I
A
E
S
I
n
t
e
r
n
at
io
n
al
Jou
r
n
al
of
A
r
t
if
ic
ia
l
I
n
t
e
ll
ig
e
n
c
e
(
I
J
-
AI
)
V
ol
.
10
, N
o.
1
,
M
a
r
c
h
202
1
, pp.
24
~
34
I
S
S
N
:
2252
-
8938
,
D
O
I
:
10.11591/
ij
a
i.
v
10
.i
1
.pp
24
-
34
24
Jou
r
n
al
h
om
e
page
:
ht
tp
:
//
ij
ai
.
ia
e
s
c
or
e
.c
om
D
e
p
l
oym
e
n
t
of
i
n
t
e
r
n
e
t
of
t
h
i
n
gs
-
b
ase
d
c
l
ou
d
l
e
t
-
c
l
ou
d
f
or
su
r
ve
i
l
l
an
c
e
op
e
r
at
i
on
s
E
d
j
e
E
. A
b
e
l
1
, A
b
d
L
at
if
f
M
u
h
a
m
m
ad
S
h
af
ie
2
, W
e
n
g H
ow
e
C
h
an
3
1,2,3
Department of Compu
ter Science, Universiti
Teknologi Malays
ia, Malaysia
1
Department of Compu
ter Science, Delta Stat
e University, Nig
eria
A
r
t
ic
le
I
n
f
o
A
B
S
T
R
A
C
T
A
r
ti
c
le
h
is
to
r
y
:
R
e
c
e
iv
e
d
M
a
y 1, 2020
R
e
vi
s
e
d
J
a
n 15, 2021
A
c
c
e
pt
e
d J
a
n 26, 2021
This research proposes the design of internet of
things (IoT)
camera/to
xic gas
sensors
for
the
surveillance
of
a
nation’s
borders.
Also,
a
wearabl
e
radio
frequency
identificat
ion
(RFID)
tag
with
built
-
in
body
-
temperatu
re/he
artbeat
sensors,
for
monitoring
the
health
status
and
locations
of
military
pe
rsonnel
while
on
border
patrol
duty
or
in
battlefield
combats.
Mobile
micro
-
controll
ers
are
deployed
to
gather
sensed
data
retrieved
fro
m
the
sensors/RFID
tags
and
transmitted
to
a
cloudlet
situated
at
the
co
mmand
control
center,
located
200
meters
away
from
the
sensor
d
ev
ices.
Conseque
ntly,
sensed
data
are
dispatch
to
the
cloud
data
center
when
t
here
is
a
need
for
offline
data
mining
or
analysis.
The
distinguishing
featu
re
of
our
proposed
system
from
previous
researches
is
that
the
health
stat
us
and
locations
of
troops
(so
ldiers)
are
monitored
while
they
ar
e
in
border
patrol
duty
or
in
battlefield
combats.
Also,
the
introduction
of
cloudlet
s
ervices
closer
to
the
IoT
sensor
devices
for
collection
of
sensed
data.
This
w
ay,
the
sensed
data
or
information
gathered
at
the
cloud
let
will
aid
timely
information
retrieva
l
that
will
speed
up
intelligence
gathering
for
st
rategic
military
operations,
especially
in
critical
situations.
This
is
an
innovative
attempt
to
apply
IoT
-
enabled
cloudlet
-
based
cloud
computing
to
support
military
operations.
K
e
y
w
o
r
d
s
:
Cloud compu
ting
Cloudlets
Communicat
ion protoc
ols
Internet of t
hings
Nation’s borders
This is an
open
acce
ss artic
le unde
r the
CC BY
-
SA
license.
C
or
r
e
s
pon
di
n
g A
u
th
or
:
E
dj
e
E
. A
be
l
D
e
pa
r
tm
e
nt
of
C
om
put
e
r
S
c
ie
nc
e
U
ni
ve
r
s
it
i
T
e
knol
ogi
M
a
la
y
s
ia
, M
a
la
ys
ia
E
m
a
il
:
e
a
e
dj
e
2@
gr
a
dua
te
.ut
m
.m
y
1.
I
N
T
R
O
D
U
C
T
I
O
N
T
he
s
ur
vi
va
l
a
nd
s
a
f
e
ty
of
a
ny
na
ti
on
de
pe
nd
im
m
e
ns
e
ly
on
t
he
e
xpe
r
ti
s
e
of
he
r
m
il
it
a
r
y
de
f
e
ns
e
.
T
he
bor
de
r
s
of
a
na
ti
on
w
hi
c
h
is
not
unde
r
c
ons
i
s
te
nt
s
ur
ve
il
la
nc
e
a
r
e
bound
to
b
e
c
om
pr
om
is
e
d
by
b
a
ndi
tr
y
e
ve
nt
a
nd
in
f
lu
x
of
il
le
ga
l
m
ig
r
a
nt
s
.
T
he
r
e
f
or
e
,
it
is
im
pe
r
a
ti
v
e
f
or
th
e
bor
de
r
s
to
be
gua
r
de
d
by
in
nova
ti
ve
te
c
hnol
ogi
c
a
l
in
f
r
a
s
tr
uc
tu
r
a
l
a
s
s
is
ti
ve
e
qui
pm
e
nt
.
