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2
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[
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13
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Dec
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20
24
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4
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4
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446
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r
i
n
g
o
f
h
o
m
es
as
well
a
s
b
etter
r
eg
u
latio
n
o
f
ap
p
lian
ce
s
[
8
]
.
Nu
m
e
r
o
u
s
h
o
m
e
au
to
m
atio
n
s
y
s
tem
s
h
av
e
b
ee
n
d
ev
elo
p
ed
to
d
etec
t
an
d
aler
t
an
y
ch
an
g
e
s
o
cc
u
r
r
in
g
with
in
a
h
o
u
s
e
[
9
]
.
I
n
th
is
r
esear
ch
,
a
v
is
u
al
s
er
v
o
co
n
tr
o
ller
lead
s
a
d
if
f
er
en
tial
d
r
iv
e
m
o
b
ile
r
o
b
o
t
to
th
e
d
ir
ec
tio
n
o
f
a
s
tatio
n
ar
y
tar
g
et.
A
tr
ian
g
le
tr
ig
o
n
o
m
et
r
y
k
in
em
atic
m
o
d
el
o
r
a
weig
h
te
d
g
r
ap
h
is
u
s
ed
f
o
r
th
is
p
u
r
p
o
s
e.
T
h
e
s
tu
d
y
d
et
ails
a
r
o
b
o
t
v
is
io
n
s
y
s
tem
th
at
d
ec
o
d
es
o
r
ig
in
al
i
m
ag
es
ca
p
tu
r
ed
b
y
a
ca
m
er
a
s
en
s
o
r
u
s
in
g
o
p
tical
f
lo
w.
T
h
ese
p
r
o
ce
s
s
ed
p
h
o
to
s
ar
e
th
en
u
s
ed
to
class
if
y
in
d
iv
i
d
u
als an
d
b
e
h
av
io
r
s
.
2.
L
I
T
E
R
AT
U
RE
R
E
VI
E
W
A
s
im
p
le,
in
ex
p
en
s
iv
e,
an
d
u
s
er
-
f
r
ien
d
ly
m
et
h
o
d
th
at
m
a
k
es
u
s
e
o
f
a
s
tan
d
ar
d
ca
m
er
a
is
b
est
t
o
o
b
tain
v
is
io
n
b
ased
d
etec
tio
n
[
1
0
]
.
Alth
o
u
g
h
t
h
is
m
eth
o
d
h
as
b
ee
n
m
eticu
lo
u
s
ly
d
ev
elo
p
ed
with
th
e
g
o
al
o
f
ac
co
m
m
o
d
atin
g
th
e
eld
er
ly
a
n
d
th
o
s
e
with
d
is
ab
ilit
ies,
it
i
s
n
ev
er
th
eless
in
s
en
s
i
tiv
e
to
h
an
d
f
o
r
m
v
a
r
ian
ce
s
[
1
1
]
.
B
y
d
etec
tin
g
h
u
m
an
p
r
esen
ce
,
o
u
r
p
r
o
p
o
s
ed
in
tellig
en
t e
lectr
ical
ap
p
lian
ce
m
an
ag
e
m
en
t
s
y
s
tem
s
ee
k
s
to
ef
f
icien
tly
o
p
er
ate
h
o
u
s
eh
o
ld
eq
u
ip
m
en
t.
Usi
n
g
th
is
tec
h
n
o
l
o
g
y
,
ap
p
lian
ce
s
ca
n
b
e
tu
r
n
ed
o
f
f
wh
e
n
n
o
o
n
e
is
ar
o
u
n
d
,
p
o
ten
tially
s
av
in
g
u
n
n
ec
ess
ar
y
en
er
g
y
[
1
2
]
.
W
e
p
r
o
v
id
e
a
n
o
v
el
ap
p
r
o
ac
h
to
tr
a
ck
in
g
h
u
m
an
m
o
tio
n
with
o
u
t r
eq
u
i
r
in
g
a
d
d
itio
n
al
d
ev
ices.
Wi
-
Fi
R
SS
I
an
d
C
SI
d
ata
co
l
lecte
d
f
r
o
m
wid
ely
a
v
ailab
le
I
o
T
d
ev
ices
ar
e
u
tili
ze
d
in
th
i
s
m
eth
o
d
.
First,
a
4
D
f
ea
tu
r
e
v
ec
to
r
is
e
x
tr
ac
ted
f
r
o
m
th
e
tem
p
o
r
al
d
a
ta
s
p
r
ea
d
an
d
u
s
ed
to
tr
ain
a
t
wo
-
s
tag
e
en
s
em
b
le
m
ac
h
in
e
lear
n
i
n
g
m
o
d
el
[
1
3
]
.
T
o
s
o
lv
e
t
h
e
p
r
o
b
lem
o
f
h
an
d
g
estu
r
e
-
b
ased
h
o
m
e
ap
p
l
ian
ce
co
n
tr
o
l,
we
p
r
esen
t
a
b
asic
co
n
v
o
l
u
tio
n
al
n
eu
r
al
n
etwo
r
k
(
C
NN)
m
eth
o
d
[
1
4
]
.
T
h
is
ap
p
r
o
ac
h
u
s
es
h
an
d
r
ec
o
g
n
itio
n
with
DetNe
t
to
ca
lcu
late
3
D
h
an
d
s
k
eleto
n
p
o
s
itio
n
s
.
