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(
Os
ama
M
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A
l
-
Habahb
e
h
)
1603
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l
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if
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n.
L
uo
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n
d
T
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n
[
11]
pr
e
s
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n
t
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d
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de
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p
l
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r
ni
ng
mo
de
l
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p
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ng.
Z
h
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n
g
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t
al.
[
12]
u
s
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d
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n
s
o
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s
to
a
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ur
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pr
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s
.
Onis
hi
e
t
al.
[
13]
r
e
p
o
r
t
e
d
t
h
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pr
o
gr
e
s
s
o
f
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T
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u
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wa
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gr
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de
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by
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him
l
e
k
e
t
al.
[
1
4
]
b
a
s
e
d
o
n
i
m
a
g
e
c
om
pa
r
i
s
o
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r
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f
t
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pi
x
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l
r
a
d
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n
t
hi
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wo
r
k,
a
r
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ke
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f
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xe
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a
t
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h
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d
-
e
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r
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li
t
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R
a
ke
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ve
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us
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pe
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;
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m
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ke
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by
Ab
a
n
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al.
[
1
5
]
f
o
r
m
i
xi
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pa
dd
y
i
n
s
u
n
dr
y
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ng.
T
h
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il
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nv
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ga
t
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by
S
a
put
r
a
e
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al
.
[
16
]
us
i
n
g
vi
r
t
ua
l
s
im
u
l
a
t
i
o
n
.
A
pe
du
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k
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ha
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l
a
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by
W
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n
g
a
n
d
Z
h
o
u
[
17]
us
i
n
g
A
da
m
s
s
o
f
t
wa
r
e
;
t
h
e
d
e
s
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wa
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b
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d
o
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m
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g
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wa
s
de
s
i
g
n
e
d
by
C
a
l
v
o
et
al.
[
18
]
;
t
h
e
pr
otot
y
pe
f
e
a
t
ur
e
s
de
e
p
l
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a
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ni
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-
b
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f
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a
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wa
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pr
o
p
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d
by
T
ha
m
b
o
o
n
e
t
al.
[
19
]
;
wh
e
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t
h
e
m
a
ni
pu
l
a
t
o
r
h
a
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v
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h
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ha
n
d
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xi
s
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Al
-
Ha
b
a
hb
e
h
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t
al.
[
20
]
e
m
p
l
o
y
e
d
a
n
a
l
go
r
i
t
hm
to
de
t
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ge
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m
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ppr
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m
a
ni
pu
l
a
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o
r
.
A
hm
a
d
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d
Ay
o
u
b
[
21]
pr
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n
t
e
d
a
d
y
n
a
mi
c
r
o
b
ot
pa
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ur
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t
wo
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k
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by
C
a
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ll
o
-
R
u
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t
al.
[
2
2
]
to
e
x
a
m
i
ne
d
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f
f
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e
n
t
t
y
pe
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we
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hi
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pr
o
bl
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m
c
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pe
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b
y
Br
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wn
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n
d
S
ukka
r
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e
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t
al.
[
2
3
].
2.
M
E
T
HO
D
T
hi
s
wo
r
k
b
u
i
l
ds
upo
n
t
h
e
pr
e
vi
o
us
wo
r
k
pe
r
f
o
r
m
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d
[
20]
,
wh
e
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y
pr
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d
a
s
m
a
r
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a
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g
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f
r
u
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t
s
.
Ho
we
v
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r
,
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n
t
hi
s
wo
r
k,
t
h
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de
s
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g
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f
t
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r
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wa
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pr
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whi
c
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f
f
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a
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g.
F
o
r
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x
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m
p
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r
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ke
wa
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dde
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to
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d
-
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to
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y
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T
h
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w
de
s
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g
n
wa
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s
im
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l
a
t
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d,
b
u
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l
t
,
pr
o
gr
a
m
m
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d,
a
n
d
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s
t
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d.
T
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pr
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p
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d
h
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t
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g
s
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m
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us
t
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d
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t
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bl
o
c
k
d
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a
gr
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m
s
h
o
wn
i
n
F
i
gur
e
1.
