
n
g
e
w
ill
b
e
i
n
o
n
e
o
r
m
o
r
e
o
f
th
e
co
m
p
o
n
e
n
t
s
.
Si
n
ce
th
e
s
p
ee
d
at
a
ce
r
tai
n
d
ir
ec
tio
n
is
th
e
c
h
an
g
e
o
f
p
o
s
itio
n
in
t
h
at
d
ir
ec
t
io
n
w
it
h
r
e
s
p
ec
t
to
ti
m
e;
w
e
ca
n
ex
p
r
es
s
th
e
x
,
y
a
n
d
z
co
m
p
o
n
e
n
t
s
o
f
t
h
e
v
elo
ci
t
y
r
esp
ec
tiv
e
l
y
b
y
:
⃗
⃗
⃗
=
̂
,
⃗
⃗
⃗
=
̂
,
⃗
⃗
⃗
=
̂
T
h
e
x
-
co
o
r
d
in
ate
o
f
th
e
lo
ca
ti
o
n
ca
n
b
e
ex
p
r
ess
ed
b
y
:
=
∫
2
1
w
h
er
e
=
0
∅
an
d
th
e
v
al
u
es o
f
y
ca
n
b
e
ev
alu
ated
b
y
:
=
∫
2
1
w
h
er
e
=
0
∅
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2
0
8
8
-
8708
P
r
ed
ictio
n
o
f n
o
d
es mo
b
ilit
y
in
3
-
D
s
p
a
ce
(
Mo
h
a
mma
d
A
l
-
Ha
tta
b
)
3233
Si
m
i
lar
l
y
,
t
h
e
v
al
u
e
o
f
z
i
s
ca
lcu
lated
b
y
:
=
∫
2
1
w
h
er
e
=
0
∅
2
.
2
.
L
o
ca
t
io
n/ti
m
e
m
a
pp
ing
T
h
e
p
ar
tial
d
er
iv
a
tiv
es
o
f
t
h
e
p
o
ly
n
o
m
ia
l
=
(
,
)
is
u
s
ed
to
f
i
n
d
t
h
e
v
al
u
es
o
f
t
h
e
an
g
le
s
Φ
at
ea
ch
p
o
in
t
alo
n
g
w
it
h
t
h
e
co
n
s
tr
u
cted
p
o
l
y
n
o
m
ial.
B
ased
o
n
th
e
ass
u
m
p
tio
n
th
at
t
h
e
s
p
ee
d
o
f
th
e
m
o
b
ile
n
o
d
e
is
co
n
s
ta
n
t
o
v
er
th
e
p
r
ed
ictio
n
p
er
io
d
[
1
,
1
+
]
.
T
h
e
s
p
ee
d
in
t
h
e
x
-
d
ir
ec
tio
n
i
s
t
h
e
c
h
an
g
e
o
f
x
p
o
s
itio
n
in
T
.
Hen
ce
,
th
e
r
ate
o
f
ch
a
n
g
e
∆
∆
ca
n
b
e
f
o
u
n
d
th
r
o
u
g
h
:
∆
∆
=
−
−
1
−
−
1
(
1
1
)
T
h
e
s
p
ee
d
in
th
e
x
-
d
ir
ec
tio
n
is
also
ex
p
r
ess
ed
b
y
(
1
2
)
:
=
0
=
∆
∆
(
1
2
)
C
o
n
s
eq
u
en
tl
y
,
b
y
s
u
b
s
tit
u
tin
g
(
1
1
)
in
to
(
1
2
)
w
e
g
et
th
e
f
o
llo
w
i
n
g
f
o
r
m
u
la,
1
1
0
c
o
s
i
ii
ii
x
xx
tt
v
(
1
3
)
T
h
e
co
r
r
esp
o
n
d
in
g
ti
m
e
f
o
r
ea
ch
p
o
in
t
alo
n
g
th
e
s
et
(
1
,
1
,
1
)
th
r
o
u
g
h
to
(
,
,
)
th
at
w
er
e
u
s
e
d
to
f
in
d
th
e
p
o
l
y
n
o
m
ia
l
=
(
,
)
ca
n
b
e
d
eter
m
i
n
ed
b
y
a
r
ec
u
r
s
iv
e
s
u
b
s
tit
u
tio
n
o
f
th
e
x
co
o
r
d
in
at
es
in
to
(
1
3
)
.
T
h
e
ac
cu
r
ac
y
o
f
th
e
p
r
ed
ictio
n
is
af
f
ec
ted
b
y
th
e
v
a
l
u
e
o
f
th
e
p
r
ed
ictio
n
p
er
io
d
T
an
d
th
e
ti
m
e
s
tep
=
(
−
−
1
)
.