I
m
p
r
ess
iv
ely
,
it
attain
s
a
test
in
g
d
ataset
ac
cu
r
ac
y
p
e
r
ce
n
tag
e
o
f
9
9
.
4
%.
T
h
e
f
in
d
in
g
s
o
f
o
u
r
in
v
esti
g
atio
n
d
em
o
n
s
tr
ate
h
o
w
th
is
tech
n
o
lo
g
y
ca
n
b
e
u
tili
ze
d
to
m
o
n
ito
r
v
ar
io
u
s
ar
ea
s
o
f
a
h
o
m
e
s
ep
ar
ately
[
1
5
]
.
A
s
m
a
r
t
h
o
m
e
ca
n
tr
an
s
m
it
d
ata
to
a
h
o
m
e
a
p
p
lia
n
ce
co
n
t
r
o
l
m
o
d
u
le
v
ia
a
s
er
v
er
.
Fo
r
in
s
tan
ce
,
en
a
b
lin
g
liv
in
g
ar
ea
s
an
d
r
em
o
te
co
n
tr
o
l a
n
d
m
o
n
ito
r
in
g
o
f
th
e
s
am
e
wir
eless
h
o
m
e
ar
e
way
s
th
r
o
u
g
h
wh
ic
h
o
n
e
c
an
tr
an
s
f
er
d
ata
tr
an
s
p
ar
en
tly
to
a
co
n
tr
o
l m
o
d
u
le
f
o
r
h
o
m
e
a
p
p
lian
ce
s
[
1
6
]
.
A
m
illi
m
eter
-
wav
e
r
ad
ar
s
en
s
o
r
is
ap
p
lied
b
y
o
u
r
tech
n
iq
u
e
in
th
is
wo
r
k
to
id
e
n
t
if
y
h
u
m
a
n
m
o
v
em
en
ts
s
u
ch
as
walk
in
g
,
r
u
n
n
in
g
,
c
r
awlin
g
a
n
d
s
tan
d
in
g
[
1
7
]
.
T
h
e
s
tatis
tical
n
atu
r
e
o
f
r
a
d
ar
s
ig
n
als
i
n
m
o
v
em
en
t
s
h
if
ts
d
etec
tio
n
m
o
d
e
a
n
d
th
e
ch
an
g
es
id
en
t
if
ied
ar
e
in
co
r
p
o
r
ate
d
in
t
o
t
wo
s
tag
es
o
f
s
ig
n
al
p
r
o
ce
s
s
in
g
u
s
ed
b
y
o
u
r
m
et
h
o
d
[
1
8
]
.
T
h
en
we
h
a
v
e
to
d
ec
id
e
wh
at
th
e
p
er
s
o
n
is
d
o
i
n
g
wit
h
a
d
ee
p
lea
r
n
in
g
-
b
ased
ca
teg
o
r
izatio
n
s
y
s
tem
.
B
o
th
p
r
o
ce
s
s
in
g
s
tep
s
r
ely
o
n
tem
p
o
r
al
ch
a
n
g
es
in
d
is
tan
ce
th
at
ar
e
p
r
o
v
id
e
d
b
y
r
ad
ar
s
p
ec
tr
o
g
r
am
s
[
1
9
]
.
I
m
p
o
r
ta
n
t
d
ev
ices
u
s
ed
in
th
is
r
esear
ch
ar
e
a
p
ass
iv
e
in
f
r
ar
ed
s
en
s
o
r
(
PIR)
b
ased
m
o
tio
n
d
etec
tio
n
s
en
s
o
r
,
an
A
r
d
u
in
o
Me
g
a
2
5
6
0
m
icr
o
co
n
t
r
o
ller
b
o
ar
d
,
an
I
o
T
p
r
o
to
ty
p
e
No
d
eM
C
U
V3
E
SP
8
2
6
6
W
i
-
Fi
d
ev
elo
p
m
e
n
t
b
o
a
r
d
,
an
d
a
SI
M8
0
0
L
GSM
m
o
d
u
le
with
GP
R
S
ca
p
ab
ilit
ies
[
2
0
]
.
W
e
p
r
o
v
id
e
h
er
e
a
m
eth
o
d
to
ch
ar
ac
ter
ize
th
e
m
o
v
em
e
n
t
o
f
a
h
u
m
an
b
ein
g
in
a
s
p
ac
e
s
u
r
r
o
u
n
d
ed
b
y
.
T
h
is
d
ev
ice
p
r
o
v
id
es
o
cc
u
p
an
cy
tr
ac
k
in
g
ac
r
o
s
s
a
b
u
ild
in
g
wh
ile
p
r
o
tectin
g
p
e
o
p
le
’
s
p
r
iv
a
cy
b
y
ap
p
l
y
in
g
lo
ca
lized
p
r
o
ce
s
s
in
g
to
ascer
tain
p
eo
p
le
’
s
d
ir
ec
ti
o
n
b
ased
o
n
i
n
f
o
r
m
atio
n
f
r
o
m
a
n
in
f
r
ar
ed
ar
r
ay
s
en
s
o
r
.
T
h
e
s
y
s
tem
p
r
o
ce
s
s
es
d
ata
f
r
o
m
a
ch
ea
p
in
f
r
ar
ed
a
r
r
ay
s
en
s
o
r
u
s
in
g
a
s
tate
-
of
-
t
h
e
-
ar
t r
ea
l
-
tim
e
p
atter
n
r
ec
o
g
n
itio
n
al
g
o
r
ith
m
[
2
1
]
.
