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20
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8
I
SS
N:
2088
-
8
7
0
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,
DOI
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i
6
.
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6
1
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Mic
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Sp
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s
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CC B
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li
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C
o
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r
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s
p
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nd
ing
A
uth
o
r
:
Nu
r
Haz
ah
s
h
a
Sh
am
s
u
d
in
Facu
lty
o
f
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lectr
ical
T
ec
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n
o
lo
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d
E
n
g
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r
in
g
,
Un
iv
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s
it
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ek
n
ik
al
Ma
lay
s
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Me
lak
a
Han
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T
u
ah
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a,
Du
r
ian
T
u
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al,
Me
lak
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Ma
lay
s
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E
m
ail:
n
u
r
h
az
a
h
s
h
a@
u
tem
.
ed
u
.
m
y
1.
I
NT
RO
D
UCT
I
O
N
I
n
th
e
tr
an
s
f
o
r
m
atio
n
o
f
f
o
u
r
t
h
in
d
u
s
tr
ial
r
ev
o
l
u
tio
n
,
Ma
lay
s
ia's
ag
r
icu
ltu
r
al
s
ec
to
r
is
tr
an
s
itio
n
in
g
to
war
d
s
s
m
ar
t
au
to
m
atio
n
s
y
s
tem
s
to
ad
d
r
ess
th
e
ch
allen
g
es
ass
o
ciate
d
with
tr
ad
itio
n
al
f
ar
m
in
g
p
r
ac
tices,
n
o
tab
ly
in
c
r
o
p
s
p
r
ay
in
g
[
1
]
,
[
2
]
.
T
h
e
c
o
n
v
e
n
tio
n
al
ag
r
icu
ltu
r
e
s
p
r
ay
in
g
m
eth
o
d
h
av
e
l
o
n
g
b
ee
n
p
lag
u
ed
with
ch
allen
g
es
wh
ich
ar
e
n
o
t
o
n
l
y
lab
o
r
-
i
n
ten
s
iv
e
an
d
tim
e
c
o
n
s
u
m
in
g
,
b
u
t
also
r
esu
lt
b
u
r
d
en
in
p
h
y
s
ically
ac
tiv
ities
,
an
d
h
ig
h
r
eso
u
r
ce
wastag
e
in
lar
g
e
an
d
m
ed
iu
m
s
ca
le
ag
r
icu
ltu
r
al
o
p
er
atio
n
[
3
]
,
[
4
]
.
T
h
e
lab
o
r
-
in
ten
s
iv
e
n
atu
r
e
o
f
c
o
n
v
e
n
tio
n
al
s
p
r
ay
in
g
m
eth
o
d
s
h
as
s
tr
ain
ed
th
e
av
ailab
ilit
y
o
f
m
an
p
o
wer
,
ex
ac
er
b
atin
g
o
v
er
all
p
r
o
d
u
ctiv
ity
with
in
th
e
ag
r
icu
ltu
r
e
s
ec
to
r
.
T
h
ese
m
e
th
o
d
s
ty
p
ically
d
em
an
d
m
o
r
e
tim
e
to
co
v
e
r
h
u
g
e
ag
r
icu
ltu
r
al
ar
ea
s
[
5
]
,
[
6
]
.
T
h
e
s
p
r
ay
in
g
s
ty
le
also
p
o
s
es
h
ea
lth
r
is
k
to
f
ar
m
er
s
wh
o
h
an
d
le
th
e
wo
r
k
co
n
v
en
tio
n
ally
.
C
o
n
v
en
tio
n
al
wo
r
k
ca
u
s
es
p
r
o
l
o
n
g
e
d
tim
e
o
f
s
p
r
ay
in
g
,
wh
ich
lead
s
to
m
u
s
cu
lo
s
k
eleta
l
d
is
o
r
d
er
s
r
esu
ltin
g
in
ch
r
o
n
i
c
p
ain
an
d
r
e
d
u
ce
d
p
r
o
d
u
ctiv
ity
am
o
n
g
f
ar
m
e
r
s
[
7
]
,
[
8
]
.