Fo
r
a
s
m
a
ll
v
al
u
e
o
f
T
,
th
e
n
u
m
b
er
o
f
p
o
in
ts
b
et
w
ee
n
A
an
d
B
o
n
Fig
u
r
e
2
co
u
ld
b
e
a
s
f
e
w
as
t
w
o
p
o
in
ts
o
n
l
y
,
w
h
ic
h
w
ill
p
r
o
d
u
ce
a
f
ir
s
t
o
r
d
er
p
o
ly
n
o
m
ial
(
s
tr
aig
h
t
li
n
e)
an
d
th
er
ef
o
r
e,
n
o
f
u
tu
r
e
p
r
ed
icted
p
o
in
ts
ar
e
ex
p
ec
ted
.
W
h
ile,
f
o
r
a
lar
g
e
v
alu
e
o
f
T
,
a
lar
g
e
n
u
m
b
er
o
f
p
o
in
ts
is
u
s
ed
in
co
n
s
tr
u
ct
in
g
th
e
p
o
l
y
n
o
m
ia
l.
Fi
n
d
in
g
a
p
o
l
y
n
o
m
ial
th
at
f
i
ts
al
l
t
h
ese
p
o
in
ts
ac
c
u
r
atel
y
is
to
o
h
ar
d
.
So
th
e
co
n
s
tr
u
cted
p
o
ly
n
o
m
ia
l
w
ill b
e
an
ap
p
r
o
x
i
m
atio
n
w
h
ic
h
w
ill p
r
o
d
u
ce
an
in
ac
cu
r
ate
p
r
ed
ictio
n
.
T
o
f
u
r
th
er
ex
p
lai
n
th
e
e
f
f
ec
t
o
f
T
,
co
n
s
id
er
th
e
d
iag
r
a
m
i
n
Fig
u
r
e
3
.
C
h
o
o
s
in
g
a
lar
g
e
v
a
lu
e
o
f
T
is
eq
u
iv
ale
n
t
to
f
i
n
d
in
g
a
p
o
ly
n
o
m
ial
t
h
at
ap
p
r
o
x
i
m
atel
y
f
i
ts
all
p
o
in
ts
b
et
w
ee
n
A
an
d
C
,
w
h
ich
is
t
h
e
p
o
ly
n
o
m
ia
l
in
r
ed
g
r
ap
h
(
p
o
l
y
1
)
.
On
th
e
o
th
er
h
an
d
,
ch
o
o
s
i
n
g
a
s
m
aller
v
a
lu
e
o
f
T
is
eq
u
iv
alen
t
to
d
iv
id
e
th
e
p
o
ly
n
o
m
ia
l
f
itti
n
g
p
r
o
ce
s
s
in
t
o
t
w
o
s
ta
g
e
s
,
o
n
e
f
r
o
m
p
o
in
t
A
to
p
o
in
t
B
,
th
e
p
o
l
y
n
o
m
ia
l
in
t
h
e
b
l
u
e
g
r
ap
h
(
p
o
ly
2
)
,
an
d
th
e
o
th
er
o
n
e
i
s
f
r
o
m
p
o
in
t
B
to
p
o
in
t
C
w
h
ic
h
is
t
h
e
p
o
l
y
n
o
m
ial
i
n
b
ac
k
g
r
ap
h
(
p
o
ly
3
)
.
T
h
e
f
i
g
u
r
e
clea
r
l
y
s
h
o
w
s
th
at
th
e
ac
cu
r
ac
y
o
f
ch
o
o
s
i
n
g
o
n
e
p
o
l
y
n
o
m
ia
l
f
r
o
m
A
to
C
i
s
le
s
s
th
an
ch
o
o
s
i
n
g
t
w
o
p
o
ly
n
o
m
ia
ls
to
f
i
ts
t
h
e
p
o
in
ts
f
r
o
m
A
to
B
th
e
n
f
r
o
m
B
to
C
r
esp
ec
tiv
el
y
.
Fig
u
r
e
3
.
T
h
e
ef
f
ec
t o
f
c
h
o
o
s
in
g
t
h
e
p
o
in
t
s
o
n
d
eter
m
i
n
i
n
g
a
n
o
p
ti
m
al
p
o
l
y
n
o
m
ia
l
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.
11
,
No
.
4
,
A
u
g
u
s
t 2
0
2
1
:
3
2
2
9
-
3240
3234
2
.
3
.
Net
w
o
rk
t
o
po
lo
g
y
predict
io
n (
a
pp
lica
t
io
n o
f
t
he
predict
io
n)
T
h
e
alg
o
r
ith
m
e
x
p
lain
ed
in
th
e
p
r
ev
io
u
s
s
ec
tio
n
e
n
ab
les
t
h
e
p
r
ed
ictio
n
s
o
f
a
s
et
o
f
f
u
t
u
r
e
lo
ca
tio
n
s
f
o
r
th
e
m
o
b
ile
n
o
d
e.
I
t
also
p
r
o
v
id
es
a
ti
m
e
in
d
e
x
f
o
r
ea
ch
p
r
ed
icted
lo
ca
tio
n
f
o
r
a
p
er
io
d
o
f
T
s
ec
o
n
d
s
ah
ea
d
.
