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rica
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3
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A
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r
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20
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p
p
.
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N:
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cs
.v
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pp
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10
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30
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2
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Ro
b
o
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c
s
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a
s
sig
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a
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tl
y
a
d
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d
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m
a
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p
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k
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field
s
su
c
h
a
s
m
e
d
ici
n
e
,
e
n
g
i
n
e
e
rin
g
,
a
n
d
m
e
c
h
a
n
ics
,
e
n
h
a
n
c
in
g
d
a
il
y
li
fe
th
ro
u
g
h
v
a
rio
u
s ro
b
o
t
ic p
ro
t
o
ty
p
e
s.
Th
e
se
in
n
o
v
a
ti
o
n
s h
e
l
p
p
re
v
e
n
t
a
c
c
id
e
n
ts
a
n
d
in
j
u
ries
,
wh
e
th
e
r
a
t
h
o
m
e
o
r
in
h
a
z
a
rd
o
u
s
e
n
v
iro
n
m
e
n
ts.
F
o
r
in
sta
n
c
e
,
se
n
so
rs
c
a
n
d
e
tec
t
g
a
s
lea
k
s,
fires
,
a
n
d
o
th
e
r
p
o
ten
ti
a
l
d
isa
ste
rs.
Th
is
re
se
a
rc
h
a
ims
to
d
e
sig
n
a
p
r
o
to
ty
p
e
a
d
a
p
tab
le
to
a
n
y
h
o
m
e
e
n
v
ir
o
n
m
e
n
t
t
h
a
t
p
o
se
s
risk
s
to
in
fa
n
ts,
s
u
c
h
a
s
k
i
tch
e
n
s,
b
a
th
ro
o
m
s,
o
r
sta
irs.
Th
e
p
ro
p
o
se
d
p
ro
t
o
ty
p
e
i
n
c
o
rp
o
ra
tes
g
a
s,
m
o
ti
o
n
,
a
n
d
s
o
u
n
d
se
n
so
rs
c
o
n
n
e
c
ted
t
o
a
Wi
-
Fi
ES
P
3
2
m
o
d
u
le,
wh
ich
a
lerts
p
a
re
n
ts
t
o
a
n
y
p
o
ten
ti
a
l
d
a
n
g
e
r
to
th
e
ir
c
h
il
d
re
n
.
Th
e
re
se
a
rc
h
is
d
e
v
e
lo
p
e
d
i
n
six
p
h
a
se
s:
c
o
m
p
o
n
e
n
t
se
lec
ti
o
n
,
c
ircu
it
sim
u
lati
o
n
,
p
r
o
t
o
ty
p
e
d
e
s
ig
n
,
t
h
re
e
-
d
ime
n
sio
n
a
l
(
3D
)
p
ri
n
ti
n
g
,
c
o
d
e
p
ro
g
ra
m
m
in
g
,
a
n
d
fin
a
l
tes
ti
n
g
.
Th
e
re
su
lt
s
d
e
m
o
n
stra
te
a
p
o
si
ti
v
e
imp
a
c
t,
imp
ro
v
i
n
g
t
h
e
c
o
n
tr
o
l
a
n
d
c
a
re
o
f
in
fa
n
ts
b
y
a
lerti
n
g
p
a
re
n
ts
t
o
h
a
z
a
rd
s
su
c
h
a
s
g
a
s
lea
k
s,
c
ry
i
n
g
,
o
r
m
o
v
e
m
e
n
t
i
n
ris
k
y
a
re
a
s.
Th
e
c
o
n
c
lu
si
o
n
c
o
n
firms
th
e
e
ffe
c
ti
v
e
n
e
ss
o
f
t
h
e
p
r
o
to
t
y
p
e
in
p
ro
v
id
in
g
ti
m
e
ly
a
lerts
t
o
sa
fe
g
u
a
rd
in
fa
n
ts i
n
p
o
ten
ti
a
ll
y
d
a
n
g
e
ro
u
s si
tu
a
ti
o
n
s.
K
ey
w
o
r
d
s
:
Acc
id
en
ts
E
SP
3
2
W
i
-
Fi m
o
d
u
le
Pro
to
ty
p
e
m
o
d
el
R
o
b
o
tics
Sen
s
o
r
s
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
:
L
ab
er
ian
o
A
n
d
r
ad
e
-
Ar
en
as
Facu
ltad
d
e
C
ien
cias e
I
n
g
en
ie
r
ía,
Un
iv
er
s
id
ad
d
e
C
ien
cias y
Hu
m
an
id
ad
es
L
im
a,
Per
ú
E
m
ail:
lan
d
r
ad
e@
u
ch
.
e
d
u
.
p
e
1.
I
NT
RO
D
UCT
I
O
N
W
o
r
ld
wid
e,
in
ju
r
ies
r
esu
ltin
g
f
r
o
m
u
n
in
te
n
tio
n
al
ac
ci
d
en
ts
a
r
e
th
e
lead
in
g
ca
u
s
e
o
f
d
ea
th
i
n
ch
ild
r
en
o
f
p
e
d
iatr
ic
ag
e
[
1
]
.
Mo
s
t
o
f
t
h
ese
s
itu
atio
n
s
alm
o
s
t
alwa
y
s
o
cc
u
r
with
in
th
e
h
o
m
e
an
d
in
th
e
co
n
tex
t
o
f
ch
ild
d
ev
elo
p
m
e
n
t
ac
tiv
ities
[
2
]
,
s
u
ch
as
cr
a
wlin
g
,
r
u
n
n
in
g
,
ju
m
p
in
g
,
a
n
d
clim
b
in
g
,
wh
ich
r
e
p
r
esen
t
a
m
ajo
r
p
u
b
lic
h
ea
lth
p
r
o
b
lem
f
o
r
d
if
f
er
en
t
co
u
n
tr
ies.
Acc
o
r
d
in
g
t
o
f
ig
u
r
es
f
r
o
m
th
e
W
o
r
l
d
Hea
lth
Or
g
an
izatio
n
(
W
HO)
,
ar
o
u
n
d
1
0
0
ch
ild
r
en
d
ie
e
v
er
y
h
o
u
r
in
th
e
wo
r
ld
,
o
f
wh
ich
9
0
%
o
f
th
ese
d
ea
th
s
ar
e
t
h
e
r
es
u
lt
o
f
u
n
in
ten
tio
n
al
in
ju
r
ies,
th
u
s
in
d
icatin
g
a
h
i
g
h
lev
el
o
f
m
o
r
b
id
ity
an
d
m
o
r
tal
ity
.