T
h
e
co
n
v
en
tio
n
al
m
eth
o
d
in
s
p
r
ay
i
n
g
also
r
esu
lts
in
ex
ce
s
s
iv
e
r
eso
u
r
ce
wasta
g
e,
as
a
s
ig
n
if
ican
t
p
o
r
tio
n
o
f
ag
r
o
ch
em
icals
f
ail
to
r
ea
ch
th
e
in
ten
d
e
d
p
lan
ts
a
n
d
p
ests
ef
f
ec
tiv
ely
[
9
]
,
[
1
0
]
.
T
h
e
q
u
ality
o
f
c
r
o
p
s
ca
n
b
e
c
o
m
p
r
o
m
is
ed
b
y
t
h
e
in
ef
f
icien
cies
o
f
co
n
v
en
tio
n
al
s
p
r
ay
in
g
m
eth
o
d
s
,
wh
ich
o
f
te
n
u
n
ab
le
t
o
a
d
h
er
e
to
p
r
o
p
er
s
p
r
ay
in
g
p
r
o
ce
d
u
r
es
[
1
1
]
,
[
1
2
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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&
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p
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n
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I
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N:
2088
-
8
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Th
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Nu
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o
b
o
t
n
a
v
ig
atio
n
with
in
c
r
o
p
f
ield
s
u
tili
zin
g
lig
h
t
d
ete
ctio
n
an
d
r
an
g
in
g
(
L
iDAR
)
d
ata.
T
h
eir
ap
p
r
o
ac
h
h
in
g
es
o
n
ex
tr
ac
tin
g
lin
es
f
r
o
m
two
-
d
im
en
s
io
n
(
2
D)
p
o
in
t
clo
u
d
s
em
p
lo
y
in
g
th
e
PEARL
-
b
ased
m
eth
o
d
.
Ho
wev
er
,
th
e
in
co
r
p
o
r
atio
n
o
f
i
n
tr
icate
alg
o
r
ith
m
ic
s
y
s
tem
s
in
b
o
th
s
tu
d
ies
m
ay
im
p
ac
t
th
e
af
f
o
r
d
ab
ilit
y
o
f
th
e
s
y
s
tem
s
,
r
en
d
er
in
g
th
em
p
o
ten
tially
u
n
s
u
itab
le
f
o
r
s
m
all
-
s
ca
le
u
r
b
an
f
ar
m
er
s
d
u
e
to
th
eir
elev
ate
d
co
s
t.
Ad
d
itio
n
ally
,
th
ese
in
n
o
v
atio
n
s
lack
th
e
in
clu
s
io
n
o
f
wate
r
lev
el
in
d
icato
r
s
,
a
f
ea
tu
r
e
p
r
esen
t
in
o
u
r
s
y
s
tem
.
W
ater
lev
el
in
d
icato
r
s
p
la
y
a
cr
u
cial
r
o
le
i
n
h
elp
i
n
g
f
a
r
m
er
s
g
au
g
in
g
wate
r
av
ailab
ilit
y
,
en
h
an
ci
n
g
th
e
s
y
s
tem
'
s
u
til
ity
[
1
8
]
.
T
h
er
ef
o
r
e,
th
is
p
ap
er
in
tr
o
d
u
ce
s
a
s
m
ar
t
s
p
r
ay
er
s
y
s
tem
co
n
s
tr
u
cted
o
n
a
r
ad
i
o
-
co
n
tr
o
lled
ca
r
ch
ass
is
.
T
h
is
s
y
s
tem
i
s
d
esig
n
ed
v
ia
Au
to
C
AD
2
0
2
3
s
o
f
twar
e
an
d
p
r
o
g
r
am
m
e
d
u
s
in
g
Ar
d
u
in
o
I
DE
s
o
f
twar
e.
T
h
e
wir
eless
f
er
tili
ze
r
an
d
p
esti
cid
e
s
p
r
ay
in
g
o
p
er
atio
n
s
ar
e
o
p
er
ated
th
r
o
u
g
h
a
No
d
eM
C
U
m
o
d
u
le.