E
v
er
y
T
s
ec
o
n
d
s
,
ea
ch
n
o
d
e
i
n
t
h
e
n
et
w
o
r
k
p
r
ed
icts
a
s
et
o
f
f
u
tu
r
e
lo
ca
tio
n
s
t
h
at
it
w
ill
b
e
tr
av
er
s
ed
alo
n
g
it
s
o
w
n
f
u
t
u
r
e
tr
aj
ec
to
r
y
a
n
d
th
e
n
d
is
s
e
m
i
n
ate
s
t
h
e
m
in
to
t
h
e
n
et
w
o
r
k
t
h
r
o
u
g
h
a
n
u
p
d
ate
p
ac
k
et.
T
ab
le
1
s
h
o
w
s
th
e
in
f
o
r
m
a
tio
n
a
n
d
th
e
f
o
r
m
at
o
f
th
e
u
p
d
ate
p
ac
k
et.
T
ab
le
1.
Fo
r
m
at
o
f
t
h
e
p
er
io
d
i
c
u
p
d
ate
p
ac
k
et
N
o
d
e
I
D
C
o
n
t
r
o
l
f
i
e
l
d
s
1
2
1
2
1
2
…
1
2
=
1
+
2
T
o
en
s
u
r
e
th
e
m
ax
i
m
u
m
b
en
e
f
it
o
f
t
h
e
p
r
ed
ictio
n
al
g
o
r
ith
m
ea
ch
n
o
d
e
ex
ec
u
tes
th
e
p
r
ed
ictio
n
e
v
er
y
T
s
ec
o
n
d
s
an
d
p
r
o
d
u
ce
s
a
s
e
t
p
f
p
r
ed
icted
lo
ca
tio
n
s
f
o
r
a
p
er
io
d
o
f
2
T
s
ec
o
n
d
s
ah
ea
d
,
th
is
w
ill
e
n
s
u
r
e
t
h
e
av
ailab
ilit
y
o
f
en
o
u
g
h
p
r
ed
icted
lo
ca
tio
n
s
to
p
r
o
d
u
ce
th
e
f
u
tu
r
e
to
p
o
lo
g
y
m
atr
ice
s
f
o
r
T
s
ec
o
n
d
s
ah
ea
d
.
A
ll
n
o
d
es
r
ec
eiv
e
th
e
u
p
d
ate
p
ac
k
ets
at
r
an
d
o
m
o
r
d
er
an
d
at
r
an
d
o
m
ti
m
e
b
ec
au
s
e
th
e
b
e
g
in
n
i
n
g
o
f
th
e
p
r
ed
ictio
n
p
er
io
d
f
o
r
th
e
n
o
d
es
ar
e
n
o
t
s
y
n
c
h
r
o
n
ized
,
t
h
er
ef
o
r
e
it
is
p
o
s
s
ib
le
t
h
at
th
e
p
r
ed
icted
f
u
tu
r
e
lo
ca
tio
n
s
f
o
r
s
o
m
e
n
o
d
es a
r
e
n
o
t l
o
n
g
e
n
o
u
g
h
to
co
n
s
tr
u
ct
t
h
e
co
m
p
lete
n
et
w
o
r
k
m
o
b
ilit
y
f
o
r
a
p
er
io
d
o
f
T
s
ec
o
n
d
s
ah
ea
d
.
T
o
o
v
er
co
m
e
th
i
s
i
s
s
u
e
an
d
t
o
en
s
u
r
e
th
e
a
v
ailab
il
it
y
o
f
t
h
e
f
u
tu
r
e
to
p
o
lo
g
ie
s
f
o
r
T
s
ec
o
n
d
s
a
h
ea
d
,
ea
ch
n
o
d
e
-
at
ea
c
h
p
er
io
d
T
-
d
is
s
e
m
i
n
ates
th
e
p
r
ed
ictio
n
s
o
f
its
f
u
t
u
r
e
lo
ca
tio
n
s
f
o
r
a
len
g
th
o
f
2
T
s
ec
o
n
d
s
ah
ea
d
in
s
tead
o
f
T
s
ec
o
n
d
s
.
T
o
ex
p
lain
th
i
s
,
co
n
s
id
er
n
o
d
e
A
i
n
Fi
g
u
r
e
4
w
h
ich
h
ad
j
u
s
t
p
r
o
d
u
ce
d
a
s
et
o
f
f
u
tu
r
e
lo
ca
tio
n
s
o
f
it
s
o
w
n
an
d
is
ab
o
u
t
to
b
u
ild
th
e
f
u
t
u
r
e
t
o
p
o
lo
g
y
m
atr
i
x
.