3.
H
UM
AN
M
O
T
I
O
N
SM
A
RT
H
O
M
E
AU
T
O
M
A
T
I
O
N
S
YST
E
M
T
h
e
b
l
o
c
k
d
i
a
g
r
a
m
o
f
h
u
m
a
n
m
o
t
i
o
n
s
m
a
r
t
h
o
m
e
a
u
t
o
m
a
t
i
o
n
i
n
F
i
g
u
r
e
1
i
s
d
e
s
c
r
i
b
e
d
a
s
f
o
l
l
o
w
s
.
O
n
e
c
r
u
c
i
a
l
c
o
m
p
o
n
e
n
t
o
f
o
u
r
p
r
o
j
e
c
t
i
s
t
h
e
c
a
m
e
r
a
m
o
d
u
l
e
,
w
h
i
c
h
i
s
i
n
c
h
a
r
g
e
o
f
r
e
c
o
g
n
i
z
i
n
g
h
u
m
a
n
p
r
e
s
e
n
c
e
.
T
h
i
s
m
o
d
u
l
e
a
p
p
l
i
e
s
m
o
d
e
r
n
v
i
s
i
o
n
a
l
g
o
r
i
t
h
m
s
t
h
a
t
t
a
k
e
p
i
c
t
u
r
e
s
o
r
v
i
d
e
o
s
a
n
d
i
d
e
n
t
i
f
y
a
n
d
r
a
t
e
w
h
e
t
h
e
r
t
h
e
r
e
a
r
e
p
e
o
p
l
e
i
n
s
i
g
h
t
.
I
t
i
s
t
h
e
v
i
s
u
a
l
i
n
p
u
t
o
f
o
u
r
p
r
o
j
e
c
t
,
i
n
j
e
c
t
i
n
g
c
o
n
t
e
x
t
u
a
l
a
w
a
r
e
n
e
s
s
i
n
t
o
o
u
r
s
y
s
t
e
m
.
−
Mo
tio
n
d
etec
to
r
:
As
a
v
ital
co
m
p
o
n
en
t
o
f
th
e
s
y
s
tem
,
th
e
m
o
tio
n
d
etec
to
r
p
ick
s
u
p
an
y
m
o
tio
n
o
r
m
o
v
em
en
t
th
at
co
m
es
with
in
its
v
icin
ity
.
I
t
ca
n
b
e
s
tr
a
teg
ically
p
lace
d
f
o
r
f
u
ll
co
v
er
ag
e.
I
t
s
en
s
es
m
o
v
em
en
ts
an
d
r
eq
u
ests
th
e
STM
3
2
B
lu
e
Pil
l b
o
ar
d
t
o
tak
e
r
eq
u
ir
ed
ac
tio
n
s
u
ch
as tr
ig
g
er
in
g
an
alar
m
.
−
E
SP
3
2
m
icr
o
co
n
tr
o
ller
ac
ts
as
th
e
ce
n
tr
al
p
r
o
ce
s
s
in
g
u
n
it
o
f
th
is
p
r
o
ject.
I
t
is
th
r
o
u
g
h
t
h
e
u
s
e
o
f
lo
g
ic
an
d
alg
o
r
ith
m
s
th
at
d
ata
f
r
o
m
th
e
m
o
tio
n
s
en
s
o
r
an
d
ca
m
er
a
m
o
d
u
le
is
an
aly
ze
d
to
d
eter
m
in
e
th
e
p
r
esen
ce
o
f
p
eo
p
le.
T
h
is
s
y
s
tem
h
as
en
h
an
ce
d
th
e
ca
p
ab
ilit
y
to
d
if
f
e
r
e
n
tiate
b
etwe
en
ac
tu
al
m
o
tio
n
an
d
f
alse
alar
m
s
d
u
e
to
s
u
ch
a
co
m
p
lex
d
ec
is
io
n
-
m
ak
in
g
p
r
o
ce
s
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
V
is
io
n
-
b
a
s
ed
a
p
p
r
o
a
c
h
fo
r
h
u
ma
n
mo
tio
n
d
etec
tio
n
a
n
d
s
ma
r
t a
p
p
lia
n
ce
co
n
tr
o
l
(
S
id
d
h
a
r
t
h
S
w
a
mi
)
447
−
T
h
e
E
SP
3
2
d
eter
m
in
es
th
e
au
to
m
atio
n
o
f
s
m
ar
t
th
in
g
s
b
y
u
s
in
g
r
elay
m
o
d
u
les.
R
elay
d
e
v
ices,
wh
ich
ac
t
as
h
an
d
s
f
o
r
th
is
p
r
o
ject,
ca
n
co
n
tr
o
l
wh
en
h
o
m
e
a
p
p
lian
c
es
g
et
s
witch
ed
o
n
o
r
o
f
f
.
W
h
en
th
e
E
SP
3
2
s
en
s
o
r
d
etec
ts
h
u
m
an
p
r
esen
c
e
an
d
m
ak
es
a
d
ec
is
io
n
ab
o
u
t
it,
th
ese
task
s
ar
e
t
h
en
p
er
f
o
r
m
ed
b
y
th
e
r
elay
m
o
d
u
les wh
ich
o
p
tim
ize
en
er
g
y
u
tili
za
tio
n
an
d
m
ak
e
th
e
u
s
er
’
s
life
co
n
v
e
n
ien
t
.