C
ons
e
qu
e
nt
ly
,
m
il
it
a
r
y
pe
r
s
onne
l
de
pl
oye
d
to
phys
ic
a
ll
y
gua
r
d
th
e
bor
de
r
s
a
ls
o
ne
e
d
to
b
e
in
good
he
a
lt
h
w
hi
le
pe
r
f
or
m
in
g
th
e
ir
c
iv
ic
dut
y.
I
n
a
ny
s
ta
nd
a
r
d
bor
de
r
pa
tr
ol
or
ba
tt
le
f
ie
ld
e
nvi
r
onm
e
nt
,
th
e
r
e
is
a
m
il
it
a
r
y
ba
s
e
o
r
c
om
m
a
nd
c
ont
r
ol
c
e
nt
e
r
th
a
t
m
a
na
ge
s
th
e
ope
r
a
ti
ons
a
nd
ta
ke
s
de
c
i
s
iv
e
de
c
i
s
io
ns
of
s
tr
a
te
gi
z
in
g
th
e
r
e
in
f
or
c
e
m
e
nt
s
of
bor
de
r
pa
tr
ol
o
r
ba
tt
le
f
ie
ld
c
om
ba
ts
f
or
a
n
a
bs
ol
ut
e
vi
c
to
r
y
ove
r
th
e
a
dve
r
s
a
r
y.
E
f
f
e
c
ti
ve
a
nd
e
f
f
ic
ie
nt
m
a
na
ge
m
e
nt
of
m
il
it
a
r
y
ope
r
a
ti
ons
a
t
th
e
c
ont
r
ol
c
e
nt
e
r
c
a
n
be
a
c
hi
e
ve
d
w
it
h
th
e
a
s
s
is
ta
n
c
e
of
s
of
twa
r
e
a
nd
ha
r
dw
a
r
e
s
y
s
te
m
s
im
pl
e
m
e
nt
a
ti
on,
w
he
r
e
in
te
r
ne
t
o
f
th
in
gs
(
I
oT
)
s
e
ns
in
g
de
vi
c
e
s
pl
a
y
a
vi
ta
l
r
ol
e
a
nd
a
r
e
in
te
gr
a
te
d
w
it
h
th
e
s
e
m
a
nt
ic
c
lo
ud
-
ba
s
e
d
s
ol
ut
io
n
s
[
1]
.
T
he
w
or
d
“
in
te
r
ne
t
of
th
i
ngs
(
I
oT
)
”
w
a
s
in
tr
oduc
e
d
in
1999
by
K
e
vi
n
A
s
ht
on.
C
om
put
e
r
s
or
a
ny
di
gi
ta
l
de
vi
c
e
s
c
a
n
c
om
m
uni
c
a
te
w
it
h
e
a
c
h
ot
he
r
,
s
ha
r
e
a
nd
us
e
in
f
or
m
a
ti
on
a
m
ong
th
e
m
w
it
hout
hum
a
n
in
t
e
r
ve
nt
io
n,
a
id
e
d
by
I
oT
.
I
oT
s
e
ns
in
g
d
e
vi
c
e
s
a
r
e
c
la
s
s
if
ie
d
a
s
s
e
ns
or
s
a
nd
Evaluation Warning : The document was created with Spire.PDF for Python.
I
nt
J
A
r
ti
f
I
nt
e
ll
I
S
S
N
:
2252
-
8938
D
e
pl
oy
m
e
nt
of
i
nt
e
r
ne
t
of
t
hi
ngs
-
bas
e
d c
lo
udl
e
t
-
c
lo
ud f
or
s
u
r
v
e
il
la
nc
e
ope
r
at
io
ns
(
E
dj
e
E
. A
be
l
)
25
r
a
di
o
f
r
e
que
nc
y
id
e
nt
if
ic
a
ti
on
(
R
F
I
D
)
ta
gs
.
I
oT
s
e
ns
or
is
a
de
vi
c
e
th
a
t
c
a
pt
ur
e
s
da
ta
f
r
om
th
e
phys
ic
a
l
e
nvi
r
onm
e
nt
a
nd
us
e
s
bui
lt
-
in
c
om
put
e
r
e
s
our
c
e
to
pe
r
f
or
m
pr
e
de
f
in
e
d
f
unc
ti
on
s
upon
de
te
c
ti
on
of
s
pe
c
if
ic
da
ta
be
f
or
e
pa
s
s
in
g
it
on
to
ot
h
e
r
de
vi
c
e
s
a
nd
ne
twor
k
[
2]
.
T
hi
s
w
a
s
uphe
ld
by
[
3]
,
de
s
c
r
ib
in
g
I
oT
s
e
ns
or
de
vi
c
e
a
s
a
ny
de
vi
c
e
th
a
t
c
ol
le
c
ts
da
t
a
a
nd
r
e
m
ot
e
ly
c
om
m
uni
c
a
te
th
e
da
ta
to
ot
he
r
di
gi
ta
l
or
I
oT
de
vi
c
e
s
s
uc
h
a
s
c
ont
r
ol
le
r
s
a
nd
s
m
a
r
tp
hone
s
.