W
ith
a
wir
eless
-
co
n
tr
o
l
r
an
g
e
o
f
u
p
t
o
1
5
0
m
,
th
e
s
y
s
tem
'
s
o
p
er
atio
n
s
an
d
f
u
n
ctio
n
alities
ar
e
d
etailed
ex
ten
s
iv
ely
in
s
u
b
s
eq
u
en
t sectio
n
s
o
f
th
is
p
a
p
er
.
2.
SM
AR
T
SPRA
YE
R
SYS
T
E
M
DE
V
E
L
O
P
M
E
NT
2
.
1
.
Sm
a
rt
s
pra
y
er
s
y
s
t
em
o
pera
t
io
n
Fig
u
r
e
1
illu
s
tr
ates
th
e
o
p
er
a
tio
n
al
f
lo
wch
ar
t
o
f
th
e
s
m
ar
t
s
p
r
ay
er
s
y
s
tem
.
T
h
e
o
p
er
ati
o
n
o
f
th
e
s
y
s
tem
lies
o
n
its
co
n
tr
o
l
f
u
n
c
tio
n
alities
in
clu
d
in
g
m
o
v
e
m
en
t,
o
b
s
tacle
d
etec
tio
n
,
wate
r
lev
el
in
d
icatio
n
,
an
d
s
p
r
ay
in
g
o
p
er
atio
n
s
.
A
r
elay
s
witch
g
o
v
er
n
s
th
e
p
r
ec
is
e
ac
tiv
atio
n
o
r
d
ea
ctiv
atio
n
o
f
th
e
s
p
r
ay
er
p
u
m
p
,
en
s
u
r
in
g
ac
c
u
r
ate
d
is
p
er
s
al
o
f
liq
u
id
a
g
r
o
c
h
em
icals.
A
liq
u
id
lev
el
s
en
s
o
r
m
o
n
ito
r
s
r
eser
v
o
ir
lev
els,
p
r
o
m
p
tin
g
an
aler
t
v
ia
a
b
u
z
ze
r
wh
en
lev
els
ar
e
l
o
w,
s
ig
n
alin
g
th
e
n
ee
d
f
o
r
a
g
r
o
ch
e
m
ical
r
ep
len
is
h
m
en
t
r
em
o
tely
.
W
h
en
liq
u
id
lev
els
ar
e
ad
eq
u
ate,
th
e
s
y
s
tem
tr
an
s
itio
n
s
in
to
u
s
er
-
co
n
t
r
o
lled
s
p
r
ay
in
g
m
o
d
e
v
ia
t
h
e
I
o
T
W
i
-
Fi
m
o
d
u
le.
Fo
r
o
b
s
tacle
d
etec
tio
n
,
u
s
er
s
ca
n
r
ed
i
r
ec
t
th
e
s
y
s
tem
'
s
p
ath
u
s
in
g
wir
el
ess
r
em
o
te
-
co
n
tr
o
l
m
o
v
em
en
ts
.
Up
o
n
co
m
p
letio
n
o
f
o
p
e
r
atio
n
s
,
d
ea
ctiv
atio
n
is
ac
h
iev
ed
b
y
s
witch
in
g
o
f
f
th
e
W
i
-
Fi
m
o
d
u
le,
wh
ile
th
e
b
atter
y
is
r
ec
h
ar
g
ed
f
o
r
s
u
b
s
eq
u
en
t
u
s
e.
T
h
is
in
teg
r
atio
n
o
f
c
o
m
p
o
n
en
ts
em
p
o
wer
s
th
e
s
m
ar
t
s
p
r
ay
er
s
y
s
tem
to
d
eliv
er
p
r
o
g
r
am
m
ab
le
s
p
r
ay
i
n
g
o
p
er
atio
n
s
,
r
em
o
te
m
o
v
em
en
t,
o
b
s
tacle
d
etec
tio
n
an
d
liq
u
i
d
lev
el
in
d
icatio
n
ca
p
a
b
ilit
ies ef
f
ec
tiv
ely
.
Fig
u
r
e
1
.