L
et
t
h
e
s
ize
o
f
t
h
e
u
p
d
ate
p
ac
k
et
b
e
s
ix
lo
ca
tio
n
s
,
w
h
ich
is
co
r
r
esp
o
n
d
in
g
to
p
r
ed
ictio
n
s
f
o
r
T
s
ec
o
n
d
s
ah
ea
d
,
g
i
v
en
th
at
n
o
d
e
A
h
ad
r
ec
eiv
ed
th
ese
u
p
d
ates
at
d
if
f
er
en
t
t
i
m
i
n
g
.
A
t
t
h
e
c
u
r
r
en
t
ti
m
e,
it
is
n
o
t
p
o
s
s
ib
le
f
o
r
n
o
d
e
A
to
p
r
ed
ict
a
co
m
p
lete
s
et
o
f
f
u
tu
r
e
to
p
o
lo
g
y
m
atr
ices
o
f
t
h
e
n
et
w
o
r
k
b
ec
au
s
e
th
e
f
u
t
u
r
e
lo
ca
tio
n
s
f
o
r
n
o
d
e
F
ar
e
n
o
t
a
v
ailab
le,
m
o
r
eo
v
er
th
e
f
u
t
u
r
e
lo
ca
tio
n
s
f
o
r
o
th
er
n
o
d
es su
ch
a
s
n
o
d
e
B
an
d
n
o
d
e
D
ar
e
in
s
u
f
f
icie
n
t.
On
t
h
e
o
t
h
er
h
a
n
d
,
co
n
s
id
er
th
e
ca
s
e
in
Fi
g
u
r
e
5
w
i
th
th
e
n
u
m
b
er
o
f
th
e
p
r
ed
icted
lo
ca
tio
n
s
i
s
t
w
el
v
e,
t
h
is
is
co
r
r
esp
o
n
d
in
g
to
p
r
ed
ictio
n
s
f
o
r
a
p
er
io
d
o
f
2
T
ah
ea
d
.
I
n
th
is
ca
s
e
t
h
e
c
u
r
r
en
t
in
f
o
r
m
a
tio
n
i
s
s
u
f
f
icie
n
t
e
n
o
u
g
h
to
p
r
ed
ict
th
e
co
m
p
lete
n
et
w
o
r
k
to
p
o
lo
g
ie
s
f
o
r
t
h
e
p
er
io
d
T
an
d
th
er
ef
o
r
e
f
o
r
at
leas
t
a
s
e
t
o
f
s
i
x
f
u
t
u
r
e
to
p
o
lo
g
ies.
Fig
u
r
e
4
.
Up
d
ate
p
ac
k
ets at
n
o
d
e
a
r
ec
eiv
ed
f
r
o
m
o
th
er
n
o
d
es f
o
r
a
p
er
io
d
o
f
a
T
s
ec
o
n
d
s
ah
ea
d
Fig
u
r
e
5
.
Up
d
ate
p
ac
k
ets at
n
o
d
e
a
r
ec
eiv
ed
f
r
o
m
o
th
er
n
o
d
es f
o
r
a
p
er
io
d
o
f
a
2
T
s
ec
o
n
d
s
ah
ea
d
3.
E
VA
L
UA
T
I
O
N
O
F
T
H
E
P
RE
DI
CT
I
O
N
RE
SUL
T
S
A
M
A
T
L
A
B
s
i
m
u
latio
n
w
a
s
c
ar
r
ied
o
u
t
to
e
v
alu
a
te
t
h
e
p
r
ed
ictio
n
al
g
o
r
ith
m
p
r
e
s
en
ted
in
t
h
is
p
ap
er
,
it
also
test
ed
it
s
ac
c
u
r
ac
y
a
n
d
its
p
r
ed
ictio
n
ab
ilit
y
.
T
h
e
s
i
m
u
latio
n
w
as
i
m
p
le
m
en
ted
o
n
a
n
e
t
w
o
r
k
ar
ea
o
f
2000
m
b
y
2
0
0
0
m
.
T
h
e
s
i
m
u
latio
n
d
ep
lo
y
ed
a
s
et
o
f
m
o
b
ile
n
o
d
es
in
t
h
e
ar
e
a
o
f
i
n
ter
est
th
e
n
g
en
er
ated
a
r
o
u
te
f
r
o
m
a
r
a
n
d
o
m
l
y
c
h
o
s
e
n
s
o
u
r
ce
to
a
r
an
d
o
m
d
esti
n
atio
n
.
T
h
e
co
o
r
d
in
ates,
t
h
e
s
p
ee
d
an
d
t
h
e
ti
m
e
f
o
r
t
h
e
n
o
d
e
tr
aj
ec
to
r
y
alo
n
g
t
h
e
s
ele
cted
p
ath
b
et
w
ee
n
th
e
s
o
u
r
ce
an
d
th
e
d
esti
n
atio
n
ar
e
u
s
ed
to
s
i
m
u
la
te
t
h
e
ac
t
u
al
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2
0
8
8
-
8708
P
r
ed
ictio
n
o
f n
o
d
es mo
b
ilit
y
in
3
-
D
s
p
a
ce
(
Mo
h
a
mma
d
A
l
-
Ha
tta
b
)
3235
tr
aj
e
cto
r
y
o
f
th
e
s
elec
ted
n
o
d
e.