B
a
s
ic
a
ll
y,
I
oT
s
e
ns
or
s
a
r
e
de
s
ig
ne
d
to
r
e
tr
ie
ve
a
huge
a
m
ount
of
da
ta
dur
in
g
s
e
ns
in
g
e
ve
nt
of
a
s
pe
c
if
ic
e
nvi
r
onm
e
nt
.
O
n
th
e
ot
he
r
ha
nd,
R
F
I
D
ta
gs
a
r
e
e
it
he
r
pa
s
s
iv
e
or
a
c
ti
ve
,
w
hi
c
h
a
r
e
us
e
d
to
tr
a
c
k
do
w
n
th
e
lo
c
a
ti
on
of
a
n
obj
e
c
t.
D
a
ta
ob
ta
in
e
d
f
r
om
ta
gs
a
r
e
r
e
a
d
by
th
e
R
F
I
D
r
e
a
d
e
r
,
w
hi
c
h t
r
a
ns
m
it
t
he
da
ta
t
o ot
he
r
de
vi
c
e
s
s
uc
h a
s
c
om
put
e
r
s
ys
te
m
s
. H
ow
e
ve
r
, t
he
y a
r
e
l
im
it
e
d i
n da
ta
s
to
r
a
ge
,
ubi
qui
to
us
c
om
m
uni
c
a
ti
on,
a
nd
c
om
put
a
ti
on
pow
e
r
a
s
w
e
ll
a
s
a
r
c
hi
te
c
tu
r
e
te
c
hnol
ogy.
U
bi
qui
to
us
c
om
m
uni
c
a
ti
on
r
e
qui
r
e
s
out
s
ta
ndi
ng
in
nova
ti
ons
,
f
or
in
s
ta
nc
e
,
to
s
uppor
t
c
ol
la
bor
a
ti
ons
be
twe
e
n
th
in
g
s
a
nd
th
e
in
te
r
ne
t
a
s
w
e
ll
a
s
w
e
ll
-
de
f
in
e
d
c
onne
c
ti
vi
ty
be
tw
e
e
n
p
e
opl
e
a
nd
th
in
g
s
[
4]
.
A
ls
o,
I
oT
s
e
n
s
or
s
n
e
e
d
a
da
pt
a
bl
e
a
r
c
hi
te
c
tu
r
e
to
e
nha
nc
e
th
e
in
te
r
a
c
ti
vi
ty
a
m
ong
di
ve
r
s
e
tr
a
ns
m
is
s
io
n
s
tr
uc
tu
r
e
s
w
it
h
va
r
io
us
r
e
s
our
c
e
s
f
or
s
e
r
vi
c
e
pr
ovi
de
r
s
a
nd
e
nd
us
e
r
in
f
o
r
m
a
ti
on.
O
n
t
he
ot
he
r
ha
nd,
c
lo
ud
c
om
put
in
g
is
a
pow
e
r
f
u
l
te
c
hnol
ogy
to
pe
r
f
or
m
m
a
s
s
iv
e
-
s
c
a
le
a
nd
c
om
pl
e
x
c
om
put
in
g
,
e
li
m
in
a
ti
ng
th
e
ne
e
d
to
m
a
in
ta
i
n
e
xpe
ns
iv
e
c
om
put
in
g
ha
r
dw
a
r
e
,
de
di
c
a
te
d
s
to
r
a
ge
s
pa
c
e
,
a
nd
s
of
twa
r
e
[
5]
.
C
ons
e
que
nt
ly
,
it
vi
r
tu
a
ll
y
r
e
nd
e
r
s
th
r
e
e
s
e
r
vi
c
e
s
na
m
e
ly
s
of
twa
r
e
a
s
a
s
e
r
vi
c
e
(
S
a
a
S
)
,
pl
a
tf
or
m
a
s
a
s
e
r
vi
c
e
(
P
a
a
S
)
a
nd
in
f
r
a
s
tr
uc
tu
r
e
a
s
a
s
e
r
vi
c
e
(
I
a
a
S
)
, on a
pa
y
-
as
-
you
-
go ba
s
is
.
I
nt
e
gr
a
ti
ng
I
oT
de
vi
c
e
s
a
nd
th
e
c
lo
ud
ha
s
th
e
pot
e
nt
ia
ls
to
ove
r
c
om
e
th
e
a
f
or
e
m
e
nt
io
ne
d
I
oT
li
m
it
a
ti
ons
. W
it
h t
he
m
a
s
s
iv
e
da
ta
r
e
s
our
c
e
s
to
r
a
ge
a
nd c
om
put
a
ti
on of
t
he
c
lo
ud, i
t
is
de
e
m
e
d t
o c
om
pl
e
m
e
nt
a
nd
e
nha
nc
e
s
th
e
pe
r
f
or
m
a
nc
e
s
of
I
oT
de
vi
c
e
s
.