F
i
gur
e
1
.
Ha
r
v
e
s
t
i
n
g
s
y
s
t
e
m
o
pe
r
a
t
i
o
n
T
h
e
p
i
c
k
i
ng
pr
o
c
e
s
s
i
s
c
o
n
duc
t
e
d
us
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n
g
t
h
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r
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k
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too
l
po
s
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t
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o
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e
d
a
t
t
h
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d
o
f
t
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b
ot
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c
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r
m
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T
h
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f
f
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pa
r
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t
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d
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t
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d
by
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a
t
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l
a
n
d
B
h
a
v
s
a
r
[
2
4]
.
Ol
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ve
f
r
u
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t
de
t
a
c
hm
e
n
t
f
o
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c
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f
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r
di
f
f
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t
s
t
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k
t
wi
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t
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g
a
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g
l
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wa
s
m
e
a
s
ur
e
d
by
Al
-
Ha
b
a
hb
e
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t
al.
[
25]
.
A
p
l
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t
f
o
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m
f
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r
r
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b
ot
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t
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g
wa
s
pr
e
s
e
n
t
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d
by
I
b
r
a
hi
m
[
26]
;
i
t
wa
s
us
e
d
to
t
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s
t
s
pe
c
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f
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c
de
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c
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s
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di
f
f
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t
c
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di
t
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.
T
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t
h
a
r
v
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s
t
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n
g
r
a
t
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f
42%
wa
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s
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d
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us
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s
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f
t
gr
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ppe
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c
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m
bi
ne
d
w
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t
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t
a
r
ge
t
t
r
a
c
ki
n
g.
Ho
we
v
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r
,
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n
t
hi
s
wo
r
k,
by
us
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ng
t
h
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r
a
ke
too
l
,
a
hi
g
h
e
r
ha
r
ve
s
t
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g
r
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t
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s
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x
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T
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pr
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p
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m
c
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pr
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m
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to
r
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z
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d
3DO
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r
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b
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ni
pu
l
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r
,
a
n
R
GB
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t
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s
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v
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t
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t
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t
a
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d
o
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R
a
s
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r
y
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i
.
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n
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r
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r
to
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tr
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b
ot,
t
h
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a
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pbe
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r
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to
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c
o
m
put
e
r
us
i
n
g
VN
C
s
o
f
t
wa
r
e
.
2.
1.
Conce
p
t
u
al
d
e
s
ign
T
h
e
pr
o
p
o
s
e
d
o
l
i
ve
-
f
r
u
i
t
r
o
b
ot
i
c
h
a
r
v
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s
t
e
r
i
s
s
h
o
wn
i
n
F
i
gur
e
2.
I
t
i
s
ba
s
e
d
o
n
a
n
R
R
P
s
p
h
e
r
i
c
a
l
m
a
ni
pu
l
a
t
o
r
de
s
i
g
n
.
Ab
o
ve
t
h
e
b
a
s
e
t
h
e
r
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i
s
a
r
ot
a
r
y
m
o
to
r
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1
wi
t
h
v
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r
t
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c
a
l
a
xi
s
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I
t
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n
a
bl
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s
t
h
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ho
r
i
z
o
n
t
a
l
m
o
t
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n
o
f
t
h
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r
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b
ot
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A
n
o
t
h
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r
r
ot
a
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m
o
tor
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2
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t
h
h
o
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t
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xi
s
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s
f
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d
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to
p
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f
t
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f
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r
s
t
m
o
to
r
,
whi
c
h
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bl
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v
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t
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c
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m
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f
t
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b
ot.
F
i
na
l
ly,
a
pr
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s
m
a
t
i
c
m
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t
or
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s
f
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d
to
t
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c
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d
m
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tor
,
whi
c
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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52
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do
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2.
2.
Hol
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
do
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s
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a
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J
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l
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c
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I
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N:
2
5
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2
-
4
7
52
Hologr
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-
bas
e
d
de
s
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buil
ding,
and
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ti
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R
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2.