T
h
e
b
lo
c
k
d
iag
r
am
r
e
p
r
esen
ts
th
e
k
ey
p
ar
ts
o
f
o
u
r
p
r
o
ject,
wh
ich
co
m
p
r
is
es
r
elate
d
co
m
p
o
n
en
ts
an
d
s
u
b
s
y
s
tem
s
.
B
y
s
u
m
m
ar
izin
g
,
it
h
ig
h
lig
h
ts
th
e
way
in
wh
i
ch
th
ese
co
m
p
o
n
en
ts
wo
r
k
to
g
eth
er
to
m
ak
e
an
in
tellig
en
t
an
d
r
esp
o
n
s
iv
e
h
o
m
e
au
to
m
atio
n
s
y
s
tem
.
Yo
u
ca
n
en
lar
g
e
th
is
g
r
ap
h
ic
t
o
in
co
r
p
o
r
ate
m
o
r
e
in
f
o
r
m
atio
n
o
r
s
u
b
s
y
s
tem
s
d
ep
en
d
in
g
o
n
t
h
e
d
if
f
icu
lty
o
f
th
e
task
at
h
an
d
.
Fig
u
r
e
1
.
B
lo
ck
Diag
r
am
o
f
th
e
h
u
m
an
m
o
tio
n
s
m
ar
t h
o
m
e
a
u
to
m
atio
n
4.
H
ARDWA
R
E
DE
V
E
L
O
P
M
E
NT
T
h
e
h
ar
d
war
e
h
u
m
an
m
o
tio
n
s
m
ar
t h
o
m
e
a
u
to
m
atio
n
is
s
h
o
wn
in
Fig
u
r
e
2
.
−
T
h
e
E
SP
3
2
b
o
ar
d
is
th
e
b
r
ain
o
f
th
e
co
m
p
lete
s
y
s
tem
wh
er
e
th
e
ex
ter
n
al
p
o
wer
s
u
p
p
ly
h
a
s
b
ee
n
attac
h
ed
with
th
e
5
V
an
d
g
r
o
u
n
d
p
in
.
−
T
h
e
PIR
Mo
tio
n
s
en
s
o
r
h
as
b
ee
n
attac
h
ed
to
th
e
E
SP
3
2
an
d
in
an
y
m
o
tio
n
d
etec
tio
n
,
it
will
s
en
d
th
e
in
f
o
r
m
atio
n
to
th
e
E
SP
3
2
b
o
a
r
d
.
−
T
h
e
g
r
o
u
n
d
p
in
o
f
th
e
m
o
tio
n
s
en
s
o
r
h
as
b
ee
n
co
n
n
ec
ted
to
t
h
e
co
m
m
o
n
g
r
o
u
n
d
an
d
th
e
v
o
ltag
e
p
in
t
o
th
e
ex
ter
n
al
p
o
wer
.
T
h
e
d
ata
p
in
o
f
th
e
m
o
tio
n
s
en
s
o
r
h
as
b
ee
n
attac
h
ed
with
th
e
1
2
n
o
p
in
o
f
t
h
e
E
SP
3
2
s
b
o
ar
d
.
−
T
h
e
STM
3
2
b
o
ar
d
is
lin
k
ed
with
a
b
u
zz
er
f
o
r
aler
tin
g
p
u
r
p
o
s
es.
T
h
e
p
o
wer
p
in
is
lin
k
ed
to
th
e
E
SP
3
2
b
o
ar
d
’
s
p
in
7
,
an
d
t
h
e
b
u
zz
e
r
’
s
g
r
o
u
n
d
p
in
is
lin
k
e
d
to
th
e
g
r
o
u
n
d
.
−
T
h
is
p
r
o
ject
is
co
n
n
ec
ted
t
o
t
h
e
E
SP
0
1
m
o
d
u
le,
wh
ich
will
s
en
d
all
in
f
o
r
m
atio
n
an
d
aler
ts
to
th
e
clo
u
d
.
T
h
er
ef
o
r
e,
th
e
E
SP
0
1
’
s
v
o
lta
g
e
p
in
a
n
d
g
r
o
u
n
d
p
in
h
av
e
b
ee
n
lin
k
e
d
to
t
h
e
E
SP
3
2
b
o
ar
d
’
s
3
.
3
V
an
d
co
m
m
o
n
g
r
o
u
n
d
,
r
esp
ec
tiv
ely
.
−
T
h
e
E
SP
0
1
m
o
d
u
le’
s
tr
an
s
m
it
ter
p
in
h
as
b
ee
n
lin
k
e
d
to
t
h
e
b
o
ar
d
’
s
1
9
th
n
o
d
e,
an
d
its
R
ec
eiv
er
p
in
h
as
b
ee
n
attac
h
ed
t
o
th
e
b
o
ar
d
’
s
2
1
s
t n
o
d
e
.
Fig
u
r
e
2
.
C
o
n
n
ec
tio
n
d
iag
r
am
o
f
m
o
tio
n
s
m
ar
t h
o
m
e
au
to
m
a
tio
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
13
,
No
.
4
,
Dec
em
b
er
20
24
:
4
4
5
-
4
5
1
448
5.
I
M
P
L
E
M
E
NT
A
T
I
O
N
O
F
T
H
E
SYS
T
E
M
T
h
e
p
r
o
ject
p
r
ep
a
r
es
th
e
en
v
i
r
o
n
m
en
t
f
o
r
o
p
er
atio
n
d
u
r
in
g
th
e
in
itializatio
n
p
h
ase.