Flo
wch
ar
t
o
f
th
e
s
m
ar
t sp
r
ay
er
s
y
s
tem
o
p
er
atio
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
14
,
No
.
6
,
Dec
em
b
e
r
20
24
:
6
1
2
2
-
6
1
2
8
6124
Fig
u
r
e
2
s
h
o
ws
th
e
ex
ter
n
al
p
ar
t
o
f
th
e
s
y
s
tem
co
n
s
is
ts
o
f
a
s
witch
,
two
n
o
zz
les
(
lef
t
an
d
r
ig
h
t)
,
a
wate
r
tu
b
e,
a
s
p
r
a
y
er
s
tan
d
,
t
wo
u
ltra
s
o
n
ic
s
en
s
o
r
s
,
two
b
u
zz
er
s
,
two
Ar
d
u
in
o
u
n
o
,
o
f
f
-
r
o
ad
tire
s
,
R
C
-
ca
r
ch
ass
is
,
wate
r
tan
k
,
wate
r
p
u
m
p
,
led
in
d
icato
r
,
a
n
d
in
ter
n
a
l
co
m
p
o
n
en
t
ca
s
in
g
.
T
h
er
e
ar
e
two
Ar
d
u
in
o
u
n
o
u
s
ed
to
ac
tiv
ate
ea
ch
o
f
th
e
u
l
tr
aso
n
ic
s
en
s
o
r
s
f
o
r
t
h
e
o
b
s
tacle
s
en
s
o
r
an
d
wate
r
lev
el
i
n
d
i
ca
to
r
.
T
h
e
o
b
s
tacle
s
en
s
o
r
is
m
o
u
n
ted
in
f
r
o
n
t
o
f
t
h
e
s
m
ar
t
s
p
r
ay
er
s
y
s
tem
,
wh
ile
th
e
wate
r
s
en
s
o
r
is
p
u
t
o
n
to
p
o
f
th
e
wate
r
tan
k
co
v
er
.
T
h
e
wate
r
tan
k
h
as
a
ca
p
ac
ity
o
f
1
,
0
0
0
m
l
wh
ich
is
m
o
u
n
ted
o
n
th
e
r
ea
r
o
f
th
e
s
y
s
tem
.
T
h
e
s
p
r
ay
in
g
n
o
zz
les
ca
n
b
e
a
d
ju
s
ted
m
a
n
u
ally
b
y
twis
tin
g
th
e
n
o
zz
le
s
o
it
ca
n
m
ee
t
th
e
d
esire
d
s
p
r
ay
i
n
g
s
h
ap
e
n
ee
d
ed
b
y
th
e
u
s
er
.
T
h
e
wate
r
p
u
m
p
is
tr
ig
g
er
ed
v
ia
s
m
ar
tp
h
o
n
e
a
n
d
th
e
No
d
eM
C
U
E
SP
8
2
6
6
will
co
n
tr
o
l
th
e
r
elay
an
d
s
u
p
p
ly
1
2
V
to
th
e
wate
r
p
u
m
p
wh
en
ac
tiv
ated
.
Fig
u
r
e
2
.
Sid
e
v
iew
o
f
th
e
s
y
s
t
em
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
3
.
1
.
M
o
v
em
ent
s
As
d
ep
icted
in
Fig
u
r
e
3
,
t
h
e
s
m
ar
t
s
p
r
ay
er
s
y
s
tem
ex
h
ib
its
v
er
s
atile
m
o
v
em
e
n
t
ca
p
a
b
ilit
ies,
en
ab
lin
g
r
em
o
te
co
n
tr
o
l
f
o
r
f
o
r
war
d
,
b
ac
k
war
d
,
lef
t,
an
d
r
ig
h
t
m
o
ti
o
n
s
.
T
h
is
p
r
o
v
id
es
u
s
er
s
with
f
lex
ib
ilit
y
to
tailo
r
s
y
s
tem
o
p
er
atio
n
to
s
p
ec
if
ic
s
p
r
ay
in
g
n
ee
d
s
in
ag
r
icu
ltu
r
al
ar
ea
s
.