T
he
r
e
f
o
r
e
,
c
li
e
nt
s
c
a
n
a
c
c
e
s
s
th
e
s
e
r
vi
c
e
s
of
I
oT
de
vi
c
e
s
vi
a
th
e
c
lo
ud
a
t
a
ny
ti
m
e
ir
r
e
s
pe
c
ti
ve
of
th
e
ir
ge
ogr
a
phi
c
a
l
lo
c
a
t
io
ns
.
T
hi
s
i
s
due
to
th
e
f
a
c
t
th
a
t
c
lo
ud
of
f
e
r
f
le
xi
bl
e
a
nd
s
c
a
la
bl
e
a
s
s
e
ts
a
nd
r
e
qui
s
it
io
n
s
,
a
s
w
e
ll
a
s
it
s
s
e
r
vi
c
e
s
a
nd
r
e
s
our
c
e
s
,
a
r
e
ti
m
e
ly
a
va
il
a
bl
e
a
nd
a
c
c
e
s
s
ib
le
[
4]
. T
he
r
e
f
or
e
, t
he
m
e
r
gi
ng of
I
oT
a
nd C
lo
ud t
e
nds
t
o be
ne
f
it
s
bot
h t
e
c
hnol
ogi
e
s
how
e
v
e
r
t
he
r
e
a
r
e
s
om
e
c
ha
ll
e
ng
e
s
th
a
t
m
u
s
t
be
ov
e
r
c
om
e
be
f
or
e
th
e
y
c
a
n
a
c
tu
a
li
z
e
th
e
ir
f
ul
l
pot
e
nt
ia
ls
. T
he
m
a
jo
r
c
ha
ll
e
ng
e
is
th
e
f
a
r
-
r
e
a
c
hi
ng
c
om
m
uni
c
a
ti
on d
is
ta
nc
e
be
twe
e
n t
he
m
. S
uc
h l
ong
-
di
s
ta
nc
e
c
om
m
uni
c
a
ti
on r
e
s
ul
ts
i
n l
a
te
nc
y
de
la
y a
nd j
it
te
r
. L
a
te
nc
y c
a
n gi
ve
ne
ga
ti
ve
i
m
pa
c
t
on i
nt
e
r
a
c
ti
v
e
r
e
s
pons
e
a
s
t
he
t
a
s
k i
n ha
nd i
nc
r
e
a
s
e
s
, w
hi
c
h
is
not
id
e
a
l
f
or
c
r
it
ic
a
l
s
it
ua
ti
ons
in
a
ho
s
ti
le
ba
tt
l
e
f
ie
ld
e
nv
ir
onm
e
nt
or
bor
de
r
pa
tr
ol
th
a
t
ne
e
ds
ti
m
e
ly
in
te
ll
ig
e
nt
in
f
or
m
a
ti
on.
A
ls
o,
it
c
a
n
m
a
ke
r
e
nde
r
th
e
e
nt
ir
e
c
o
m
m
uni
c
a
ti
on
s
ys
tr
m
s
unr
e
li
a
bl
e
in
a
m
il
it
a
r
y
c
ont
e
xt
,
e
s
pe
c
i
a
ll
y
in
th
e
a
r
e
a
s
of
s
ur
ve
il
la
nc
e
a
nd
in
te
ll
ig
e
nc
e
ga
th
e
r
in
g,
w
he
r
e
ti
m
e
ly
in
f
o
r
m
a
ti
on
is
pa
r
a
m
ount
f
or
e
f
f
e
c
ti
ve
a
nd
e
f
f
ic
ie
nt
ope
r
a
ti
ons
.
T
he
r
e
f
or
e
,
a
r
e
s
our
c
e
-
r
ic
h
c
lo
udl
e
t
c
om
put
in
g
is
in
tr
oduc
e
d
to
r
e
s
ol
ve
t
he
i
s
s
u
e
of
l
a
te
nc
y a
nd c
om
m
uni
c
a
ti
on de
la
y b
e
twe
e
n t
he
I
oT
a
nd t
he
c
lo
ud.
C
lo
udl
e
t
is
a
tr
us
te
d
s
m
a
ll
e
r
ve
r
s
io
n
of
th
e
c
lo
ud
th
a
t
c
om
p
r
is
e
s
c
lu
s
te
r
s
of
c
om
put
e
r
s
th
a
t
a
r
e
c
onne
c
te
d
to
th
e
in
te
r
ne
t
[
6
-
7]
.
I
n
a
ddi
ti
on,
it
e
f
f
ic
ie
nt
ly
p
r
ovi
de
s
c
lo
ud
c
om
put
in
g
s
e
r
vi
c
e
s
to
m
obi
le
de
vi
c
e
s
,
s
uc
h
a
s
s
m
a
r
tp
hone
s
,
ta
bl
e
t
s
,
a
nd
I
oT
s
e
n
s
in
g
de
vi
c
e
s
.