I
n
itializin
g
th
e
E
SP
3
2
m
icr
o
co
n
tr
o
ller
an
d
all
attac
h
ed
p
ar
ts
,
s
u
ch
as
th
e
ca
m
er
a
m
o
d
u
le,
m
o
tio
n
s
en
s
o
r
,
an
d
r
elay
m
o
d
u
les,
is
r
eq
u
ir
ed
f
o
r
th
is
.
I
f
n
ec
ess
ar
y
,
co
m
m
u
n
icatio
n
in
ter
f
ac
es
lik
e
W
i
-
Fi
ar
e
co
n
f
ig
u
r
e
d
.
Ad
d
itio
n
ally
,
v
ar
ia
b
les
an
d
f
la
g
s
ar
e
estab
lis
h
ed
to
tr
a
ck
th
e
s
tatu
s
o
f
th
e
s
y
s
tem
an
d
cr
u
cial
v
ar
iab
les
[
2
2
]
.
T
h
e
p
r
o
ject
co
n
tin
u
o
u
s
l
y
tak
es
p
ictu
r
es
o
r
v
id
eo
f
r
am
es
f
r
o
m
th
e
ca
m
er
a
m
o
d
u
le.
Fig
u
r
e
3
s
h
o
ws
th
e
h
a
r
d
war
e
s
etu
p
f
o
r
th
e
in
n
o
v
ativ
e
p
r
o
p
o
s
ed
s
o
lu
tio
n
.
T
h
e
liv
e
p
i
ctu
r
es
ac
t
as
th
e
s
y
s
tem
’
s
v
is
u
al
in
p
u
t
f
o
r
m
a
k
in
g
d
ec
is
io
n
s
.
C
o
m
p
u
ter
v
is
io
n
alg
o
r
ith
m
s
ar
e
em
p
lo
y
e
d
in
e
ac
h
f
r
am
e
in
o
r
d
er
t
o
ex
am
in
e
th
e
im
ag
e
f
o
r
a
n
y
s
ig
n
s
o
f
a
h
u
m
an
p
r
esen
ce
.
T
h
is
ac
tio
n
lay
s
th
e
g
r
o
u
n
d
wo
r
k
f
o
r
p
r
ec
is
e
d
etec
tio
n
.
Fig
u
r
e
3
.
Har
d
war
e
s
etu
p
f
o
r
t
h
e
s
y
s
tem
im
p
lem
en
ted
T
h
e
m
o
tio
n
s
en
s
o
r
,
wh
ich
ac
ts
as
th
e
s
y
s
tem
’
s
ey
es,
f
ee
d
s
d
a
ta
to
th
e
p
r
o
ject.
An
y
m
o
v
em
e
n
t
with
in
th
e
m
o
tio
n
s
en
s
o
r
’
s
d
e
f
in
ed
f
ield
o
f
v
iew
will
tr
ig
g
er
its
s
en
s
itiv
ity
.
T
h
e
p
r
o
ject
s
ig
n
als
th
e
p
o
s
s
ib
ilit
y
o
f
a
p
o
ten
tial
h
u
m
an
p
r
esen
ce
b
y
r
ec
o
r
d
in
g
th
e
e
v
en
t
an
d
its
tim
estam
p
af
ter
m
o
tio
n
is
d
e
tecte
d
.
T
h
e
s
y
s
tem
m
o
v
es
o
n
to
th
e
h
u
m
an
p
r
esen
ce
an
aly
s
is
s
tag
e.
Her
e,
t
h
e
s
y
s
tem
d
elv
es
m
o
r
e
d
ee
p
l
y
in
to
th
e
in
f
o
r
m
atio
n
th
e
ca
m
er
a
m
o
d
u
le
h
as r
ec
o
r
d
ed
[
2
3
]
.
T
o
v
er
if
y
th
e
p
r
esen
ce
o
f
a
p
er
s
o
n
,
p
o
wer
f
u
l
co
m
p
u
ter
v
is
io
n
alg
o
r
ith
m
s
ar
e
u
s
ed
to
ex
am
in
e
th
e
im
ag
e.
T
h
e
s
y
s
tem
lo
g
s
th
e
ev
en
t
an
d
tim
estam
p
if
h
u
m
an
p
r
esen
ce
ca
n
b
e
p
o
s
itiv
ely
id
en
tifie
d
.
I
t
th
en
tu
r
n
s
o
n
th
e
p
e
r
tin
en
t
r
ela
y
m
o
d
u
le
in
ch
ar
g
e
o
f
m
a
n
ag
in
g
th
e
c
o
n
n
ec
ted
s
m
ar
t
a
p
p
lian
ce
s
.
A
p
p
lian
ce
co
n
tr
o
l
is
m
an
ag
ed
b
y
a
tim
er
,
en
ab
lin
g
au
to
m
ated
d
ea
ctiv
atio
n
a
f
ter
a
g
iv
en
p
er
io
d
o
f
tim
e
o
r
wh
e
n
n
o
f
u
r
th
e
r
m
o
tio
n
is
d
etec
ted
.
Up
d
ated
s
y
s
tem
s
tate
f
lag
s
s
h
o
w
th
e
cu
r
r
en
t
o
cc
u
p
an
c
y
[
2
4
]
.