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Re
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s
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m
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t
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20]
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b
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[
28]
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f
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o
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da
n
[
Gr
a
n
t
No
.
62/2021
-
2022]
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n
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t
No.
3/4/
4/486]
.
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1]
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o
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v
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e
w
s
in
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e
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al
E
ngi
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e
r
in
g
,
vo
l.
51,
n
o
.
2,
pp.
1
–
17,
2
023,
do
i:
10.1615/C
r
i
tR
e
vB
i
o
m
e
dE
ng.2023047224.
[
2]
R
.
T
.
A
l
-
K
a
s
a
s
be
h,
N
.
K
or
e
ne
v
s
ki
y
,
M
.
S
.
A
ls
ha
ma
s
in
, O
.
M
. A
l
-
H
a
ba
hbe
h,
A
.
S
ha
qa
da
n,
S
.
N
.
R
o
di
o
n
ov
a
,
a
nd
S
.
F
il
is
t,
“
F
uz
z
y
ma
th
e
ma
ti
c
a
l
mo
d
e
ls
f
o
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pr
e
di
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ti
ng
a
nd
di
a
gno
s
in
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oc
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upa
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ona
l
di
s
e
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s
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of
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k
e
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th
e
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gr
o
-
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ia
l
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o
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e
x
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o
n
ta
c
t
w
it
h
pe
s
ti
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id
e
s
”
,
P
r
oc
e
e
di
ngs
-
2022
8t
h
A
nnual
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nt
e
r
nat
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nal
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onf
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e
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n
f
or
m
at
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n
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y
s
te
m
s
f
or
C
om
put
e
r
s
,
I
C
N
I
SC
2022
, pp. 290
–
294, 2022, do
i:
10.1109/I
C
N
I
S
C
57059.
2022.00065.
[
3]
R
.
T
.
A
l
-
K
a
s
a
s
be
h
e
t
al
.
,
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E
a
r
l
y
di
a
gn
o
s
is
of
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s
ti
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e
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du
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e
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o
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uppor
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s
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e
m
a
nd
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s
s
e
s
s
me
nt
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o
d
y
a
c
upun
c
tu
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e
p
o
in
ts
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e
s
p
o
ns
e
,”
2023
2nd
I
nt
e
r
nat
io
nal
E
ngi
ne
e
r
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g
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onf
e
r
e
nc
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le
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tr
ic
al
,
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ne
r
gy
,
and
A
r
ti
f
ic
ia
l
I
nt
e
ll
ig
e
nc
e
(
E
I
C
E
E
A
I
)
,
Z
a
r
q
a
, J
o
r
da
n, pp. 1
-
8, 2023,
do
i:
10.1109/
E
I
C
E
E
A
I
60672.2023.10590518.
[
4]
N
.
A
.
K
o
r
e
ne
v
s
k
iy
e
t
a
l
.
,
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C
o
m
p
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te
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de
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io
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s
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pe
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de
-
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n
d
uc
e
d d
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s
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s
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r
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t
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c
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R
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w
s
™
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n
B
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d
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a
l
E
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g
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e
r
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g
,
v
o
l
.
5
3
,
no
.
1
,
p
p
.
1
-
22, 2025, do
i:
10.1615/
C
r
i
tR
e
vB
i
o
m
e
dE
ng.2024053746.
[
5]
S
.
C
a
s
tr
o
-
G
a
r
c
ia
e
t
al
.,
“
V
id
e
o
e
v
a
lu
a
ti
o
n
of
ta
bl
e
o
li
ve
da
ma
ge
dur
in
g
ha
r
ve
s
t
w
it
h
a
c
a
n
o
p
y
s
ha
ke
r
,”
H
or
tT
e
c
hnol
ogy
,
vo
l
.
19,
no
. 2, pp. 260
-
266, 2009, d
o
i
:
10.21273/
H
O
R
T
S
C
I
.19.2.260.
[
6]
R
.
E
.
H
id
a
lg
o
,
F
.
P
.
C
a
r
r
a
n
z
a
-
C
a
ña
da
s
,
F
.
J
.