C
lo
udl
e
t
ha
s
th
e
c
a
pa
bi
li
ty
to
im
pr
ove
th
e
r
e
s
pons
e
ti
m
e
a
ppl
ic
a
ti
ons
r
unni
ng
on
I
oT
s
e
ns
in
g
de
vi
c
e
s
by
ut
il
iz
in
g
lo
w
la
te
nc
y,
hi
gh
-
ba
ndw
id
th
w
ir
e
le
s
s
c
onne
c
ti
vi
ty
,
a
s
w
e
ll
a
s
ho
s
ti
ng
th
e
c
lo
ud
c
om
put
in
g
r
e
s
our
c
e
s
s
uc
h
a
s
vi
r
tu
a
l
m
a
c
hi
ne
s
,
phys
i
c
a
ll
y
c
lo
s
e
r
to
th
e
I
oT
s
e
ns
in
g
de
vi
c
e
s
a
c
c
e
s
s
in
g
th
e
m
[
3]
.
T
hus
,
e
li
m
in
a
te
th
e
la
te
nc
y
de
la
ys
of
lo
ng
-
di
s
ta
nc
e
c
om
m
uni
c
a
ti
on
be
twe
e
n
th
e
I
oT
s
e
ns
in
g
d
e
vi
c
e
s
a
nd
th
e
C
lo
u
d.
T
he
I
oT
s
e
ns
in
g
de
vi
c
e
s
f
unc
ti
on
a
s
a
th
in
c
li
e
nt
,
w
it
h
a
ll
it
s
c
om
put
a
ti
on
p
e
r
f
or
m
e
d
in
th
e
c
lo
udl
e
t.
H
e
n
c
e
,
th
e
pr
oxi
m
it
y
of
th
e
c
lo
udl
e
t
to
th
e
I
o
T
is
ve
r
y i
m
por
ta
nt
f
or
t
i
m
e
ly
(
in
m
il
li
s
e
c
onds
)
e
xe
c
ut
io
n of
j
obs
or
t
a
s
ks
i
n t
he
c
lo
udl
e
t.
T
o
th
e
be
s
t
of
our
knowle
dge
,
th
e
r
e
a
r
e
li
m
it
e
d
e
xi
s
ti
ng
r
e
s
e
a
r
c
he
s
on
th
e
a
ppl
ic
a
ti
on
of
I
oT
ba
s
e
d
c
lo
ud
c
om
put
in
g
to
s
uppor
t
m
il
it
a
r
y
ope
r
a
ti
ons
a
t
pr
e
s
e
nt
.
F
o
r
in
s
ta
nc
e
,
[
8]
in
ve
s
ti
ga
te
th
e
pot
e
nt
ia
l
u
s
e
of
I
oT
in
m
il
it
a
r
y
ope
r
a
ti
ons
w
hi
c
h
in
c
lu
de
r
is
ks
,
ne
twor
k
v
ul
ne
r
a
bi
li
ti
e
s
a
nd
th
e
pol
ic
ie
s
gove
r
ni
ng
it
s
ut
il
iz
a
ti
on.
S
om
e
of
th
e
ut
il
iz
a
ti
on
of
I
oT
hi
ghl
ig
ht
e
d
in
c
lu
d
e
s
th
e
ba
s
e
ope
r
a
ti
ona
l
s
up
por
t
de
ve
lo
pe
d
to
pr
ovi
de
ba
s
ic
s
uppor
t
or
ne
e
ds
of
m
il
it
a
r
y
pe
r
s
onne
ls
a
nd
f
a
m
i
li
e
s
,
a
nd
m
oni
to
r
in
g
of
m
il
it
a
r
y
pe
r
s
onne
l
a
nd
e
nvi
r
onm
e
nt
us
in
g
w
e
a
r
a
bl
e
s
m
a
r
t
c
lo
th
in
g.
C
on
s
iq
ue
nt
ly
,
s
is
ks
s
u
c
h
a
s
c
yb
e
r
s
e
c
ur
it
y
a
nd
pol
ic
y
s
tr
a
te
gy
pos
e
c
ha
ll
e
nge
s
f
or
th
e
e
f
f
e
c
ti
ve
a
nd
r
e
li
a
bl
e
us
e
of
I
oT
in
m
i
li
ta
r
y
ope
r
a
ti
ons
.
I
n
[
9]
,
a
n
I
oT
-
ba
s
e
m
il
it
a
r
y
a
s
s
is
t
a
nc
e
a
nd
s
ur
ve
il
la
nc
e
s
y
s
te
m
in
th
e
ba
tt
le
f
ie
ld
is
de
ve
lo
pe
d.
D
a
ta
obt
a
in
e
d
f
r
om
th
e
m
ul
ti
-
s
e
ns
or
s
ur
ve
il
la
nc
e
de
vi
c
e
s
a
r
e
f
or
w
a
r
de
d t
o a
m
il
it
a
r
y unit
f
or
t
he
on
w
a
r
d pr
oc
e
s
s
. T
o t
r
a
n
s
m
it
t
he
i
nf
or
m
a
ti
on s
uc
h
a
s
th
e
s
e
n
s
e
d
d
a
ta
a
nd
m
e
s
s
a
ge
s
th
a
t
w
il
l
a
ll
ow
th
e
of
f
ic
e
r
s
to
be
upda
te
d a
bout
th
e
s
ta
tu
s
of
th
e
ba
tt
le
f
ie
ld
in
r
e
a
l
-
ti
m
e
a
s
th
e
y
pr
oc
e
e
d
f
or
c
om
ba
t.