T
h
e
s
y
s
tem
k
ee
p
s
tr
ac
k
o
f
th
e
o
cc
u
p
an
c
y
s
tatu
s
wh
ile
m
ai
n
tain
in
g
c
o
n
s
tan
t
m
o
ti
o
n
a
n
d
h
u
m
an
p
r
esen
ce
m
o
n
ito
r
i
n
g
.
Fig
u
r
e
4
s
h
o
ws
r
ea
l
tim
e
d
etec
tio
n
o
f
th
e
f
ac
ial
wi
th
m
o
tio
n
s
en
s
o
r
co
m
p
ar
is
o
n
f
o
r
th
e
h
o
u
s
e
au
t
o
m
atio
n
.
T
h
e
s
y
s
tem
r
ea
cts
if
n
o
m
o
tio
n
is
d
etec
ted
f
o
r
a
p
r
ed
eter
m
in
ed
am
o
u
n
t
o
f
tim
e
an
d
h
u
m
an
p
r
esen
ce
is
n
o
lo
n
g
er
v
er
if
ied
.
T
o
s
av
e
en
er
g
y
,
it tu
r
n
s
o
f
f
an
y
r
elay
m
o
d
u
les th
at
wer
e
p
r
ev
io
u
s
ly
tu
r
n
ed
o
n
[
2
5
]
.
Fig
u
r
e
4
.
R
ea
l tim
e
f
ac
ial
d
ete
ctio
n
f
o
r
th
e
p
r
o
p
o
s
ed
s
y
s
tem
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
V
is
io
n
-
b
a
s
ed
a
p
p
r
o
a
c
h
fo
r
h
u
ma
n
mo
tio
n
d
etec
tio
n
a
n
d
s
ma
r
t a
p
p
lia
n
ce
co
n
tr
o
l
(
S
id
d
h
a
r
t
h
S
w
a
mi
)
449
T
o
r
ef
l
e
c
t
t
h
e
ab
s
e
n
ce
o
f
o
c
c
u
p
a
n
cy
,
s
y
s
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e
m
s
t
a
t
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a
r
e
u
p
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e
m
o
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e
.
An
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te
r
n
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t
e
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e
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i
n
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f
ac
e
,
s
u
ch
a
s
a
m
o
b
i
l
e
a
p
p
o
r
w
e
b
in
t
e
r
f
a
c
e
,
ca
n
b
e
i
m
p
l
e
m
e
n
t
ed
f
o
r
i
m
p
r
o
v
e
d
u
s
e
r
i
n
t
er
a
c
t
io
n
a
n
d
co
n
v
e
n
i
e
n
ce
.
T
h
i
s
i
n
t
er
f
a
c
e
e
n
ab
l
e
s
s
y
s
t
e
m
m
o
n
i
to
r
i
n
g
an
d
r
e
m
o
te
c
o
n
t
r
o
l
[
2
6
]
.
F
e
a
t
u
r
e
s
l
i
k
e
f
e
e
d
b
a
ck
,
n
o
t
i
f
i
c
a
t
io
n
s
a
b
o
u
t
d
e
t
ec
t
e
d
h
u
m
an
p
r
e
s
e
n
c
e,
a
n
d
a
p
p
l
i
an
c
e
m
an
a
g
em
e
n
t
a
r
e
a
l
l
p
a
r
t
o
f
th
e
p
r
o
je
c
t
’
s
e
f
f
o
r
t
to
i
m
p
r
o
v
e
u
s
e
r
e
x
p
e
r
ie
n
c
e.
I
t
a
l
s
o
h
a
s
e
r
r
o
r
-
h
a
n
d
l
in
g
p
r
o
to
c
o
l
s
t
o
d
e
a
l
w
i
t
h
d
if
f
er
en
t
p
r
o
b
l
e
m
s
s
u
ch
a
s
m
a
lf
u
n
c
t
io
n
i
n
g
h
ar
d
w
ar
e
,
p
r
o
b
l
e
m
s
w
i
t
h
co
n
n
e
c
t
iv
i
t
y
,
an
d
u
n
e
x
p
e
c
t
ed
b
e
h
av
i
o
r
o
f
t
h
e
s
y
s
t
em
[
2
7
]
.
T
o
im
p
r
o
v
e
th
e
s
y
s
t
e
m
’
s
d
ep
e
n
d
a
b
i
l
i
ty
a
n
d
r
e
l
i
a
b
i
l
i
ty
,
p
r
o
t
o
c
o
l
s
a
r
e
p
u
t
in
p
l
a
c
e
t
h
a
t
i
n
c
lu
d
e
a
l
e
r
t
s
f
o
r
s
y
s
t
e
m
f
a
i
l
u
r
e
s
a
n
d
r
e
c
o
v
e
r
y
m
ec
h
an
i
s
m
s
.
W
h
e
n
n
ec
e
s
s
a
r
y
,
a
t
e
r
m
i
n
at
i
o
n
p
r
o
c
e
d
u
r
e
i
s
e
s
t
a
b
l
i
s
h
ed
t
o
g
u
a
r
an
t
e
e
a
p
p
r
o
p
r
i
a
t
e
s
y
s
t
e
m
s
h
u
t
d
o
w
n
[
2
8
]
.
T
h
i
s
p
r
o
c
ed
u
r
e
p
u
t
s
an
en
d
to
th
e
s
y
s
t
em
’
s
a
c
t
i
v
i
t
i
e
s
an
d
e
a
s
i
l
y
d
e
a
c
t
i
v
at
e
s
e
v
er
y
p
ar
t
,
le
a
v
in
g
t
h
e
s
y
s
t
e
m
s
a
f
e
a
n
d
s
e
cu
r
e.