T
h
e
in
teg
r
atio
n
o
f
o
b
s
tacle
d
etec
tio
n
f
u
n
ctio
n
ality
also
en
h
an
ce
s
o
p
er
atio
n
al
s
af
ety
b
y
p
r
o
m
p
tly
a
ler
tin
g
u
s
er
s
to
p
o
te
n
tial
o
b
s
ta
cles
1
f
ee
t
i
n
f
r
o
n
t
o
f
th
e
s
y
s
tem
an
d
en
ab
lin
g
av
o
id
an
ce
m
an
e
u
v
er
s
to
p
r
ev
e
n
t
ac
cid
en
ts
an
d
s
y
s
tem
d
am
ag
e.
A
co
m
p
ar
ativ
e
an
aly
s
is
with
[
1
9
]
r
ev
ea
ls
th
e
im
p
lem
en
tatio
n
o
f
a
lin
e
d
et
ec
tio
n
s
y
s
tem
in
th
eir
s
etu
p
,
lim
itin
g
ad
ap
tab
ilit
y
an
d
r
e
n
d
er
in
g
th
e
s
y
s
tem
u
n
s
u
itab
le
f
o
r
o
u
td
o
o
r
task
s
d
u
e
to
th
e
ab
s
en
ce
o
f
o
b
s
tacle
d
etec
tio
n
.
Similar
ly
,
Ma
s
h
o
r
i
et
a
l.
[
2
0
]
in
tr
o
d
u
ce
d
a
wir
eless
ly
co
n
tr
o
lled
s
y
s
tem
with
o
u
t
o
b
s
tacle
d
etec
tio
n
f
u
n
ctio
n
ality
,
th
at
was
a
cr
itical
f
ea
tu
r
e
i
n
co
r
p
o
r
ated
in
to
t
h
is
s
tu
d
y
’
s
d
esig
n
.
No
tab
ly
,
th
is
s
tu
d
y
also
f
ea
tu
r
es
3
6
0
°
m
o
v
em
en
t
ca
p
ab
ilit
y
,
af
f
o
r
d
in
g
u
s
er
s
en
h
an
ce
d
m
a
n
eu
v
e
r
ab
ilit
y
to
n
a
v
ig
ate
o
b
s
tacle
s
s
ea
m
less
ly
a
n
d
m
an
a
g
e
s
y
s
tem
m
o
b
ilit
y
ef
f
ec
tiv
ely
with
in
ag
r
icu
ltu
r
al
en
v
ir
o
n
m
en
ts
.
Fig
u
r
e
3
.
Mo
v
em
en
t
o
f
th
e
s
m
ar
t sp
r
ay
er
s
y
s
tem
with
o
b
s
tac
le
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:
2088
-
8
7
0
8
Th
e
ev
o
lu
tio
n
o
f
s
ma
r
t sp
r
a
ye
r
s
ystem
fo
r
a
g
r
icu
ltu
r
a
l secto
r
in
Ma
la
ysia
(
N
u
r
Ha
z
a
h
s
h
a
S
h
a
msu
d
in
)
6125
3
.
2
.
Wa
t
er
lev
el
ind
ica
t
o
r
T
h
e
p
e
r
f
o
r
m
an
ce
o
f
th
e
s
y
s
t
em
in
clu
d
es
a
wate
r
lev
el
i
n
d
icato
r
as
s
h
o
wn
i
n
Fig
u
r
e
4
,
th
at
h
as
s
ig
n
if
ican
t
u
s
e
in
ag
r
icu
ltu
r
al
task
s
.
T
h
is
f
ea
tu
r
e
aid
s
f
ar
m
er
s
in
ac
cu
r
ately
g
au
g
in
g
th
e
v
o
lu
m
e
o
f
s
p
r
ay
a
b
le
cr
o
p
s
,
th
e
r
eb
y
f
ac
ilit
atin
g
m
o
r
e
p
r
ec
is
e
ap
p
licatio
n
an
d
r
eso
u
r
ce
m
a
n
ag
em
en
t.