Sev
er
al
s
tu
d
ies
h
av
e
r
ev
ea
led
th
at
m
o
r
b
id
it
y
an
d
m
o
r
tality
r
ates
d
er
iv
ed
f
r
o
m
u
n
in
ten
tio
n
al
in
ju
r
ies
o
cc
u
r
m
o
r
e
f
r
eq
u
e
n
tly
in
lo
w
-
a
n
d
m
id
d
le
-
in
co
m
e
co
u
n
tr
ies,
wh
ich
p
a
y
less
atte
n
tio
n
to
th
is
ty
p
e
o
f
p
r
o
b
lem
s
,
as
o
p
p
o
s
ed
to
d
ev
el
o
p
ed
c
o
u
n
tr
ies,
wh
er
e
th
e
n
u
m
b
er
s
ar
e
n
o
t so
h
ig
h
.
Me
an
wh
ile,
in
t
h
e
R
eg
io
n
o
f
th
e
Am
er
icas,
s
ix
ch
ild
r
e
n
o
r
ad
o
lescen
ts
u
n
d
er
2
0
y
ea
r
s
o
f
ag
e
d
ie
ev
er
y
h
o
u
r
f
r
o
m
u
n
in
ten
tio
n
a
l
in
ju
r
ies
ca
u
s
ed
m
ain
ly
b
y
d
r
o
wn
in
g
an
d
s
u
f
f
o
ca
tio
n
[
3
]
.
Acc
o
r
d
in
g
to
th
e
W
HO
wo
r
ld
r
ep
o
r
t
o
n
ch
ild
h
o
o
d
in
ju
r
y
p
r
ev
e
n
tio
n
,
o
th
er
ca
u
s
es
o
f
u
n
in
ten
tio
n
al
in
j
u
r
y
d
e
ath
s
ar
e
ass
o
ciate
d
with
b
r
ain
in
ju
r
ies,
f
alls
an
d
p
o
is
o
n
in
g
[
4
]
,
in
s
u
f
f
icien
t su
p
e
r
v
is
io
n
b
y
p
ar
en
ts
o
r
ca
r
eg
iv
e
r
s
,
as we
ll a
s
tr
af
f
ic,
th
er
m
al
in
ju
r
ies
an
d
f
ir
e
b
u
r
n
s
[
5
]
.
I
n
s
o
m
e
Am
er
ican
co
u
n
tr
ies,
th
e
s
o
cio
ec
o
n
o
m
ic
lev
el
is
a
co
n
tr
ib
u
tin
g
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2
5
0
2
-
4
7
52
I
mp
leme
n
ta
tio
n
o
f a
p
r
o
to
ty
p
e
to
p
r
ev
en
t c
h
ild
h
o
o
d
a
cc
id
e
n
ts
…
(
Je
n
n
er La
va
lle
-
S
a
n
d
o
v
a
l
)
89
f
ac
to
r
th
at
co
n
tr
ib
u
tes
to
p
r
o
v
id
e
a
h
ig
h
e
r
ac
cid
en
t
a
n
d
m
o
r
tality
r
ate
in
u
n
in
te
n
tio
n
al
in
j
u
r
ies
in
v
o
lv
in
g
all
ag
es o
f
ch
ild
r
e
n
.
I
n
th
e
ca
s
e
o
f
Per
u
,
th
e
m
o
s
t
co
m
m
o
n
u
n
in
ten
tio
n
al
ac
cid
e
n
ts
in
m
in
o
r
s
ar
e
f
alls
,
ex
p
o
s
u
r
e
to
to
x
ic
s
u
b
s
tan
ce
s
,
in
g
esti
o
n
o
f
f
o
r
ei
g
n
b
o
d
ies,
f
ir
es,
b
u
r
n
s
,
ex
p
l
o
s
io
n
s
,
an
d
elec
tr
o
cu
tio
n
s
.
I
n
ter
m
s
o
f
th
e
p
h
y
s
ical
n
atu
r
e
o
f
th
e
in
ju
r
y
,
th
ese
ac
cid
en
ts
ca
n
also
b
e
th
e
m
o
s
t
s
er
io
u
s
,
b
ec
au
s
e
th
ey
ca
n
lim
it
th
e
ac
tiv
ities
o
f
in
f
an
ts
,
eith
er
in
th
e
s
h
o
r
t
o
r
lo
n
g
ter
m
.
I
n
r
elatio
n
to
th
is
,
[
6
]
a
n
d
[
7
]
s
tate
th
at,
th
e
k
itch
en
o
f
all
ar
ea
s
o
f
th
e
h
o
m
e,
tu
r
n
s
o
u
t
to
b
e
th
e
m
o
s
t
r
is
k
y
ar
ea
,
an
d
wh
er
e
c
h
ild
r
e
n
s
h
o
u
ld
n
o
t
en
ter
,
esp
ec
ially
th
o
s
e
u
n
d
er
2
y
ea
r
s
o
f
ag
e
,
b
ec
a
u
s
e
th
er
e
ar
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u
s
u
ally
d
a
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g
er
o
u
s
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en
t
s
,
s
o
m
e
s
h
ar
p
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b
jects
an
d
o
th
er
s
r
elate
d
to
g
as
a
n
d
elec
tr
icity
h
o
m
e
en
v
i
r
o
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m
e
n
t
s
th
at
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ay
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ep
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s
in
g
g
as,
s
o
u
n
d
a
n
d
m
o
tio
n
s
en
s
o
r
s
,
alo
n
g
with
an
E
SP
3
2
Wi
-
Fi
m
o
d
u
le.
Hen
ce
,
n
o
wad
ay
s
,
tech
n
o
lo
g
i
ca
l
ad
v
an
ce
s
o
f
f
er
in
n
o
v
ativ
e
s
o
lu
tio
n
s
f
o
r
m
o
n
ito
r
in
g
ch
il
d
r
en
,
s
u
c
h
as
s
en
s
o
r
s
[
8
]
,
[
9
]
th
at
h
av
e
b
ec
o
m
e
v
al
u
ab
le
t
o
o
ls
in
th
is
f
i
eld
,
b
ec
a
u
s
e
th
ese
in
tellig
en
t
d
ev
ices
m
o
n
ito
r
a
n
d
co
n
tr
o
l
th
e
welf
ar
e
an
d
s
af
ety
o
f
ch
ild
r
e
n
,
p
r
o
v
id
in
g
p
ea
c
e
o
f
m
in
d
to
p
ar
e
n
ts
b
y
im
p
r
o
v
in
g
th
e
ef
f
icien
cy
an
d
q
u
ality
o
f
p
a
r
en
tin
g
[
1
0
]
,
[
1
1
]
.