G
a
r
c
ía
-
S
a
lc
e
d
o
,
a
nd
P
.
T
r
i
v
iñ
o
-
T
a
r
r
a
da
s
,
“
P
a
r
a
me
t
e
r
is
a
ti
o
n
a
nd
o
pt
im
is
a
ti
o
n
of
a
ha
nd
-
r
a
ke
s
w
e
e
p
e
r
:
a
ppl
i
c
a
ti
o
n i
n
o
li
ve
pi
c
ki
ng,
”
A
gr
ic
ul
tu
r
e
, vo
l.
10, pp. 379, 2020, d
o
i
:
10.3390
/a
g
r
ic
u
lt
ur
e
10090379.
[
7]
S
a
mpl
e
C
o
s
ts
,
T
he
O
li
v
e
O
il
Sour
c
e
, 2022. htt
ps
:/
/ww
w
.o
li
v
e
oi
ls
o
ur
c
e
.c
o
m/
pa
g
e
/s
a
mpl
e
-
c
o
s
ts
, A
c
c
e
s
s
e
d
o
n J
ul
y
14, 2024.
[
8]
S
.
G
.
V
o
ug
i
o
uka
s
,
“
A
gr
ic
ul
tu
r
a
l
r
o
b
o
ti
c
s
,
”
A
nnual
R
e
v
ie
w
of
C
ont
r
ol
,
R
obot
ic
s
,
and
A
ut
onomous
Sy
s
t
e
m
s
,
v
o
l.
2,
no
.
1,
pp. 365
-
392, 2019, do
i
:
10.1146/a
nnur
e
v
-
c
o
nt
r
o
l
-
053018
-
0236
17.
[
9]
Y
.
T
a
ng,
M
.
C
he
n,
C
.
W
a
ng,
L
.
L
u
o
,
J
.
L
i,
G
.
L
ia
n,
a
nd
X
.
Z
o
u,
“
R
e
c
o
gni
ti
o
n
a
nd
lo
c
a
li
z
a
ti
o
n
m
e
th
o
ds
f
o
r
v
is
i
o
n
-
ba
s
e
d
f
r
ui
t
pi
c
ki
ng r
o
b
o
ts
:
a
r
e
v
i
e
w
,
”
F
r
ont
ie
r
s
i
n P
la
nt
Sc
ie
nc
e
, vol
. 11, p
p. 510, 2020, do
i
:
10.3389/
f
pl
s
.2020.00510.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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Hologr
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ama
M
.
A
l
-
Habahb
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h
)
1611
[
10]
C
.
W
a
ng,
S
.
L
iu
,
L
.
Z
ha
o
,
a
nd
T
.
L
u
o
,
“
V
ir
tu
a
l
s
im
ul
a
ti
o
n
of
f
r
ui
t
pi
c
ki
ng
r
o
b
ot
ba
s
e
d
o
n
uni
t
y
3D
,
”
J
our
nal
of
P
hy
s
ic
s
:
C
onf
e
r
e
nc
e
Se
r
ie
s
, v
o
l.
1631, n
o
. 1, 2020, d
o
i:
10.1088
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742
-
6
596/
1631/1/
0
12033.
[
11]
H
.
L
u
o
a
nd
Y
.
T
a
n,
“
R
e
s
e
a
r
c
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o
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n
und
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r
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tu
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t
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d
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l
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pa
r
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ti
o
n
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a
t
e
ha
r
v
e
s
t
o
r
,
”
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e
ij
in
g
L
in
y
e
D
ax
ue
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ue
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our
n
al
o
f
B
e
ij
in
g
F
or
e
s
tr
y
U
ni
v
e
r
s
it
y
, v
o
l.
40, n
o
. 12, pp. 110
-
116, 2018,
do
i:
10.13332/j
.1000
-
1522.20180374.
[
12]
K
.
Z
ha
ng,
K
.
L
a
mm
e
r
s
,
P
.
C
hu,
Z
.
L
i,
a
nd
R
.