T
h
e
w
ater
lev
el
in
d
icato
r
d
elin
ea
tes
f
o
u
r
(
4
)
d
is
tin
ct
co
n
d
itio
n
s
.
W
h
en
th
e
wate
r
lev
el
r
ea
ch
es its
m
ax
im
u
m
ca
p
ac
ity
o
f
1
liter
,
th
e
L
E
D
lig
h
ts
illu
m
in
ate
g
r
ee
n
,
in
d
ica
tin
g
a
f
u
ll
r
eser
v
o
ir
.
Su
b
s
eq
u
en
tly
,
as
t
h
e
wate
r
lev
el
d
ec
r
e
ases
to
5
0
0
m
l,
th
e
g
r
ee
n
L
E
Ds
d
im
,
an
d
y
ello
w
L
E
Ds
illu
m
in
ate
to
s
ig
n
if
y
a
m
o
d
er
ate
wate
r
lev
el.
At
t
h
e
lo
west
lev
el
o
f
200
m
l,
th
e
L
E
D
lig
h
ts
tr
an
s
it
io
n
to
r
ed
,
s
ig
n
alin
g
a
lo
w
wa
ter
lev
el,
wh
ile
th
e
o
th
er
L
E
D
s
r
em
ain
o
f
f
.
Up
o
n
co
m
p
lete
d
r
ain
ag
e
o
f
t
h
e
r
es
er
v
o
ir
,
all
L
E
Ds
d
ea
ctiv
ate,
an
d
a
b
u
zz
er
is
tr
ig
g
er
e
d
to
aler
t
th
e
u
s
er
.
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h
e
in
co
r
p
o
r
atio
n
o
f
a
wate
r
le
v
e
l
in
d
icato
r
,
as
d
e
p
icted
in
Fi
g
u
r
e
4
,
r
ep
r
esen
ts
a
f
ea
tu
r
e
a
b
s
en
ce
in
p
r
e
v
io
u
s
s
tu
d
ies
s
u
ch
as
[
2
1
]
–
[
2
3
]
.
Un
lik
e
th
ese
p
r
io
r
s
tu
d
ies,
wh
ich
p
r
im
ar
ily
co
n
ce
n
tr
ate
o
n
m
o
v
em
en
t
alg
o
r
ith
m
s
an
d
s
p
r
a
y
er
ca
p
ab
ilit
ies,
th
is
s
tu
d
y
a
d
d
r
ess
es
th
e
cr
itical
asp
ec
t
o
f
wate
r
le
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el
m
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ito
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in
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in
ag
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lt
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ay
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o
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h
is
a
b
s
en
ce
o
f
wate
r
lev
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in
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s
in
p
r
ev
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s
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er
e
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ce
s
s
tan
d
s
as
a
n
o
tab
le
d
r
awb
ac
k
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u
n
d
e
r
s
co
r
in
g
t
h
e
s
ig
n
if
ican
ce
o
f
th
is
s
tu
d
y
’
s
co
m
p
r
eh
en
s
iv
e
a
p
p
r
o
ac
h
to
o
p
er
at
io
n
al
m
o
n
ito
r
in
g
.
Fig
u
r
e
4
.
W
ater
lev
el
in
d
icato
r
s
3
.
3
.
Sp
ra
y
er
co
v
er
a
g
e
a
re
a
T
h
e
s
y
s
tem
f
ea
tu
r
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d
u
al
s
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r
a
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g
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o
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lin
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im
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ltan
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p
r
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p
a
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ilit
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o
n
b
o
th
th
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lef
t
an
d
r
ig
h
t
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id
es
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a
m
ax
im
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m
c
o
v
er
a
g
e
ar
ea
o
f
1
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5
m
².
T
h
e
s
y
s
tem
o
f
f
er
s
f
lex
ib
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in
ad
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s
tin
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p
r
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g
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izes
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y
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im
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l
y
twis
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e
k
n
o
b
to
s
u
it
v
ar
y
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g
f
ield
co
n
d
itio
n
s
.