T
h
is
s
itu
atio
n
m
o
tiv
ate
d
th
e
d
ev
elo
p
m
en
t
o
f
a
n
elec
t
r
o
n
ic
s
af
ety
s
y
s
tem
f
o
r
ch
ild
r
en
o
f
p
e
d
iatr
ic
ag
e,
ca
p
ab
le
o
f
war
n
in
g
an
d
p
r
e
v
en
tin
g
p
o
s
s
ib
le
ac
cid
en
ts
,
e
s
p
ec
ially
wh
en
th
e
in
f
an
t
b
eg
in
s
to
m
o
v
e
in
d
ep
e
n
d
en
tly
[
1
2
]
.
I
n
th
is
s
en
s
e,
th
is
p
r
o
to
ty
p
e
will
s
er
v
e
as
a
s
u
p
p
o
r
t
f
o
r
t
h
e
ca
r
e
an
d
p
r
ev
en
tio
n
o
f
ch
ild
r
e
n
in
d
if
f
er
en
t
h
o
m
e
en
v
i
r
o
n
m
e
n
ts
th
at
m
ay
r
e
p
r
esen
t
a
d
a
n
g
er
.
T
h
i
s
will
b
e
ac
h
iev
ed
u
s
in
g
g
as,
s
o
u
n
d
an
d
m
o
tio
n
s
en
s
o
r
s
,
to
g
eth
er
with
an
E
SP
3
2
Wi
-
Fi
m
o
d
u
le.
B
ased
o
n
th
e
p
r
o
b
lem
s
r
aised
,
th
e
o
b
jectiv
e
o
f
th
e
p
r
o
p
o
s
ed
p
r
o
to
ty
p
e
will
s
ee
k
to
r
ed
u
ce
th
e
n
u
m
b
er
o
f
ac
cid
e
n
ts
an
d
u
n
in
ten
tio
n
al
in
ju
r
ies
am
o
n
g
c
h
ild
r
en
,
s
u
ch
as
f
alls
,
b
u
r
n
s
,
b
lo
ws,
cu
ts
,
a
n
d
p
o
is
o
n
in
g
in
s
p
ac
es
with
in
t
h
e
h
o
m
e
id
en
tifie
d
as
p
r
o
n
e
to
r
is
k
s
.
All
th
is
to
g
eth
e
r
w
ith
th
e
f
ac
t
th
at
as
ch
ild
r
en
g
r
o
w
o
ld
er
,
th
ey
d
e
v
elo
p
g
r
ea
ter
m
o
b
ilit
y
.
T
h
e
aim
is
to
p
r
ev
en
t
f
u
tu
r
e
ac
cid
en
ts
o
r
in
ju
r
ies,
an
d
at
th
e
s
am
e
tim
e,
to
o
f
f
er
a
b
etter
q
u
ality
o
f
life
an
d
p
ea
ce
o
f
m
in
d
to
p
a
r
en
ts
an
d
ca
r
eg
iv
er
s
.
2.
M
AT
E
R
I
AL
S AN
D
M
E
T
H
O
DS
T
h
e
s
en
s
o
r
s
in
teg
r
ated
in
th
e
p
r
o
t
o
ty
p
e
will
b
e
in
ch
a
r
g
e
o
f
d
etec
tin
g
th
e
ch
ild
'
s
m
o
v
em
en
t,
esp
ec
ially
if
th
e
ch
il
d
en
ter
s
a
r
ea
s
co
n
s
id
er
ed
as
d
an
g
er
o
u
s
in
s
id
e
th
e
h
o
u
s
e.
T
h
e
p
r
o
to
ty
p
e
will
f
ac
ilit
ate
th
e
d
etec
tio
n
o
f
s
o
u
n
d
s
i
n
s
itu
atio
n
s
wh
er
e
th
e
ch
ild
cr
ies o
r
s
cr
ea
m
s
d
u
e
to
a
b
lo
w
o
r
f
all.
I
n
ad
d
itio
n
,
it will a
ls
o
id
en
tify
p
o
s
s
ib
le
to
x
ic
g
as
lea
k
s
in
th
e
k
itch
en
,
r
esp
o
n
d
in
g
to
an
y
an
o
m
aly
in
th
e
e
n
v
ir
o
n
m
en
t
[
1
3
]
.
I
t
s
h
o
u
l
d
b
e
n
o
ted
th
at
all
th
ese
s
en
s
o
r
s
will
b
e
co
n
tr
o
ll
ed
b
y
an
E
S
P
3
2
d
ev
elo
p
m
en
t
b
o
a
r
d
with
a
B
lu
eto
o
th
Wi
-
Fi
m
o
d
u
le
[
1
4
]
,
[
1
5
]
.
Fo
r
th
e
p
r
o
g
r
am
m
in
g
o
f
th
ese
elec
tr
o
n
ic
c
o
m
p
o
n
en
ts
,
u
s
e
w
as
m
ad
e
o
f
th
e
Ar
d
u
in
o
p
latf
o
r
m
,
wh
ich
f
ac
ilit
ated
th
e
d
ev
elo
p
m
e
n
t,
in
teg
r
atio
n
o
f
s
en
s
o
r
s
an
d
E
SP
3
2
m
o
d
u
le.
As
f
o
r
th
e
d
esig
n
,
th
e
p
r
o
to
ty
p
e
was
d
esig
n
ed
in
B
len
d
er
s
o
f
twar
e
in
o
r
d
er
to
lo
ca
te
all
th
e
af
o
r
e
m
en
tio
n
ed
c
o
m
p
o
n
en
ts
[
1
6
]
.
Similar
ly
,
u
s
e
was
m
ad
e
o
f
T
in
k
er
ca
d
,
a
f
r
ee
o
n
lin
e
to
o
l
[
1
7
]
w
h
er
e
elec
tr
o
n
ic
cir
cu
it
s
im
u
latio
n
s
wer
e
p
er
f
o
r
m
ed
to
g
et
an
id
ea
o
f
th
e
o
p
er
atio
n
an
d
lo
ca
tio
n
o
f
th
e
elec
tr
o
n
ic
co
m
p
o
n
en
t
s
u
s
ed
in
th
is
p
r
o
ject.