L
u,
“
S
y
s
t
e
m
de
s
ig
n
a
nd
c
o
nt
r
o
l
of
a
n
a
ppl
e
ha
r
v
e
s
ti
ng
r
o
b
o
t,
”
M
e
c
hat
r
oni
c
s
,
vo
l.
79, 2021, d
o
i:
10.1016/
j.
me
c
ha
tr
o
ni
c
s
.2021.102644.
[
13]
Y
.
O
ni
s
hi
,
T
.
Y
o
s
hi
da
,
H
.
K
u
r
it
a
,
T
.
F
uka
o
,
H
.
A
r
ih
a
r
a
,
a
nd
A
.
I
w
a
i,
“
A
n
a
ut
o
ma
te
d
f
r
ui
t
ha
r
ve
s
ti
ng
r
o
b
o
t
b
y
us
in
g
d
e
e
p
le
a
r
ni
ng,”
R
obome
c
h
,
vo
l.
6, n
o
. 13, 2019,
d
o
i:
10.1186/s
40648
-
019
-
0141
-
2
.
[
1
4
]
P
.
C
hi
ml
e
k
a
nd
S
.
J
it
a
na
n,
“
I
ma
ge
ba
s
e
dl
im
e
s
iz
e
gr
a
di
ng
us
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g
th
e
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o
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ti
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o
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r
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di
us
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nd
th
e
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c
tu
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l
s
iz
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me
f
r
ui
t,
”
I
ndone
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ia
n
J
o
ur
nal
of
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le
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tr
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E
ngi
ne
e
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d
C
om
put
e
r
Sc
ie
nc
e
(
I
J
E
E
C
S)
,
vo
l.
24,
n
o
.
1,
pp.
279
-
286,
2
021,
do
i:
10.11591/i
je
e
c
s
.v
24.
i1
.
[
1
5
]
E
.
A
ba
na
,
M
.
P
a
c
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o
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R
.
S
o
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ll
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,
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.
M
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nt
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n
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,
D
.
A
gpa
o
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,
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nd
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.
M
.
A
ll
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m,
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o
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g
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ndone
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ia
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our
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le
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tr
ic
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ngi
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in
g
and
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om
put
e
r
Sc
ie
n
c
e
(
I
J
E
E
C
S)
,
vo
l.
14,
no
.
3,
pp.
1165
-
1170,
2019,
do
i:
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e
c
s
.v
14.
i3
.
[
16]
H
.
M
.
S
a
put
r
a
,
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.
M
ir
da
ni
e
s
,
a
nd
E
.
R
ij
a
nt
o
,
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c
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ur
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our
nal
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e
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hat
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s
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le
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o
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e
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ul
ar
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e
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h
nol
ogy
,
vo
l.
7,
n
o
.
2,
2
016,
do
i
:
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.
me
v
.2016.
v
7.105
-
112
.
[
17]
G
.
W
a
ng
a
nd
J.
Z
h
o
u
,
“
D
y
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mi
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r
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o
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pa
th
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nni
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s
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e
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us
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g
ne
ur
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l
n
e
tw
o
r
k,”
J
our
nal
of
I
nt
e
ll
ig
e
nt
and
F
uz
z
y
Sy
s
te
m
s
,
vo
l.
40, n
o
. 2, pp. 3055
-
3063, 2021,
d
oi
:
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I
F
S
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.
[
18]
A
.
C
a
lv
o
,
R
.
D
e
b
o
li
,
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.
P
r
e
t
i,
a
nd
A
.
d
e
M
a
r
ia
,
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D
a
il
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o
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ur
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o
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e
nt
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t
r
ic
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li
ve
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e
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te
r
s
,
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our
nal
of
A
gr
i
c
ul
tu
r
al
E
ngi
ne
e
r
in
g
v
o
l.
45, n
o
. 3
, pp. 103
–
110
, 2014,
do
i:
10.4081/j
a
e
.2014.424
.
[
19]
P
.
T
ha
mb
oo
n,
T
.
M
a
y
oo
n,
N
.
T
a
na
s
a
nc
ha
i,
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.
S
ut
hi
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o
pa
pa
n,
a
nd
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.