T
h
e
s
y
s
t
e
m
t
h
en
r
e
p
e
a
t
s
t
h
e
m
o
n
i
t
o
r
in
g
an
d
c
o
n
t
r
o
l
p
h
a
s
e
s
in
c
e
s
s
a
n
t
ly
.
T
h
i
s
c
o
n
t
i
n
u
o
u
s
p
r
o
ce
d
u
r
e
g
u
a
r
an
t
ee
s
t
h
a
t
t
h
e
s
y
s
t
e
m
w
i
l
l
c
o
n
t
in
u
e
t
o
f
u
n
c
t
i
o
n
o
v
e
r
t
im
e
,
p
r
o
d
u
c
i
n
g
a
r
e
s
o
u
r
c
e
-
ef
f
i
c
ie
n
t
an
d
r
e
s
p
o
n
s
iv
e
h
o
m
e
a
u
to
m
a
t
io
n
s
y
s
t
e
m
[
2
9
]
.
6.
CO
NCLU
SI
O
N
T
h
e
s
tu
d
y
d
e
m
o
n
s
tr
ated
co
m
p
u
ter
v
is
io
n
tech
n
o
lo
g
y
in
te
g
r
atio
n
with
m
o
ti
o
n
s
en
s
o
r
s
an
d
s
m
ar
t
ap
p
lian
ce
s
to
im
p
r
o
v
e
c
o
n
tem
p
o
r
ar
y
liv
i
n
g
ar
ea
s
.
B
y
en
h
an
cin
g
th
e
ac
cu
r
ac
y
o
f
h
u
m
an
p
r
esen
ce
r
ec
o
g
n
itio
n
u
s
in
g
a
ca
m
er
a
m
o
d
u
le
an
d
a
d
v
an
ce
d
im
a
g
e
an
aly
s
is
tech
n
iq
u
es,
th
e
p
r
o
ject
en
a
b
les
a
co
n
tex
t
-
awa
r
e
h
o
m
e
au
to
m
atio
n
s
y
s
tem
th
at
in
tellig
en
tly
r
esp
o
n
d
s
to
o
cc
u
p
an
t
s
an
d
m
an
ag
es
s
m
ar
t
ap
p
lian
ce
s
th
r
o
u
g
h
r
ela
y
m
o
d
u
les.
T
h
e
s
y
s
tem
is
u
s
e
r
-
f
r
ien
d
ly
,
en
er
g
y
-
ef
f
icien
t,
a
n
d
v
er
s
atile,
r
ed
u
cin
g
en
er
g
y
waste
b
y
u
s
in
g
r
ea
l
-
tim
e
o
cc
u
p
a
n
cy
s
tatu
s
to
tu
r
n
o
n
o
r
o
f
f
elec
tr
ic
ap
p
lian
c
es.
T
h
is
alig
n
s
with
s
u
s
ta
in
ab
ilit
y
an
d
ea
s
es g
o
als
in
m
o
d
er
n
h
a
b
itatio
n
d
esig
n
.
T
h
e
r
esear
c
h
em
p
h
asizes
th
e
u
s
e
o
f
v
is
u
al
-
b
ased
te
ch
n
iq
u
es
in
h
o
m
e
au
to
m
atio
n
,
p
ar
ticu
lar
l
y
th
e
I
n
ter
n
et
o
f
T
h
in
g
s
an
d
n
e
two
r
k
ed
s
m
ar
t
d
e
v
ices.
T
h
e
p
r
o
ject
r
ep
r
esen
ts
a
s
ig
n
if
ican
t
s
tep
to
war
d
s
s
m
ar
t
h
o
m
e
au
to
m
atio
n
,
en
h
an
c
in
g
r
esid
en
tial
liv
in
g
an
d
ad
d
in
g
to
d
is
cu
s
s
io
n
s
ab
o
u
t
I
o
T
,
co
m
p
u
ter
v
is
io
n
,
a
n
d
en
v
i
r
o
n
m
e
n
tally
f
r
ien
d
ly
t
ec
h
n
o
lo
g
y
.
T
h
e
g
o
al
is
to
c
r
e
ate
a
wo
r
ld
wh
er
e
h
o
m
es
in
tu
itiv
ely
r
ec
o
g
n
ize
an
d
ac
co
m
m
o
d
ate
o
wn
er
s
’
p
r
ef
er
en
ce
s
,
cr
ea
tin
g
a
m
o
r
e
s
ec
u
r
e,
co
zy
,
an
d
en
er
g
y
-
ef
f
icien
t liv
in
g
s
p
ac
e.
RE
F
E
R
E
NC
E
S
[
1
]
K
.
Z
h
a
n
g
a
n
d
Y
.
Zh
a
n
g
,
“
S
m
a
r
t
P
o
se:
a
n
i
n
t
e
l
l
i
g
e
n
t
h
o
u
se
h
o
l
d
a
p
p
l
i
a
n
c
e
s
c
o
n
t
r
o
l
l
e
r
b
a
s
e
d
o
n
v
i
s
u
a
l
r
e
c
o
g
n
i
t
i
o
n
o
f
h
u
m
a
n
p
o
s
t
u
r
e
s,
”
i
n
2
0
2
0
I
n
t
e
r
n
a
t
i
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
Ar
t
i
f
i
c
i
a
l
I
n
t
e
l
l
i
g
e
n
c
e
a
n
d
C
o
m
p
u
t
e
r
En
g
i
n
e
e
r
i
n
g
(
I
C
AI
C
E)
,
O
c
t
.