Du
r
in
g
th
e
co
u
r
s
e
o
f
th
is
s
tu
d
y
,
it
was
p
r
o
p
o
s
ed
to
ca
r
r
y
o
u
t
th
e
r
esear
ch
in
s
ix
s
tag
e
s
o
r
p
h
ases
in
o
r
d
er
t
o
u
n
d
er
s
tan
d
th
e
p
r
o
ce
s
s
o
f
co
m
p
o
n
en
t
s
elec
tio
n
,
cir
c
u
it
s
im
u
latio
n
,
f
o
llo
wed
b
y
p
r
o
to
t
y
p
e
d
esig
n
,
th
r
ee
-
d
im
en
s
io
n
al
(
3D
)
p
r
in
tin
g
,
co
d
e
p
r
o
g
r
a
m
m
in
g
a
n
d
f
in
al
test
in
g
o
f
th
e
p
r
o
to
ty
p
e,
wh
ich
ca
n
b
e
s
ee
n
in
Fig
u
r
e
1
,
wh
ich
to
g
eth
er
will
h
elp
p
r
ev
en
t c
h
ild
ac
cid
en
ts
in
h
ig
h
-
r
is
k
h
o
m
e
e
n
v
ir
o
n
m
en
ts
.
Fig
u
r
e
1
.
Pro
t
o
ty
p
e
d
ev
elo
p
m
en
t p
h
ases
2
.
1
.
E
lect
ro
nic c
o
m
po
nents selec
t
io
n pha
s
e
I
n
T
ab
le
1
,
we
f
in
d
a
lis
t
o
f
elec
tr
o
n
ic
co
m
p
o
n
en
ts
s
elec
ted
f
o
r
th
e
co
n
s
tr
u
ctio
n
o
f
th
e
p
r
o
to
ty
p
e
d
esig
n
ed
to
p
r
ev
en
t a
cc
i
d
en
ts
in
v
o
lv
in
g
ch
ild
r
e
n
in
h
az
a
r
d
o
u
s
h
o
m
e
en
v
ir
o
n
m
en
ts
.
T
h
e
c
o
m
p
o
n
en
ts
in
clu
d
e
a
p
ass
iv
e
in
f
r
ar
ed
(
PIR
)
s
en
s
o
r
HC
-
SR
5
0
1
,
a
s
o
u
n
d
s
en
s
o
r
KY
-
0
3
8
,
a
g
as
s
en
s
o
r
MQ
-
6
,
an
d
a
n
E
SP
3
2
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
52
In
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
3
8
,
No
.
1
,
Ap
r
il
20
2
5
:
88
-
98
90
d
ev
elo
p
m
e
n
t
b
o
ar
d
with
B
lu
eto
o
th
an
d
Wi
-
Fi
m
o
d
u
le.
T
h
e
s
e
co
m
p
o
n
e
n
ts
h
av
e
b
ee
n
ch
o
s
en
to
e
n
s
u
r
e
th
e
p
r
o
to
ty
p
e
ef
f
ec
tiv
ely
m
o
n
it
o
r
s
an
d
aler
ts
p
ar
e
n
ts
to
p
o
ten
tial
d
an
g
er
s
in
v
ar
io
u
s
h
o
m
e
s
ettin
g
s
.
T
ab
le
1
.
L
is
t o
f
elec
tr
o
n
ic
co
m
p
o
n
e
n
ts
El
e
c
t
r
o
n
i
c
c
o
mp
o
n
e
n
t
s
Q
u
a
n
t
i
t
y
P
I
R
sen
so
r
H
C
-
S
R
5
0
1
1
S
o
u
n
d
se
n
s
o
r
K
Y
-
0
3
8
G
a
s se
n
so
r
M
Q
-
6
1
1
Esp
3
2
d
e
v
e
l
o
p
me
n
t
b
o
a
r
d
w
i
t
h
B
l
u
e
t
o
o
t
h
Wi
-
Fi
m
o
d
u
l
e
1
2
.
2
.
E
lect
ro
nic c
ircuit
s
im
ula
t
io
n
As
p
r
ev
io
u
s
ly
m
en
tio
n
ed
,
T
i
n
k
er
C
ad
,
an
in
t
u
itiv
e
an
d
ea
s
y
to
u
s
e
s
o
f
twar
e
[
1
8
]
,
wa
s
u
s
ed
to
s
im
u
late
th
e
elec
tr
o
n
ic
c
o
m
p
o
n
en
ts
,
allo
win
g
to
o
b
tain
an
u
n
d
er
s
tan
d
in
g
o
f
th
e
d
esig
n
an
d
o
p
e
r
atio
n
o
f
th
e
elec
tr
o
n
ic
co
m
p
o
n
e
n
ts
,
as
well
as
th
e
Ar
d
u
in
o
c
o
d
in
g
an
d
p
r
o
g
r
a
m
m
in
g
p
r
o
ce
s
s
.
I
n
th
is
s
im
u
latio
n
,
a
PIR
s
en
s
o
r
,
a
g
as
s
en
s
o
r
an
d
a
tem
p
er
atu
r
e
s
en
s
o
r
an
d
two
r
esis
to
r
s
,
o
n
e
o
f
th
em
o
f
1
k
o
h
m
a
n
d
th
e
o
th
er
o
f
1
0
k
o
h
m
,
wer
e
co
n
s
id
er
ed
.
Als
o
,
a
liq
u
id
cr
y
s
tal
d
is
p
lay
(
L
C
D)
s
cr
ee
n
was
u
s
ed
th
at
a
llo
wed
th
e
v
is
u
ali
za
tio
n
o
f
th
e
in
f
o
r
m
atio
n
em
itted
b
y
th
e
s
en
s
o
r
s
,
also
a
p
r
o
to
b
o
ar
d
was
u
s
ed
in
wh
ich
all
th
e
ele
ctr
o
n
ic
co
m
p
o
n
e
n
ts
wer
e
co
n
n
ec
ted
,
in
clu
d
i
n
g
an
Ar
d
u
in
o
o
n
e
b
o
ar
d
[
1
9
]
.
Ad
d
itio
n
ally
,
th
e
u
s
e
o
f
th
is
s
o
f
twar
e
m
ad
e
it
p
o
s
s
ib
le
t
o
p
r
o
g
r
am
th
e
co
d
e
i
n
b
lo
c
k
s
,
wh
ich
co
n
tr
ib
u
ted
to
ac
h
iev
e
a
co
m
p
lete
s
im
u
latio
n
d
u
r
in
g
th
e
test
in
g
o
f
all
th
e
s
en
s
o
r
s
.