T
h
e
e
f
f
icien
cy
o
f
th
e
co
v
er
ag
e
ar
ea
f
o
r
b
o
th
n
o
zz
les
is
d
etailed
in
T
ab
le
1
.
I
t
is
ev
id
e
n
t
th
at
ef
f
icien
cy
is
s
ig
n
if
ican
tly
in
f
lu
en
ce
d
b
y
th
e
tim
in
g
o
f
t
h
e
s
p
r
ay
in
g
o
p
er
ati
o
n
,
with
o
p
tim
al
r
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lts
o
b
s
er
v
ed
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u
r
in
g
m
o
r
n
in
g
a
n
d
e
v
en
in
g
s
ess
io
n
s
.
T
h
is
v
ar
iab
ilit
y
ca
n
b
e
attr
ib
u
ted
to
f
ac
to
r
s
s
u
ch
as
win
d
d
i
r
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tio
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,
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th
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c
o
n
d
itio
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s
,
win
d
v
elo
city
,
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d
s
p
r
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er
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r
ess
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r
e.
Acc
o
r
d
i
n
g
ly
,
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ar
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er
s
ca
n
u
tili
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th
is
in
f
o
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m
atio
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to
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t
th
e
m
o
s
t
o
p
p
o
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e
tim
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o
r
s
p
r
a
y
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g
o
p
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atio
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s
,
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e
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y
m
ax
im
izin
g
th
e
s
y
s
tem
'
s
s
p
r
ay
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g
ca
p
ab
i
liti
es.
T
ab
le
1
.
T
h
e
ef
f
icien
c
y
o
f
th
e
s
p
r
ay
er
b
ased
o
n
th
e
tim
e
o
f
t
h
e
o
p
er
atio
n
Ti
me
Le
f
t
R
i
g
h
t
%
Er
r
o
r
(
%)
Ef
f
i
c
i
e
n
c
y
(
%)
%
Er
r
o
r
(
%)
Ef
f
i
c
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e
n
c
y
(
%)
8
A
M
0
1
0
0
4
96
9
A
M
0
1
0
0
0
1
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0
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0
A
M
10
90
8
92
1
1
A
M
10
90
9
91
2
P
M
9
91
10
90
3
P
M
10
90
10
90
3
.
4
.
Co
m
pa
riso
n wit
h pre
v
io
us
s
t
ud
ies
T
ab
le
2
d
elin
ea
tes
th
e
d
is
p
ar
ities
b
etwe
en
th
is
s
tu
d
y
an
d
p
r
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v
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s
r
esear
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.
I
n
s
tu
d
ies
[
2
4
]
an
d
[
2
5
]
,
th
e
r
ep
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ted
s
p
r
a
y
er
ef
f
icien
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s
tan
d
at
8
0
%
an
d
9
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%,
r
esp
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tiv
ely
.
I
n
co
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tu
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s
p
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ay
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ef
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icien
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o
f
9
5
% c
o
m
p
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s
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t c
an
b
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attr
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wh
ile
I
o
T
f
u
n
ctio
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ality
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ab
s
en
ce
in
[
2
4
]
a
n
d
[
2
5
]
,
th
is
s
tu
d
y
in
teg
r
ates
I
o
T
ca
p
a
b
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en
ab
lin
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wir
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co
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l
o
f
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p
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ac
tiv
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ito
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f
ea
tu
r
in
g
o
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s
tacle
d
etec
tio
n
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d
wate
r
Evaluation Warning : The document was created with Spire.PDF for Python.
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I
n
t J E
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&
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p
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g
,
Vo
l.
14
,
No
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6
,
Dec
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b
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20
24
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6
1
2
2
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1
2
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6126
lev
el
in
d
icato
r
s
.
Gh
af
ar
et
a
l.
[
2
4
]
u
tili
ze
d
a
Go
Pr
o
ca
m
er
a
f
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p
ath
n
av
ig
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,
wh
ile
San
d
ik
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et
a
l.
[
2
5
]
em
p
lo
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ed
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c
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s
en
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le
af
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itio
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tific
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.