T
h
en
,
th
e
al
g
o
r
ith
m
w
as
a
p
p
lied
to
p
r
ed
ict
th
e
tr
a
j
ec
to
r
y
o
f
th
e
s
a
m
e
n
o
d
e
u
s
i
n
g
t
h
e
p
r
ed
ictio
n
m
o
d
el
a
n
d
th
e
n
co
m
p
ar
es
th
e
ac
tu
al
an
d
p
r
ed
icted
tr
aj
ec
to
r
ies
f
o
r
th
e
s
a
m
e
n
o
d
e.
T
h
e
s
i
m
u
lat
io
n
co
m
p
ar
ed
b
et
w
ee
n
th
e
X
-
Y
co
o
r
d
in
ates
o
f
th
e
ac
tu
al
a
n
d
t
h
e
p
r
ed
icted
tr
aj
ec
to
r
ies.
Si
m
ilar
r
es
u
lt
s
w
er
e
o
b
tain
ed
f
o
r
th
e
p
r
ed
ictio
n
o
f
Y
-
Z
co
o
r
d
in
ates
a
n
d
X
-
Z
co
o
r
d
in
ates.
T
h
e
s
i
m
u
lat
io
n
also
s
t
u
d
ied
th
e
ef
f
ec
t o
f
t
h
e
p
r
ed
ictio
n
p
er
io
d
(
T
)
b
y
ap
p
l
y
in
g
d
if
f
er
e
n
t v
al
u
es o
f
T
.
A
co
m
p
ar
i
s
o
n
b
et
w
ee
n
t
h
e
p
r
ed
icted
an
d
th
e
ac
t
u
al
tr
aj
ec
to
r
ies
f
o
r
th
e
m
o
b
ile
n
o
d
e
u
s
i
n
g
t
w
o
d
if
f
er
e
n
t
p
r
ed
ictio
n
p
er
io
d
s
,
t
h
e
len
g
th
o
f
t
h
e
p
r
ed
ictio
n
p
e
r
io
d
T
w
a
s
th
ir
t
y
-
f
iv
e
s
ec
o
n
d
s
an
d
f
iv
e
s
ec
o
n
d
s
r
esp
ec
tiv
el
y
.
T
h
e
ac
cu
r
ac
y
o
f
th
e
alg
o
r
ith
m
in
v
er
s
el
y
p
r
o
p
o
r
tio
n
al
to
th
e
p
r
e
d
ictio
n
p
er
i
o
d
T
.
th
e
p
r
ed
ictio
n
er
r
o
r
w
a
s
o
b
v
io
u
s
w
h
e
n
t
h
e
v
a
lu
e
o
f
T
s
et
to
th
ir
t
y
-
f
iv
e
s
ec
o
n
d
s
as
s
h
o
w
n
in
Fi
g
u
r
e
6
w
h
il
e
th
e
ac
t
u
al
a
n
d
t
h
e
p
r
ed
ic
ted
tr
a
j
ec
to
r
ies
in
Fig
u
r
e
7
w
it
h
T
s
et
to
f
i
v
e
s
ec
o
n
d
s
-
ar
e
al
m
o
s
t
id
e
n
tical
w
i
th
n
e
g
li
g
ib
le
p
r
ed
ic
tio
n
er
r
o
r
.
Fig
u
r
e
6
.
A
ct
u
al
v
s
p
r
ed
icted
tr
aj
ec
to
r
y
w
it
h
a
p
r
ed
ictio
n
p
er
io
d
T
=3
5
s
ec
o
n
d
s
Fig
u
r
e
7
.
A
ct
u
al
v
s
p
r
ed
icted
tr
aj
ec
to
r
y
w
it
h
a
p
r
ed
ictio
n
p
er
io
d
T
=5
s
ec
o
n
d
s
Fig
u
r
e
s
8
an
d
9
co
m
p
ar
e
th
e
ac
tu
al
a
n
d
p
r
ed
icted
x
a
n
d
y
co
o
r
d
in
ates
f
o
r
th
e
m
o
b
ile
n
o
d
e
r
esp
ec
tiv
el
y
w
it
h
d
i
f
f
er
en
t
v
alu
es
o
f
T
.
T
h
e
an
al
y
s
is
o
f
th
e
s
i
m
u
lat
io
n
r
es
u
lt
s
s
h
o
w
s
th
at
th
e
p
r
ed
ictio
n
alg
o
r
ith
m
d
o
es
n
o
t
ac
c
u
m
u
lat
e
er
r
o
r
s
.