Ho
wev
e
r
,
it
is
im
p
o
r
tan
t
to
p
o
in
t
o
u
t
th
at
t
h
e
test
s
wer
e
n
o
t
ca
r
r
ied
o
u
t
with
all
th
e
o
r
ig
in
al
elec
tr
o
n
ic
co
m
p
o
n
en
ts
o
f
th
e
p
r
o
ject
b
ec
a
u
s
e
th
e
s
o
f
twar
e
lack
e
d
s
o
m
e
elem
en
ts
,
s
u
ch
as
th
e
E
SP
3
2
d
ev
elo
p
m
en
t b
o
ar
d
with
B
lu
eto
o
t
h
W
i
-
Fi
m
o
d
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le
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d
a
s
o
u
n
d
s
en
s
o
r
.
T
h
at
is
wh
y
th
e
test
s
wer
e
p
er
f
o
r
m
ed
with
s
o
m
e
alter
n
ate
co
m
p
o
n
e
n
ts
s
u
ch
as
a
tem
p
er
atu
r
e
s
en
s
o
r
an
d
a
1
6
×2
Fig
u
r
e
2
L
C
D
s
cr
ee
n
.
Fig
u
r
e
2
.
E
lectr
o
n
ic
s
im
u
latio
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o
f
c
o
m
p
o
n
en
ts
I
n
th
e
co
d
e
s
ec
tio
n
o
f
th
e
T
in
k
er
C
ad
web
ap
p
licatio
n
,
th
e
p
r
o
g
r
am
m
in
g
o
f
all
th
e
elec
tr
o
n
ic
co
m
p
o
n
en
ts
was
p
e
r
f
o
r
m
ed
,
a
s
a
f
ir
s
t
ac
tio
n
th
e
L
iq
u
in
d
C
r
y
s
tal.
h
lib
r
ar
y
was
in
s
talled
[
2
0
]
,
wh
ich
f
ac
ilit
ates
th
e
Ar
d
u
in
o
b
o
ar
d
t
o
co
n
tr
o
l th
e
L
C
D
d
is
p
lay
,
as sh
o
wn
in
Fig
u
r
e
3
.
L
ik
ewise,
as p
ar
t o
f
th
e
co
d
e,
th
e
in
teg
e
r
v
ar
iab
les
wer
e
d
ef
in
e
d
an
d
th
e
co
n
f
i
g
u
r
atio
n
o
f
c
o
lu
m
n
s
an
d
r
o
ws
o
f
th
e
L
C
D
d
is
p
l
ay
was
p
er
f
o
r
m
ed
.
Ad
d
itio
n
ally
,
t
h
e
in
p
u
t
p
in
s
wer
e
estab
lis
h
ed
in
o
r
d
e
r
to
g
u
ar
an
tee
all
c
o
m
p
atib
ilit
ies.
T
h
e
co
m
m
an
d
s
to
b
e
ex
ec
u
ted
wh
ile
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e
Ar
d
u
in
o
b
o
ar
d
is
en
ab
led
wer
e
also
in
c
o
r
p
o
r
ate
d
.
Fin
ally
,
th
e
v
alu
e
o
f
th
e
v
a
r
iab
les
o
r
tex
t in
d
icate
d
as p
ar
am
ete
r
th
a
t e
ac
h
s
en
s
o
r
will d
is
p
lay
o
n
th
e
L
C
D
s
cr
ee
n
was p
r
in
ted
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2
5
0
2
-
4
7
52
I
mp
leme
n
ta
tio
n
o
f a
p
r
o
to
ty
p
e
to
p
r
ev
en
t c
h
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h
o
o
d
a
cc
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e
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ts
…
(
Je
n
n
er La
va
lle
-
S
a
n
d
o
v
a
l
)
91
Fig
u
r
e
3
.
Simu
latio
n
p
r
o
g
r
am
m
in
g
co
d
e
2
.
3
.
P
r
o
t
o
t
y
pe
des
ig
n a
nd
p
rint
ing
T
h
e
d
esig
n
o
f
th
e
ca
s
e
a
n
d
h
o
o
k
o
f
t
h
e
p
r
o
to
ty
p
e
was
w
o
r
k
ed
in
B
len
d
er
s
o
f
twar
e
[
2
1
]
,
a
f
r
ee
o
p
e
n
s
o
u
r
ce
to
o
l th
at
allo
ws th
e
cr
e
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f
3
D
co
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r
o
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h
w
h
ich
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o
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ject
ca
n
b
e
s
h
o
wn
i
n
d
if
f
er
e
n
t c
o
n
te
x
ts
[
2
2
]
,
th
u
s
s
p
ee
d
in
g
u
p
an
d
im
p
r
o
v
in
g
th
e
ef
f
icien
cy
i
n
th
e
c
r
ea
tio
n
o
f
th
e
p
r
o
to
ty
p
e
[
2
3
]
.
As
well
as
o
f
f
er
in
g
a
wid
e
r
an
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e
o
f
ess
en
tial
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ls
,
in
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d
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g
m
o
d
elin
g
,
r
e
n
d
er
i
n
g
,
an
im
atio
n
,
am
o
n
g
o
t
h
er
f
u
n
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n
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th
at
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elp
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n
th
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o
le
p
r
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ce
s
s
o
f
elab
o
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atio
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o
f
th
e
d
esig
n
.
On
th
e
o
t
h
er
h
an
d
,
b
ein
g
a
m
u
ltip
latf
o
r
m
ap
p
licatio
n
,
it
is
co
m
p
atib
le
with
v
ar
i
o
u
s
o
p
e
r
a
tin
g
s
y
s
tem
s
,
s
u
ch
as L
in
u
x
,
Ma
cOS
an
d
W
in
d
o
ws.
R
eg
ar
d
in
g
th
e
d
ev
elo
p
m
en
t
o
f
th
e
ca
s
e
d
esig
n
,
as
s
h
o
wn
in
Fig
u
r
e
4
,
f
ir
s
t
th
e
m
ea
s
u
r
em
en
ts
o
f
th
e
elec
tr
o
n
ic
co
m
p
o
n
en
ts
wer
e
ta
k
en
,
s
u
ch
as
th
e
PIR
s
en
s
o
r
H
C
-
SR
5
0
1
[
2
4
]
,
th
e
s
o
u
n
d
s
en
s
o
r
KY
-
0
3
8
,
th
e
g
as
s
en
s
o
r
MQ
-
6
an
d
th
e
E
SP
3
2
d
ev
elo
p
m
en
t
b
o
a
r
d
with
B
lu
eto
o
th
Wi
-
Fi
m
o
d
u
le
in
o
r
d
er
to
d
esig
n
th
e
p
ar
titi
o
n
s
wh
er
e
ea
ch
el
ec
tr
o
n
ic
co
m
p
o
n
e
n
t
s
h
o
u
ld
b
e
lo
ca
te
d
.