F
ie
ld
s
ur
ve
il
la
nc
e
r
obot
f
or
la
nd
m
in
e
de
te
c
ti
on
a
nd
to
xi
c
ga
s
s
e
ns
in
g
de
vi
c
e
s
is
pr
opos
e
d
by
[
10]
.
I
t
c
a
n
de
te
c
t
c
ove
r
e
d
or
hi
dde
n
m
e
ta
ls
a
nd
s
e
n
s
in
g
of
to
xi
c
ga
s
a
tt
a
c
k
s
.
T
he
r
obot
is
w
ir
e
le
s
s
ly
c
ont
r
ol
le
d
by
ut
il
iz
in
g
a
n
a
ndr
oi
d
phone
.
F
ur
th
e
r
m
o
r
e
,
it
us
e
s
A
r
dui
no
U
no
m
ic
r
o
-
c
ont
r
ol
le
r
f
or
th
e
ga
th
e
r
in
g
of
s
e
ns
e
d
da
ta
a
nd
N
od
e
M
C
U
W
iF
i
to
in
te
r
f
a
c
e
th
e
c
ont
r
ol
le
r
a
nd
th
e
r
obot
.
T
he
r
e
f
or
e
,
a
ll
s
e
ns
in
g
in
f
or
m
a
ti
on
ga
th
e
r
e
d
by
th
e
c
ont
r
ol
le
r
is
tr
a
ns
f
e
r
r
e
d
to
th
e
c
lo
ud
s
e
r
ve
r
a
nd
a
c
c
e
s
s
e
d
vi
a
a
de
s
ig
na
te
d w
e
bpa
ge
.
T
hus
, e
na
bl
in
g t
he
R
obot
t
o be
us
e
d
in
r
e
a
l
-
ti
m
e
a
t
th
e
ba
tt
le
f
ie
ld
a
nd moni
to
r
e
d a
t
th
e
m
il
it
a
r
y he
a
dqua
r
te
r
s
s
im
ul
ta
ne
ous
ly
.
T
he
r
e
s
e
a
r
c
h
w
or
k
of
[
11]
a
na
ly
z
e
s
th
e
a
ppl
ic
a
bi
li
ty
of
I
oT
i
n
m
il
it
a
r
y
de
f
e
ns
e
ope
r
a
ti
ons
w
hi
c
h
in
c
lu
de
s
t
he
t
r
a
c
ki
ng of
obj
e
c
t,
m
oni
to
r
in
g t
he
he
a
lt
h of
m
il
it
a
r
y pe
r
s
onne
l
in
a
c
ti
ve
s
e
r
vi
c
e
, unde
r
gr
ound a
nd
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
2252
-
8938
I
nt
J
A
r
ti
f
I
nt
e
ll
,
V
ol
.
10
, N
o.
1
,
M
a
r
c
h
20
2
1
:
24
–
34
26
unde
r
w
a
te
r
s
ur
vul
li
a
nc
e
a
s
w
e
ll
a
s
pr
e
di
c
ti
ng
th
e
pr
e
c
e
ns
e
of
d
r
one
s
.
I
t
a
ls
o
hi
ghl
ig
ht
s
how
e
dge
te
c
hnol
ogy
c
a
n
be
de
pl
oye
d
f
or
da
ta
ga
th
e
r
in
g
in
th
e
m
il
i
ta
r
y
dom
a
in
a
nd
how
to
ut
il
iz
e
th
e
da
ta
f
or
in
ti
l
le
nc
e
in
s
ig
ht
to
e
nha
nc
e
th
e
de
f
e
ns
e
s
ys
t
e
m
c
a
pa
bi
li
ty
.
T
he
r
e
s
e
a
r
c
h
by
[
12]
in
ve
s
ti
ga
te
s
th
e
le
ve
r
a
gi
ng
of
I
oT
w
it
hi
n
a
m
il
it
a
r
y ne
twor
k e
nvi
r
on
m
e
nt
, di
s
c
us
s
in
g t
he
c
ha
ll
e
nge
s
a
nd
s
o
lu
ti
ons
. T
he
y e
nvi
s
a
ge
t
ha
t
c
ha
ll
e
ng
e
s
s
uc
h a
s
r
e
c
onc
il
in
g
th
e
di
f
f
e
r
e
nc
e
s
be
twe
e
n
c
om
m
e
r
c
ia
l
I
oT
a
r
c
hi
te
c
tu
r
a
l
de
s
ig
ns
a
nd
m
il
it
a
r
y
ne
twor
k
a
r
c
hi
te
c
tu
r
e
s
,
a
nd
th
e
r
e
a
li
z
a
ti
on
of
e
f
f
ic
ie
nt
r
e
s
our
c
e
I
oT
m
id
dl
e
w
a
r
e
m
us
t
be
a
ddr
e
s
s
e
d.
I
t
a
ls
o
pr
of
f
e
r
s
s
ol
ut
io
ns
to
r
e
s
ol
ve
th
e
a
f
or
e
m
e
nt
io
ne
d
c
ha
ll
e
nge
s
.