A
nuko
o
l,
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ib
r
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he
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e
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e
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t
r
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ti
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s
pr
in
g,”
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anar
e
e
J
ou
r
nal
o
f
Sc
ie
n
c
e
and
T
e
c
hnol
ogy
,
v
o
l.
30,
n
o
.
2,
pp.
1
-
6,
2023,
do
i:
10.55766/s
uj
s
t
-
2023
-
02
-
e
01602.
[
20]
O
.
M
.
A
l
-
H
a
ba
hbe
h,
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.
A
y
oub,
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.
A
.
Y
a
ma
n,
M
.
M
a
ta
he
n,
a
nd
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.
S
a
r
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S
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pe
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n
c
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s
,
370,
05004,
2022,
10.1051/m
a
te
c
c
o
n
f
/2
02237005004
.
[
21]
R
.
A
hma
d,
S
.
A
y
oub,
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c
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o
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n,”
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r
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e
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di
ngs
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t
he
5t
h I
nt
. C
onf
. O
li
v
e
bi
ot
e
q
, pp. 206
-
211, 2014,
ht
tp
s
:/
/ww
w
.r
e
s
e
a
r
c
hga
te
.n
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/3
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ve
s
ti
ng_i
n_j
o
r
da
n.
[
2
2
]
F
.
J
.
C
a
s
ti
ll
o
-
R
ui
z
,
S
.
T
o
mb
e
s
i,
a
nd
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.
F
a
r
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e
ll
i,
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h J
our
nal
o
f
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gr
ic
ul
tu
r
al
R
e
s
e
a
r
c
h
, v
o
l.
16, n
o
. 1, 2018,
do
i:
10.5424/s
ja
r
/2
018161
-
12269.
[
2
3
]
J
.
B
r
o
w
n,
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.
S
ukka
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i
e
h,
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e
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ig
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mp
o
n
e
n
ts
,”
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our
nal
of
F
ie
ld
R
obot
ic
s
, vo
l.
3
8, n
o
. 2, pp. 289
-
306, 2021, d
oi
:
10.1002/r
o
b.21987.
[
24]
P
.
P
a
te
l
a
nd
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.
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ha
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s
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r
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nt
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io
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our
nal
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dv
anc
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d
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r
e
nd
s
in
C
om
put
e
r
Sc
ie
nc
e
and E
ngi
ne
e
r
in
g
, vo
l.
10, n
o
. 3, pp. 1611
-
1618, 2021, d
o
i:
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0534/i
ja
tc
s
e
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021
/1
81032021.
[
25]
O
.
M
.
A
l
-
H
a
ba
hbe
h
e
t
al
.,
“
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e
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in
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onf
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r
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o
r
d
a
n,
2
023,
do
i:
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E
I
C
E
E
A
I
60672.2023.10590436.
[
26]
M
.
I
br
a
hi
m,
“
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e
ve
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e
nt
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n
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c
t
r
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a
l
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ld
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ve
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ve
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is
r
J
our
nal
o
f
A
gr
ic
ul
tu
r
al
E
ngi
ne
e
r
in
g,
v
o
l.
35,
n
o
.
3,
pp. 827
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846, 2018,
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i
:
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e
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[
27]
A
.
K
ha
n
a
nd
M
.
M
.
G
o
r
,
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o
r
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r
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ne
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ti
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m
o
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R
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o
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e
c
h.
in
21s
t
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e
nt
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N
C
E
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T
-
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I
E
T
,
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a
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r
a
,
P
a
r
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ns
ti
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e
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ngg
T
e
c
h,
L
im
da
,
v
a
d
o
da
r
a
,
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-
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tp
s
:/
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w
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r
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.ne
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i
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or
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[
28]
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nd
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.
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.
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a
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o
s
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ic
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in
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our
nal
of
I
m
agi
ng
, v
o
l.
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o
. 1
2, 2
019,
do
i:
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im
a
gi
ng5120089
.
[
29
]
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.
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.
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our
nal
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A
gr
ic
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i:
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a
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.2020.1057.
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