T
h
en
,
th
e
co
v
er
o
f
th
e
ca
s
e
was
m
ad
e
an
d
as
a
last
s
tep
,
th
e
h
o
o
k
th
at
will
h
o
ld
th
e
ca
s
e
was
d
esig
n
ed
.
T
h
is
s
p
ec
if
ic
d
esig
n
o
f
th
e
h
o
o
k
h
as
b
ee
n
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lan
n
e
d
to
allo
w
th
e
ca
s
e
to
a
d
ap
t
m
o
r
e
ef
f
ec
tiv
ely
to
d
i
f
f
er
en
t
h
o
m
e
en
v
ir
o
n
m
en
ts
,
th
u
s
en
s
u
r
in
g
its
v
er
s
atility
an
d
u
s
ef
u
ln
ess
in
d
if
f
er
e
n
t sit
u
atio
n
s
.
Fig
u
r
e
4
.
Desig
n
a
n
d
m
o
d
elin
g
o
f
p
r
o
to
ty
p
es in
b
len
d
er
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
52
In
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
3
8
,
No
.
1
,
Ap
r
il
20
2
5
:
88
-
98
92
Af
ter
co
m
p
letin
g
th
e
d
esig
n
p
h
ase
o
f
th
e
ca
s
e
an
d
th
e
h
o
o
k
,
b
o
th
elem
e
n
ts
wer
e
p
r
in
ted
[
2
5
]
.
As
s
h
o
wn
in
Fig
u
r
e
5
,
in
itially
,
t
h
e
ca
s
e
a
n
d
its
lid
wer
e
p
r
in
t
ed
u
s
in
g
a
3
D
p
r
in
ter
.
T
h
e
n
th
e
h
o
o
k
p
ar
t
was
p
r
in
ted
,
as
illu
s
tr
ated
in
Fig
u
r
e
6
.
T
h
e
e
n
tire
p
r
o
ce
s
s
en
s
u
r
ed
p
r
ec
is
e
f
ab
r
icatio
n
o
f
ea
c
h
c
o
m
p
o
n
en
t,
lead
in
g
to
a
s
u
cc
ess
f
u
l a
s
s
em
b
ly
o
f
th
e
p
r
o
to
ty
p
e.
Fig
u
r
e
5
.
C
ase
p
r
in
tin
g
Fig
u
r
e
6
.
Ho
o
k
p
r
in
tin
g
2
.
4
.
E
lect
ro
nic c
o
m
po
nents ins
t
a
lla
t
io
n
On
ce
th
e
p
r
o
to
ty
p
e
p
ar
ts
wer
e
r
ea
d
y
,
th
e
elec
tr
o
n
ic
co
m
p
o
n
en
ts
wer
e
s
o
ld
er
ed
an
d
p
lac
ed
in
th
eir
r
esp
ec
tiv
e
p
lace
s
in
s
id
e
th
e
ca
s
e,
as
s
h
o
wn
in
Fig
u
r
e
7
.
At
th
is
p
o
in
t,
th
e
s
o
u
n
d
s
en
s
o
r
,
th
e
g
as
s
en
s
o
r
an
d
th
e
m
o
tio
n
s
en
s
o
r
wer
e
also
in
s
talled
,
f
o
llo
wed
b
y
t
h
e
in
s
ta
llatio
n
o
f
th
e
E
SP
3
2
d
ev
el
o
p
m
en
t
b
o
ar
d
with
B
lu
eto
o
th
Wi
-
Fi
m
o
d
u
le.
C
u
lm
in
atin
g
with
th
e
r
ea
lizatio
n
o
f
s
o
m
e
test
s
with
all
th
e
co
m
p
o
n
en
ts
in
s
talled
.
Fig
u
r
e
7
.
I
n
s
tallatio
n
o
f
s
en
s
o
r
s
an
d
E
SP
32
2
.
5
.
Co
de
pro
g
ra
m
m
ing
I
n
th
e
d
ev
elo
p
m
en
t
o
f
th
e
p
r
o
g
r
am
m
in
g
c
o
d
e
f
o
r
th
e
elec
tr
o
n
ic
co
m
p
o
n
en
ts
,
th
e
E
SP
3
2
-
W
R
O
OM
-
3
2
E
[
2
6
]
is
co
n
s
id
er
ed
as
a
h
i
g
h
p
e
r
f
o
r
m
an
ce
a
n
d
lo
w
p
o
w
er
co
n
s
u
m
p
tio
n
m
icr
o
co
n
tr
o
ll
er
,
wh
ic
h
s
tan
d
s
o
u
t
f
o
r
its
wid
e
r
an
g
e
o
f
in
teg
r
ated
f
u
n
ctio
n
alities
.
On
e
o
f
th
e
m
o
s
t
o
u
ts
tan
d
in
g
f
ea
tu
r
es
is
it
s
wir
eles
s
co
n
n
ec
tiv
ity
ca
p
a
b
ilit
y
,
as
it
in
co
r
p
o
r
ates
a
d
u
al
-
b
a
n
d
(
2
.
4
GHz
/5
GHz
)
Wi
-
Fi
s
y
s
tem
,
m
ak
in
g
it
p
o
s
s
ib
le
f
o
r
th
e
d
ev
ice
to
f
u
n
ctio
n
as
an
ac
ce
s
s
p
o
in
t
(
AP)
,
s
tatio
n
(
STA)
o
r
b
o
th
s
im
u
ltan
eo
u
s
ly
.
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n
ad
d
itio
n
to
p
r
o
v
id
in
g
a
s
o
lid
f
o
u
n
d
atio
n
f
o
r
in
ter
n
et
o
f
th
in
g
s
(
I
o
T
)
p
r
o
jects
b
y
f
ac
ilit
atin
g
wir
eless
co
n
n
ec
tiv
ity
with
lo
ca
l
n
etwo
r
k
s
o
r
I
n
ter
n
et
c
o
n
n
ec
tio
n
.