T
h
e
p
er
io
d
ic
u
p
d
ate
eli
m
i
n
ate
s
t
h
e
ac
c
u
m
u
lat
io
n
o
f
er
r
o
r
b
ec
au
s
e
th
e
co
o
r
d
in
ates
at
t
h
e
b
eg
i
n
n
in
g
o
f
t
h
e
u
p
d
ate
p
ac
k
et
ar
e
a
n
ac
tu
al
lo
ca
tio
n
d
ata.
A
co
m
p
ar
is
o
n
b
et
w
ee
n
t
h
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
11
,
No
.
4
,
A
u
g
u
s
t 2
0
2
1
:
3
2
2
9
-
3240
3236
ac
tu
al
a
n
d
t
h
e
p
r
ed
icted
x
-
co
o
r
d
in
ates
f
o
r
th
e
m
o
b
ile
n
o
d
e
tr
aj
ec
to
r
y
co
n
f
ir
m
s
t
h
is
f
in
d
in
g
.
Si
m
ilar
l
y
,
t
h
e
s
a
m
e
r
es
u
lt
s
w
er
e
o
b
tain
ed
f
r
o
m
y
-
co
o
r
d
in
ates.
Mo
r
eo
v
er
,
th
e
p
r
ed
icted
v
alu
e
s
o
f
th
e
co
o
r
d
in
ates
at
a
g
iv
e
n
ti
m
e
d
o
es n
o
t d
ir
ec
tl
y
d
ep
en
d
o
n
th
e
p
r
ev
io
u
s
v
al
u
e
s
.
Fig
u
r
e
8
.
A
ct
u
al
v
s
p
r
ed
icted
co
o
r
d
in
ates f
o
r
a
m
o
b
ile
n
o
d
e
w
it
h
p
r
ed
ictio
n
p
er
io
d
T
=3
5
Fig
u
r
e
9
.
A
ct
u
al
v
s
p
r
ed
icted
co
o
r
d
in
ates f
o
r
a
m
o
b
ile
n
o
d
e
w
it
h
p
r
ed
ictio
n
p
er
io
d
T
=5
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2
0
8
8
-
8708
P
r
ed
ictio
n
o
f n
o
d
es mo
b
ilit
y
in
3
-
D
s
p
a
ce
(
Mo
h
a
mma
d
A
l
-
Ha
tta
b
)
3237
T
h
e
m
ai
n
t
w
o
s
o
u
r
ce
s
f
o
r
th
e
er
r
o
r
s
ar
e
th
e
ass
u
m
p
t
io
n
o
f
co
n
s
ta
n
t
s
p
ee
d
d
u
r
in
g
ea
ch
p
r
ed
ictio
n
p
er
io
d
an
d
th
e
f
o
r
m
u
latio
n
o
f
th
e
o
p
ti
m
a
l
p
o
l
y
n
o
m
ial.
T
h
e
ch
o
ice
o
f
t
h
e
p
o
in
t
s
,
th
e
n
u
m
b
er
o
f
th
ese
p
o
in
t
s
,
an
d
th
e
d
eg
r
ee
o
f
t
h
e
p
o
l
y
n
o
m
ial
a
f
f
ec
t
f
i
n
d
i
n
g
t
h
e
p
o
l
y
n
o
m
ial
th
a
t
f
i
ts
all
t
h
e
p
o
in
ts
alo
n
g
t
h
e
tr
aj
ec
to
r
y
.
Fig
u
r
e
s
1
0
an
d
1
1
s
h
o
w
t
h
e
p
r
ed
ictio
n
er
r
o
r
s
f
o
r
t
w
o
d
if
f
er
en
t v
al
u
e
s
o
f
th
e
p
r
ed
ictio
n
p
er
i
o
d
T
.
Fig
u
r
e
1
0
.
X
an
d
Y
co
o
r
d
in
ates p
r
ed
ictio
n
er
r
o
r
f
o
r
T
=
3
5
s
e
co
n
d
s
Fig
u
r
e
1
1
.
X
an
d
Y
co
o
r
d
in
ates p
r
ed
ictio
n
er
r
o
r
f
o
r
T
=
5
s
ec
o
n
d
s
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.
11
,
No
.
4
,
A
u
g
u
s
t 2
0
2
1
:
3
2
2
9
-
3240
3238
W
h
en
t
h
e
p
r
ed
ictio
n
p
er
io
d
s
et
to
T
=3
5
s
ec
o
n
d
s
as
it
ap
p
ea
r
s
in
Fi
g
u
r
e
1
0
th
e
m
ea
n
ab
s
o
lu
te
er
r
o
r
m
ea
s
u
r
es
an
a
v
er
ag
e
v
al
u
e
o
f
2
0
m
.
T
h
is
v
alu
e
m
ea
s
u
r
es
les
s
th
a
n
1
m
w
h
en
t
h
e
p
r
ed
ictio
n
p
er
io
d
is
r
e
d
u
ce
d
to
T
=
5
s
ec
o
n
d
s
in
Fi
g
u
r
e
1
1
.