I
n
[
13]
a
m
ode
l
-
dr
iv
e
n
e
ngi
ne
e
r
in
g
(
M
D
E
)
a
ppr
oa
c
h
is
pr
opos
e
d
f
o
r
th
e
i
m
pl
e
m
e
nt
a
ti
on of
m
il
it
a
r
y he
a
lt
h m
oni
to
r
in
g, t
o r
e
s
ol
ve
t
he
i
s
s
ue
of
t
e
c
hnol
ogi
c
a
l
f
r
a
gm
e
nt
a
ti
on be
twe
e
n
th
e
m
il
it
a
r
y
s
e
tt
in
gs
(
e
.g.,
N
a
vy,
A
i
r
f
o
r
c
e
a
nd
a
r
m
y)
.
I
t
a
ls
o
in
te
gr
a
te
s
th
e
c
om
pone
nt
s
a
nd
a
ppl
ic
a
ti
ons
de
pl
oye
d
by
r
e
s
e
a
r
c
he
r
s
a
nd
e
ngi
n
e
e
r
s
in
va
r
io
us
di
s
c
ip
li
ne
s
.
T
he
m
e
ta
-
m
ode
l
i
s
a
c
hi
e
ve
d
by
th
e
ut
il
iz
a
ti
on
of
I
oT
de
vi
c
e
s
e
m
be
dde
d
w
it
hi
n
th
e
m
i
li
ta
r
y
s
e
tt
in
gs
.
C
ons
e
que
nt
ly
,
th
e
m
e
ta
-
m
ode
l
r
e
s
ol
ve
s
th
e
is
s
ue
s
a
s
s
oc
ia
t
e
d
w
it
h
th
e
im
pl
e
m
e
nt
a
ti
on
a
s
a
pr
oduc
t
li
ne
w
hi
le
e
n
ha
nc
in
g
t
he
unde
r
s
ta
ndi
ng
be
twe
e
n
e
ngi
ne
e
r
s
a
nd r
e
s
e
a
r
c
he
r
s
.
T
he
a
bove
e
xi
s
ti
ng
r
e
s
e
a
r
c
he
s
ha
ve
be
e
n
a
bl
e
to
c
ont
r
ib
ut
e
s
ig
ni
f
ic
a
nt
ly
in
th
e
de
pl
oye
m
e
nt
of
I
oT
C
lo
ud
f
or
m
il
it
a
r
y
ope
r
a
ti
ons
.
B
ut
a
r
e
una
bl
e
to
a
ddr
e
s
s
th
e
is
s
ue
of
la
te
nc
y
de
la
y
be
twe
e
n
th
e
th
e
I
oT
s
e
ns
or
s
a
nd
th
e
c
lo
ud,
to
pr
ovi
de
ti
m
e
ly
in
f
or
m
a
ti
on
ne
e
de
d
to
f
a
c
il
it
a
te
m
il
it
a
r
y
in
te
ll
ig
e
nc
e
ga
th
e
r
in
g
in
bot
h
bor
de
r
s
ur
ve
il
la
nc
e
a
nd
ba
tt
le
f
ie
ld
ope
r
a
ti
ons
r
e
a
l
ti
m
e
ba
s
is
.
H
ow
e
ve
r
,
[
10]
ut
il
iz
e
s
m
ic
r
oc
ont
r
ol
le
r
s
to
r
e
tr
ie
ve
s
e
ns
e
d
da
t
a
f
r
om
th
e
r
obot
b
e
f
or
e
be
e
n
f
or
w
a
r
e
d
to
th
e
c
lo
ud,
but
th
e
y
a
r
e
c
on
s
tr
a
in
e
d
w
it
h
li
m
it
e
d
s
to
r
a
ge
c
a
pa
c
it
y
a
nd
pr
oc
e
s
s
in
g
pow
e
r
.
M
ic
r
oc
ont
r
ol
le
r
s
a
r
e
known
f
or
th
e
ir
in
a
bi
li
ty
to
pe
r
f
o
r
m
m
ul
ti
p
le
num
be
r
s
of
e
xe
c
ut
io
ns
s
im
ul
ta
ne
ou
s
ly
a
nd
un
a
bl
e
to
in
te
r
f
a
c
e
de
vi
c
e
s
w
it
h
hug
e
pow
e
r
di
r
e
c
tl
y
[
14
-
15]
.
A
ls
o,
th
e
pr
e
vous
r
e
s
e
a
r
c
he
s
a
r
e
ye
t
to
m
a
ke
pr
ovi
s
io
n
f
or
th
e
f
il
te
r
in
g
or
c
le
a
ns
in
g
of
s
e
ns
or
y
da
ta
or
s
ig
na
l
to
r
e
m
ove
unus
f
ul
one
s
,
w
hi
c
h
is
of
h
ig
h
im
por
ta
nc
e
in
m
il
it
a
r
y
ope
r
a
ti
ons
s
o
a
s
to
obt
a
in
r
e
le
va
nt
in
f
or
m
a
ti
on
f
or
in
te
ll
ig
e
nc
e
ga
th
e
r
in
g.