T
h
e
d
ev
el
o
p
m
en
t
o
f
th
e
p
r
o
to
ty
p
e
p
r
o
g
r
am
m
in
g
f
o
r
t
h
e
E
SP
3
2
m
o
d
u
le,
wh
ich
in
co
r
p
o
r
a
tes
m
o
tio
n
(
PIR),
s
o
u
n
d
(
KY
-
0
3
8
)
an
d
g
as
(
MQ
-
5
)
s
en
s
o
r
s
,
was
ca
r
r
ied
o
u
t
in
th
e
Ar
d
u
in
o
I
DE
d
ev
elo
p
m
en
t
en
v
ir
o
n
m
en
t
in
its
v
er
s
io
n
1
.
8
.
1
8
[
2
7
]
.
Su
b
s
eq
u
en
tly
,
to
en
ab
le
th
e
E
SP
3
2
p
r
o
g
r
am
m
in
g
,
th
e
b
o
ar
d
m
an
a
g
e
r
p
r
o
v
id
e
d
b
y
E
s
p
r
ess
if
Sy
s
tem
s
in
its
v
er
s
io
n
2
.
0
.
1
1
w
as
in
s
talled
an
d
an
ad
d
itio
n
al
UR
L
f
o
r
b
o
ar
d
m
an
ag
em
en
t
was
co
n
f
i
g
u
r
ed
in
th
e
Ar
d
u
in
o
I
DE
in
ter
f
ac
e:
h
ttp
s
://d
l.e
s
p
r
ess
if
.
co
m
/d
l/p
ac
k
ag
e_
esp
3
2
_
in
d
ex
.
js
o
n
.
As
ca
n
b
e
s
ee
n
i
n
Fig
u
r
e
8
,
m
a
n
u
al
i
n
s
tallatio
n
s
o
f
th
e
r
eq
u
ir
ed
lib
r
ar
ies
we
r
e
th
en
p
er
f
o
r
m
e
d
,
in
clu
d
in
g
E
SP
Asy
n
cT
C
P,
Asy
n
cT
C
P
an
d
ar
d
u
in
o
W
eb
So
ck
ets,
ess
en
tial
to
f
ac
il
itate
asy
n
ch
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I
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at,
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ter
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ter
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SP
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
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7
52
In
d
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u
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1
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Fig
u
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1
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1
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tr
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s
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o
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.
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s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2
5
0
2
-
4
7
52
I
mp
leme
n
ta
tio
n
o
f a
p
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ty
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(
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95
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1
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.
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Mo
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,
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s
en
s
o
r
'
s
ab
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y
to
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etec
t
leak
s
in
r
ea
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r
l
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f
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t in
ter
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is
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r
o
tect
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p
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n
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l h
az
ar
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s
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h
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am
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m
ed
w
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en
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v
alu
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g
th
e
p
r
o
to
ty
p
e
with
th
e
KY
-
0
3
8
s
o
u
n
d
s
en
s
o
r
.
I
n
Fig
u
r
e
1
7
,
it
is
ev
i
d
en
t
th
at
th
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en
s
o
r
h
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etec
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a
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wh
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talled
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h
e
s
en
s
o
r
'
s
a
b
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y
to
id
en
tify
an
d
d
if
f
e
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en
ti
ate
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ar
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s
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o
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n
d
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ad
d
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an
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tr
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lay
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o
f
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ec
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ity
.
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d
itio
n
ally
,
th
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y
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tem
f
ac
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litates
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ter
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es th
at
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i
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icate
an
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er
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Fig
u
r
es 1
5
to
1
7
,
s
h
o
w
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at
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e
im
p
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o
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p
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with
E
SP
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2
Wi
-
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Fo
llo
win
g
th
e
au
th
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r
'
s
r
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m
m
en
d
atio
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[
2
7
]
,
th
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im
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o
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es,
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its
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er
s
atility
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d
th
e
v
ar
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u
s
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tu
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ities
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io
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t
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ap
p
licatio
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y
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n
co
r
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o
r
ati
n
g
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e
r
s
en
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o
r
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h
e
m
o
n
ito
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in
g
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ar
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p
eo
p
le.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
52
In
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
3
8
,
No
.
1
,
Ap
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il
20
2
5
:
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-
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u
r
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6
.
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r
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1
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.
No
is
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d
etec
tio
n
4.
CO
NCLU
SI
O
N
Fro
m
th
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im
p
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tatio
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p
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o
p
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ild
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m
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ts
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is
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d
ed
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at
t
h
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ev
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in
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p
o
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ates
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ly
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elate
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f
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ts
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o
a
r
e
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u
s
ce
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tib
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d
u
e
to
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atu
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al
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r
io
s
ity
to
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lo
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e
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e
n
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n
m
en
t.
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o
n
s
id
er
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g
t
h
e
a
b
o
v
e,
it
ca
n
b
e
ad
d
ed
th
at
th
e
in
co
r
p
o
r
atio
n
o
f
tech
n
o
lo
g
y
an
d
th
e
in
teg
r
atio
n
o
f
m
o
tio
n
,
s
o
u
n
d
a
n
d
g
as
s
en
s
o
r
s
o
f
f
er
a
v
er
s
atile
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d
f
lex
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le
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o
lu
tio
n
to
im
p
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o
v
e
h
o
m
e
s
ec
u
r
ity
.
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h
is
ap
p
r
o
ac
h
i
s
m
ater
ialized
th
r
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g
h
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p
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ty
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e
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at
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clu
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es
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u
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ter
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ac
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n
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with
an
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h
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f
u
n
ctio
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ality
an
d
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f
icien
c
y
,
t
h
u
s
f
ac
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atin
g
ag
ile
an
d
well
-
in
f
o
r
m
e
d
d
ec
is
io
n
m
ak
in
g
o
n
th
e
p
ar
t
o
f
th
e
u
s
er
.
T
h
is
co
m
p
r
eh
en
s
iv
e
s
y
s
tem
n
o
t
o
n
ly
c
o
v
er
s
th
e
d
etec
tio
n
o
f
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ten
tial
ac
cid
e
n
ts
,
b
u
t
also
h
as
t
h
e
ab
ilit
y
to
s
en
d
in
s
ta
n
t
aler
ts
to
p
ar
en
ts
o
r
ca
r
eg
iv
er
s
in
ca
s
e
o
f
r
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k
y
s
itu
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n
s
.
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n
co
n
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s
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n
,
th
is
p
r
o
to
ty
p
e
s
tan
d
s
o
u
t
f
o
r
its
ad
ap
tab
ilit
y
an
d
p
o
r
tab
ilit
y
,
wh
ic
h
allo
w
s
it
to
b
e
ea
s
ily
m
o
v
ed
b
etwe
en
d
if
f
er
en
t
h
o
m
e
en
v
ir
o
n
m
en
ts
.