T
h
e
ef
f
icie
n
c
y
o
f
th
e
p
r
ed
ictio
n
ca
n
b
e
i
m
p
r
o
v
ed
b
y
r
ed
u
cin
g
t
h
e
p
r
ed
ictio
n
p
er
io
d
b
u
t
o
n
a
n
e
x
p
en
s
e
o
f
m
o
r
e
f
r
eq
u
e
n
t
u
p
d
ates.
Fi
g
u
r
e
1
2
s
h
o
w
s
h
o
w
t
h
e
a
v
er
ag
e
ab
s
o
lu
te
er
r
o
r
v
ar
ies
w
it
h
th
e
p
r
ed
ictio
n
p
er
io
d
(
T
)
.
T
h
e
m
ea
n
ab
s
o
l
u
te
er
r
o
r
is
p
r
o
p
o
r
tio
n
al
to
th
e
p
r
ed
ictio
n
p
er
io
d
T
in
n
o
n
-
lin
ea
r
s
ec
o
n
d
o
r
d
er
r
elatio
n
.
Fig
u
r
e
1
2
.
A
v
er
a
g
e
er
r
o
r
v
s
p
r
ed
ictio
n
p
er
io
d
(
T
)
f
o
r
X
co
o
r
d
in
ate
s
a
n
d
Y
co
o
r
d
in
ates
4.
CO
NCLU
SI
O
N
I
n
th
is
p
ap
er
,
w
e
p
r
o
p
o
s
ed
,
te
s
ted
an
d
v
alid
ated
a
f
r
a
m
e
w
o
r
k
f
o
r
t
h
r
ee
-
d
i
m
e
n
s
io
n
al
s
p
ac
e
m
o
b
ilit
y
p
r
ed
ictio
n
.
T
h
e
p
ap
er
p
r
esen
ted
th
e
m
at
h
e
m
at
ical
m
o
d
el
o
f
th
e
p
r
ed
ictio
n
an
d
s
h
o
w
ed
h
o
w
ea
ch
co
m
p
o
n
e
n
t
o
f
th
e
tr
aj
ec
to
r
y
m
ap
p
ed
in
to
a
f
u
n
c
tio
n
o
f
ti
m
e.
I
t
al
s
o
s
h
o
w
s
h
o
w
t
h
e
p
r
ed
icted
lo
ca
ti
o
n
s
ca
n
b
e
u
s
ed
to
b
u
ild
a
s
et
o
f
f
u
t
u
r
e
to
p
o
lo
g
y
m
atr
ices
T
h
e
ev
alu
atio
n
o
f
th
e
p
r
ed
ict
io
n
alg
o
r
it
h
m
co
n
f
ir
m
ed
th
e
ab
ilit
y
o
f
t
h
e
alg
o
r
it
h
m
to
p
r
ed
ict
th
e
f
u
tu
r
e
m
o
b
ilit
y
o
f
t
h
e
n
o
d
e
as
a
f
u
n
ctio
n
o
f
ti
m
e
an
d
t
h
er
ef
o
r
e
th
e
e
n
tire
f
u
t
u
r
e
m
o
b
il
it
y
o
f
th
e
n
et
w
o
r
k
w
i
th
a
r
ea
s
o
n
ab
le
er
r
o
r
.
I
t
also
s
h
o
w
ed
th
at
th
e
er
r
o
r
d
o
es
n
o
t
ac
c
u
m
u
late
b
ec
au
s
e
th
e
ca
lc
u
lati
o
n
o
f
th
e
p
r
ed
icted
v
alu
e
d
ep
en
d
s
o
n
t
h
e
co
n
s
tr
u
c
ted
tr
aj
ec
t
o
r
y
p
o
l
y
n
o
m
ial
an
d
n
o
t
d
ir
ec
tl
y
o
n
th
e
p
r
ev
io
u
s
v
alu
es.
T
h
e
an
al
y
s
is
o
f
th
e
s
i
m
u
latio
n
r
esu
lt
s
s
h
o
w
ed
th
a
t
th
e
ch
o
ice
o
f
t
h
e
p
r
ed
ictio
n
p
ar
am
e
ter
s
u
c
h
as
t
h
e
p
r
ed
ictio
n
p
er
io
d
T
an
d
t
h
e
ti
m
i
n
g
i
n
d
ex
tp
p
la
y
s
an
es
s
e
n
tial
r
o
le
o
n
f
i
n
d
in
g
t
h
e
o
p
ti
m
al
p
o
l
y
n
o
m
ial
a
n
d
t
h
er
ef
o
r
e
th
e
p
r
ed
ictio
n
o
f
th
e
n
et
w
o
r
k
to
p
o
lo
g
y
.
T
h
es
e
v
alu
e
s
ca
n
t
h
e
n
b
e
ad
j
u
s
ted
to
r
ea
ch
th
e
d
esire
d
ac
cu
r
ac
y
.
RE
F
E
R
E
NC
E
S
[1
]
S
.
A
.
Ra
sh
id
,
L
.