T
h
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lim
itatio
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o
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th
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Go
Pr
o
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m
er
a
lie
in
its
r
an
g
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esti
m
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p
ab
ilit
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,
p
o
te
n
tially
lead
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g
to
ac
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d
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if
u
s
e
r
s
ar
e
u
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f
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its
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to
d
if
f
e
r
in
g
b
r
ig
h
tn
ess
lev
els
in
th
e
en
v
ir
o
n
m
en
t.
C
o
n
v
er
s
ely
,
th
is
s
tu
d
y
in
co
r
p
o
r
ates
u
ltra
s
o
n
ic
s
en
s
o
r
s
f
o
r
o
b
s
tacl
e
d
etec
tio
n
in
its
p
er
f
o
r
m
an
ce
.
T
ab
le
2
.
C
o
m
p
a
r
is
o
n
with
p
r
e
v
io
u
s
s
tu
d
ies
S
t
u
d
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e
s
p
a
r
a
m
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r
s
[
2
4
]
[
2
5
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Th
i
s
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f
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4.
CO
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N
T
h
is
p
ap
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d
ev
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th
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I
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T
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en
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f
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d
ly
in
te
r
f
ac
e.
T
h
is
in
n
o
v
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n
h
o
ld
s
s
ig
n
if
ican
t
p
o
te
n
tial
f
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th
e
ag
r
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r
al
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to
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,
p
ar
ticu
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f
o
r
s
m
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u
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s
d
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lab
o
r
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ten
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al
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th
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u
g
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m
o
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p
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c
is
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ap
p
licatio
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o
f
ag
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ltu
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ch
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icals.
T
h
e
in
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r
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o
f
I
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T
tech
n
o
lo
g
y
n
o
t
o
n
ly
f
ac
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ates
r
em
o
te
o
p
er
atio
n
b
u
t
also
m
in
im
izes
p
h
y
s
ical
en
g
ag
em
e
n
t
with
th
e
eq
u
ip
m
en
t.
T
h
e
s
y
s
tem
'
s
d
u
al
n
o
zz
le
d
esig
n
a
n
d
e
f
f
ec
tiv
e
m
o
n
ito
r
i
n
g
ca
p
ab
ilit
ies,
in
clu
d
in
g
o
b
s
tacle
d
etec
tio
n
an
d
wate
r
lev
el
in
d
i
ca
to
r
s
,
en
s
u
r
e
c
o
m
p
r
e
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en
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co
v
er
a
g
e
an
d
ef
f
icien
t
u
s
e
o
f
r
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u
r
ce
s
.
Fu
t
u
r
e
wo
r
k
co
u
ld
f
o
cu
s
o
n
f
u
r
th
er
en
h
an
ce
m
e
n
t
o
f
th
e
s
y
s
tem
'
s
au
to
n
o
m
o
u
s
ca
p
a
b
ilit
ies
with
th
e
in
teg
r
atio
n
o
f
ar
tific
ial
in
tellig
en
ce
to
p
r
e
d
ict
o
p
tim
al
s
p
r
ay
in
g
tim
es a
n
d
p
atter
n
s
.
ACK
NO
WL
E
DG
E
M
E
NT
W
e
wo
u
ld
lik
e
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a
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b
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c
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tac
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rd
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n
a
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d
k
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m
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c
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m
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m
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d
a
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b
a
n
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a
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in
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0
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,
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.
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g
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fro
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i
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h
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2
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ly
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se
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a
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teria
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ra
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teriz
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h
e
c
a
n
b
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c
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n
tac
ted
a
t
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m
a
il
:
siti
a
m
a
n
iah
@u
tem
.
e
d
u
.
m
y
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
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I
n
t J E
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&
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Vo
l.
14
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Dec
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b
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r
20
24
:
6
1
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6128
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in
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p
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ter
sc
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m
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teria
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in
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.
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c
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b
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c
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m
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tra
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(UPM
)
in
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2
.
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m
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.
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h
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c
a
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b
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ta
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:
n
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rl
iy
a
n
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ra
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t
p
.
e
d
u
.
m
y
.
Evaluation Warning : The document was created with Spire.PDF for Python.