L
ik
e
wis
e,
th
e
ac
ce
s
s
ib
ilit
y
o
f
it
s
co
m
p
o
n
en
ts
in
th
e
m
ar
k
et
h
ig
h
lig
h
ts
th
e
ea
s
e
with
wh
ich
an
y
p
e
r
s
o
n
o
r
r
esear
c
h
er
ca
n
ac
q
u
ir
e
t
h
em
.
I
n
ad
d
itio
n
to
th
e
r
elativ
e
s
im
p
licity
o
f
p
r
o
g
r
am
m
in
g
,
it
r
ein
f
o
r
ce
s
th
e
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ea
th
at
in
co
r
p
o
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atin
g
s
o
lu
tio
n
s
o
f
th
is
ty
p
e
in
th
e
h
o
m
e
d
o
es
n
o
t
r
eq
u
ir
e
a
co
n
s
id
er
a
b
le
i
n
v
estme
n
t.
T
h
e
r
ef
o
r
e
,
it
is
r
ec
o
m
m
en
d
ed
th
at
u
s
er
s
o
r
p
ar
en
ts
in
v
est
in
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2
5
0
2
-
4
7
52
I
mp
leme
n
ta
tio
n
o
f a
p
r
o
to
ty
p
e
to
p
r
ev
en
t c
h
ild
h
o
o
d
a
cc
id
e
n
ts
…
(
Je
n
n
er La
va
lle
-
S
a
n
d
o
v
a
l
)
97
tech
n
o
lo
g
ical
s
o
lu
tio
n
s
th
at
en
ab
le
th
em
to
p
r
ev
e
n
t
f
alls
,
in
ju
r
ies,
g
as
leak
s
,
am
o
n
g
o
th
er
ac
cid
en
ts
th
at
o
cc
u
r
f
r
eq
u
e
n
tly
in
th
e
h
o
m
e.
Fin
ally
,
d
esp
ite
ce
r
tain
lim
itatio
n
s
p
r
esen
ted
d
u
r
in
g
th
e
p
r
o
c
ess
,
s
u
ch
as
th
e
ab
s
en
ce
o
f
a
3
D
p
r
in
te
r
to
p
r
in
t
v
ar
io
u
s
d
esig
n
s
o
r
p
r
o
to
ty
p
es
with
d
if
f
e
r
en
t
el
ec
tr
o
n
ic
co
m
p
o
n
e
n
ts
th
at
f
a
cilitate
th
e
test
o
f
ad
ap
tab
ilit
y
in
v
ar
i
o
u
s
d
o
m
esti
c
en
v
ir
o
n
m
en
ts
,
a
n
d
th
e
d
if
f
i
cu
lty
o
f
in
co
r
p
o
r
atin
g
a
d
d
itio
n
al
s
en
s
o
r
s
s
u
ch
as
h
u
m
id
ity
o
r
tem
p
e
r
atu
r
e
to
i
m
p
r
o
v
e
d
aily
u
s
ab
ilit
y
,
th
is
r
esear
ch
is
p
r
esen
ted
as
a
v
al
u
ab
le
co
n
tr
ib
u
tio
n
p
r
o
v
id
i
n
g
a
p
ar
ativ
e
p
o
i
n
t
f
o
r
f
u
tu
r
e
r
esear
ch
in
ter
ested
i
n
d
ev
elo
p
in
g
p
r
o
t
o
ty
p
es
f
o
r
d
o
m
esti
c
u
s
e,
th
u
s
s
tim
u
latin
g
p
r
o
g
r
ess
in
th
is
p
ar
ticu
lar
f
ield
.
RE
F
E
R
E
NC
E
S
[
1
]
B
.
A
.
W
e
s
t
,
R
.
A
.
R
u
d
d
,
E.
K
.
S
a
u
b
e
r
-
S
c
h
a
t
z
,
a
n
d
M
.
F
.
B
a
l
l
e
s
t
e
r
o
s,
“
U
n
i
n
t
e
n
t
i
o
n
a
l
i
n
j
u
r
y
d
e
a
t
h
s
i
n
c
h
i
l
d
r
e
n
a
n
d
y
o
u
t
h
,
2
0
1
0
–
2
0
1
9
,
”
J
o
u
r
n
a
l
o
f
S
a
f
e
t
y
R
e
se
a
r
c
h
,
v
o
l
.
7
8
,
p
p
.
3
2
2
–
3
3
0
,
S
e
p
.
2
0
2
1
,
d
o
i
:
1
0
.
1
0
1
6
/
j
.
j
sr
.
2
0
2
1
.
0
7
.
0
0
1
.
[
2
]
I
.
J.
C
h
i
c
o
M
o
r
a
l
e
s,
S
.
K
.
N
a
r
v
á
e
z
P
u
p
i
a
l
e
s,
A
.
C
.
U
ma
q
u
i
n
g
a
C
r
i
o
l
l
o
,
a
n
d
P
.
D
.
R
o
sero
M
o
n
t
a
l
v
o
,
“
Em
b
e
d
d
e
d
s
y
s
t
e
m
o
r
i
e
n
t
e
d
t
o
b
a
b
i
e
s
i
n
c
r
a
w
l
i
n
g
s
t
a
g
e
f
o
r
a
c
c
i
d
e
n
t
p
r
e
v
e
n
t
i
o
n
a
p
p
l
i
e
d
i
n
a
n
i
n
t
e
l
l
i
g
e
n
t
t
e
x
t
i
l
e
(
i
n
S
p
a
n
i
s
h
:
S
i
s
t
e
ma
e
mb
e
b
i
d
o
o
r
i
e
n
t
a
d
o
a
b
e
b
é
s
e
n
e
t
a
p
a
d
e
g
a
t
e
o
p
a
r
a
p
r
e
v
e
n
c
i
ó
n
d
e
a
c
c
i
d
e
n
t
e
s
a
p
l
i
c
a
d
o
e
n
u
n
t
e
x
t
i
l
i
n
t
e
l
i
g
e
n
t
e
)
,
”
E
n
f
o
q
u
e
U
T
E
,
v
o
l
.
9
,
n
o
.
1
,
p
p
.
2
1
7
–
2
2
5
,
M
a
r
.
2
0
1
8
,
d
o
i
:
1
0
.
2
9
0
1
9
/
e
n
f
o
q
u
e
u
t
e
.
v
9
n
1
.
2
8
1
.
[
3
]
Y
.
En
d
o
a
n
d
C
.
P
r
e
m
a
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