A
u
d
a
h
,
M
.
M
.
Ha
m
d
i,
M
.
S
.
A
b
o
o
d
a
n
d
S
.
Ala
n
i
,
“
Re
li
a
b
le
a
n
d
e
f
f
ici
e
n
t
d
a
ta
d
isse
m
in
a
ti
o
n
sc
h
e
m
e
in
V
A
NE
T
:
a
re
v
ie
w
,
”
I
n
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
E
lec
trica
l
a
n
d
Co
mp
u
t
e
r
En
g
in
e
e
rin
g
(
IJ
ECE
)
,
v
o
l.
1
0
,
n
o
.
6
,
p
p
.
6
4
2
3
-
6
4
3
4
,
2
0
2
0
,
d
o
i:
1
0
.
1
1
5
9
1
/
ij
e
c
e
.
v
1
0
i6
.
p
p
6
4
2
3
-
6
4
3
4
.
[2
]
A
.
Na
d
e
m
b
e
g
a
,
A
.
H
a
d
,
a
n
d
T
.
T
a
l
e
b
,
“
M
o
b
i
l
i
t
y
-
p
r
e
d
i
c
t
i
o
n
-
a
w
a
r
e
b
a
n
d
w
i
d
t
h
r
e
s
e
r
v
a
t
i
o
n
s
c
h
e
m
e
f
o
r
m
o
b
i
l
e
n
e
t
w
o
r
k
s
,
'
'
I
E
E
E
T
r
a
n
s
a
c
t
i
o
n
s
o
n
V
e
h
i
c
u
l
a
r
T
e
c
h
n
o
l
o
g
y
,
v
o
l
.
6
4
,
n
o
.
6
,
p
p
.
2
5
6
1
-
2
5
7
6
,
2
0
1
5
,
d
o
i
:
1
0
.
1
1
0
9
/T
V
T
.
2
0
1
4
.
2
3
4
5
2
5
5
[3
]
J.
Eri
k
ss
o
n
,
L
.
G
iro
d
,
B.
Hu
ll
,
R.
Ne
w
to
n
,
S
.
M
a
d
d
e
n
,
a
n
d
H.
Ba
l
a
k
rish
n
a
n
,
"
T
h
e
P
o
t
h
o
le
P
a
tro
l:
Us
in
g
a
M
o
b
il
e
S
e
n
so
r
Ne
tw
o
rk
f
o
r
Ro
a
d
S
u
rf
a
c
e
M
o
n
it
o
r
in
g
,
"
Pro
c
e
e
d
in
g
s o
f
t
h
e
6
t
h
in
ter
n
a
ti
o
n
a
l
c
o
n
fer
e
n
c
e
o
n
M
o
b
il
e
sy
ste
ms
,
a
p
p
li
c
a
ti
o
n
s,
a
n
d
se
rv
ice
s,
2
0
0
8
,
p
p
.
2
9
-
3
9
,
d
o
i:
1
0
.
1
1
4
5
/1
3
7
8
6
0
0
.
1
3
7
8
6
0
5
.
[4
]
A
.
Ha
sb
o
ll
a
h
,
S
.
A
ri
ff
in
,
N.
Gh
a
z
a
li
,
K.Yu
su
f
,
H.
M
o
rin
o
,
“
H
a
n
d
o
v
e
r
A
lg
o
rit
h
m
b
a
s
e
d
V
L
P
u
sin
g
M
o
b
il
it
y
P
re
d
ictio
n
Da
tab
a
se
f
o
r
V
e
h
ic
u
la
r
Ne
tw
o
rk
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
E
lec
trica
l
a
n
d
C
o
mp
u
te
r
En
g
i
n
e
e
rin
g
(
IJ
ECE
).
,
v
o
l.
8
,
n
o
.
4
,
p
p
.
2
4
7
7
-
2
4
8
5
,
2
0
1
8
,
d
o
i:
1
0
.
1
1
5
9
1
/
ij
e
c
e
.
v
8
i4
.
p
p
2
4
7
7
-
2
4
8
5
.
[5
]
H
.
A
b
u
-
G
h
a
z
a
leh
,
a
n
d
A
.
S
u
le
A
l
f
a
.
,
“
A
p
p
li
c
a
ti
o
n
o
f
M
o
b
il
it
y
P
re
d
ictio
n
in
W
irele
ss
Ne
t
w
o
rk
s
Us
in
g
M
a
rk
o
v
Re
n
e
wa
l
T
h
e
o
r
y
,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
O
n
Veh
icu
l
a
r
T
e
c
h
n
o
lo
g
y
,
v
o
l.
5
9
,
n
o
.
2
,
p
p
.
7
8
8
-
8
0
2
,
2
0
1
0
,
d
o
i:
1
0
.
1
1
0
9
/T
V
T
.
2
0
0
9
.
2
0
3
7
5
0
7
.
Evaluation Warning : The document was created with Spire.PDF for Python.