2
0
2
0
,
p
p
.
2
1
8
–
2
2
3
,
d
o
i
:
1
0
.
1
1
0
9
/
I
C
A
I
C
E5
1
5
1
8
.
2
0
2
0
.
0
0
0
4
8
.
[
2
]
S
.
R
a
st
o
g
i
a
n
d
J
.
S
i
n
g
h
,
“
H
u
man
f
a
l
l
d
e
t
e
c
t
i
o
n
a
n
d
a
c
t
i
v
i
t
y
mo
n
i
t
o
r
i
n
g
:
a
c
o
m
p
a
r
a
t
i
v
e
a
n
a
l
y
si
s
o
f
v
i
s
i
o
n
-
b
a
s
e
d
me
t
h
o
d
s
f
o
r
c
l
a
s
si
f
i
c
a
t
i
o
n
a
n
d
d
e
t
e
c
t
i
o
n
t
e
c
h
n
i
q
u
e
s
,
”
S
o
f
t
C
o
m
p
u
t
i
n
g
,
v
o
l
.
2
6
,
n
o
.
8
,
p
p
.
3
6
7
9
–
3
7
0
1
,
2
0
2
2
,
d
o
i
:
1
0
.
1
0
0
7
/
s0
0
5
0
0
-
021
-
0
6
7
1
7
-
x.
[
3
]
S
.
K
h
a
n
,
S
.
N
a
z
i
r
,
a
n
d
H
.
U
l
l
a
h
K
h
a
n
,
“
S
mar
t
o
b
j
e
c
t
d
e
t
e
c
t
i
o
n
a
n
d
h
o
me
a
p
p
l
i
a
n
c
e
s
c
o
n
t
r
o
l
s
y
st
e
m
i
n
smar
t
c
i
t
i
e
s
,
”
C
o
m
p
u
t
e
rs,
Ma
t
e
r
i
a
l
s &
C
o
n
t
i
n
u
a
,
v
o
l
.
6
7
,
n
o
.
1
,
p
p
.
8
9
5
–
9
1
5
,
2
0
2
1
,
d
o
i
:
1
0
.
3
2
6
0
4
/
c
m
c
.
2
0
2
1
.
0
1
3
8
7
8
.
[
4
]
Y
.
M
u
r
a
n
a
k
a
,
M
.
A
l
-
S
a
d
a
,
a
n
d
T
.
N
a
k
a
j
i
m
a
,
“
A
h
o
me
a
p
p
l
i
a
n
c
e
c
o
n
t
r
o
l
s
y
st
e
m
w
i
t
h
h
a
n
d
g
e
st
u
r
e
b
a
s
e
d
o
n
p
o
se
e
st
i
ma
t
i
o
n
,
”
i
n
2
0
2
0
I
E
EE
9
t
h
G
l
o
b
a
l
C
o
n
f
e
re
n
c
e
o
n
C
o
n
su
m
e
r
El
e
c
t
r
o
n
i
c
s
(
G
C
C
E)
,
O
c
t
.
2
0
2
0
,
p
p
.
7
5
2
–
7
5
5
,
d
o
i
:
1
0
.
1
1
0
9
/
G
C
C
E
5
0
6
6
5
.
2
0
2
0
.
9
2
9
1
8
7
7
.
[
5
]
P
.
W
.
T
i
e
n
,
S
.
W
e
i
,
J.
K
.
C
a
l
a
u
t
i
t
,
J.
D
a
r
k
w
a
,
a
n
d
C
.
W
o
o
d
,
“
A
v
i
si
o
n
-
b
a
se
d
d
e
e
p
l
e
a
r
n
i
n
g
a
p
p
r
o
a
c
h
f
o
r
t
h
e
d
e
t
e
c
t
i
o
n
a
n
d
p
r
e
d
i
c
t
i
o
n
o
f
o
c
c
u
p
a
n
c
y
h
e
a
t
e
mi
ss
i
o
n
s
f
o
r
d
e
ma
n
d
-
d
r
i
v
e
n
c
o
n
t
r
o
l
s
o
l
u
t
i
o
n
s,
”
E
n
e
r
g
y
a
n
d
B
u
i
l
d
i
n
g
s
,
v
o
l
.
2
2
6
,
2
0
2
0
,
d
o
i
:
1
0
.
1
0
1
6
/
j
.
e
n
b
u
i
l
d
.
2
0
2
0
.
1
1
0
3
8
6
.
[
6
]
L.
M
.
D
a
n
g
,
K
.
M
i
n
,
H
.
W
a
n
g
,
M
.
Jal
i
l
P
i
r
a
n
,
C
.
H
e
e
Le
e
,
a
n
d
H
.
M
o
o
n
,
“
S
e
n
s
o
r
-
b
a
se
d
a
n
d
v
i
si
o
n
-
b
a
s
e
d
h
u
ma
n
a
c
t
i
v
i
t
y
r
e
c
o
g
n
i
t
i
o
n
:
a
c
o
m
p
r
e
h
e
n
si
v
e
su
r
v
e
y
,
”
P
a
t
t
e
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2
9
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