C
ons
e
qui
e
nt
ly
,
s
om
e
o
f
th
e
e
xi
s
ti
ng
r
e
s
e
a
r
c
he
s
onl
y
f
oc
us
on
he
a
lt
h
m
oni
to
r
in
g o
f
m
il
i
ta
r
y pe
r
s
onne
l
w
hi
le
ot
he
r
s
pa
y
onl
y a
tt
e
nt
io
n f
or
de
te
c
ti
ng hidde
n e
xpl
ove
s
or
t
oxi
c
ga
s
i
n
ba
tt
le
f
ie
ld
.
T
he
r
e
f
or
e
,
th
is
r
e
s
e
a
r
c
h
pa
pe
r
te
nds
to
de
pl
oy
c
lo
ud
e
na
bl
e
d
c
lo
udl
e
t
c
om
put
in
g
c
lo
s
e
r
to
th
e
I
oT
s
e
ns
in
g
de
vi
c
e
s
w
hi
c
h
a
r
e
di
s
tr
ib
ut
e
d
in
a
na
ti
on’
s
bor
de
r
s
a
nd
pe
r
c
e
iv
e
d
e
ne
m
y
t
e
r
r
it
or
y
(
e
nvi
r
onm
e
nt
)
,
f
or
s
ur
ve
il
la
nc
e
a
nd
m
oni
to
r
in
g
of
he
a
lt
h
s
ta
tu
s
of
gr
a
nd
tr
oops
w
hi
le
in
ba
tt
le
f
ie
ld
c
om
ba
ts
o
r
bor
de
r
pa
tr
ol
dut
y.
A
ls
o,
to
in
tr
oduc
e
pot
e
nt
ia
l
f
il
te
r
in
g
te
c
hni
qu
e
s
th
a
t
a
r
e
c
a
pa
bl
e
of
r
e
m
ovi
ng
ir
r
e
le
va
nt
da
ta
s
ig
na
l
f
r
om
th
e
ove
r
a
ll
s
e
ns
e
d d
a
ta
s
ig
na
l
obt
a
in
e
d. T
he
c
ur
r
e
nt
r
e
s
e
a
r
c
h c
o
nt
r
ib
ut
io
n i
s
:
−
T
he
in
tr
oduc
ti
on
of
a
w
e
a
r
a
bl
e
r
a
di
o
f
r
e
que
nc
y
i
de
nt
if
ic
a
ti
on
(
R
F
I
D
)
ta
g
w
it
h
bui
l
t
-
in
bod
y
te
m
pe
r
a
tu
r
e
/h
e
a
r
tb
e
a
t
s
e
ns
or
s
,
f
or
m
oni
to
r
in
g
th
e
he
a
lt
h
s
ta
tu
s
a
nd
lo
c
a
ti
ons
(
w
he
r
e
-
a
bout
)
of
m
il
i
ta
r
y
pe
r
s
onne
l
in
bor
de
r
pa
tr
ol
dut
y a
nd ba
tt
le
f
ie
ld
c
om
ba
t.
−
T
he
de
pl
oym
e
nt
of
c
lo
udl
e
t
c
lo
s
e
to
I
oT
s
e
ns
in
g
d
e
vi
c
e
(
s
)
t
o
r
e
s
ol
ve
th
e
i
s
s
ue
s
of
hi
gh
la
te
nc
y
a
nd
de
la
ys
c
a
u
s
e
d by long
-
di
s
ta
nc
e
c
om
m
uni
c
a
ti
on be
twe
e
n I
o
T
de
vi
c
e
s
a
nd t
he
c
lo
ud pla
tf
or
m
.
−
T
he
m
ode
ll
in
g
of
ka
lm
a
n
f
il
te
r
in
g
te
c
hni
que
to
r
e
m
ove
e
xc
e
s
s
iv
e
noi
s
e
or
out
li
e
r
s
f
r
o
m
th
e
da
ta
/i
m
a
ge
(
s
)
c
a
pt
ur
e
d
by
th
e
R
F
I
D
s
/s
e
n
s
or
s
.
T
hu
s
,
to
a
voi
d
m
is
in
f
or
m
a
ti
on
dur
in
g
m
i
li
ta
r
y
in
te
ll
ig
e
n
t
de
c
is
io
n m
a
ki
ng a
nd w
e
ll
be
in
g of
m
il
it
a
r
y pe
r
s
onne
l
in
ope
r
a
ti
ons
.
−
L
in
e
a
r
di
s
c
r
im
in
a
nt
a
na
ly
s
is
i
s
f
or
m
ul
a
te
d t
o
e
li
m
in
a
te
r
e
dunda
nt
da
ta
/i
m
a
ge
(
s
)
f
r
om
t
he
e
nt
ir
e
c
a
pt
ur
e
d
s
e
ns
e
d d
a
ta
i
n or
de
r
t
o obta
in
r
e
le
va
nt
da
ta
/i
m
a
ge
s
n
e
e
de
d f
or
i
nt
e
ll
ig
e
nt
de
c
is
io
ns
.
T
he
r
e
s
t
of
th
is
pa
p
e
r
is
s
tr
uc
tu
r
e
d:
S
e
c
ti
on
2
de
s
c
r
ib
e
s
th
e
r
e
s
e
a
r
c
h
m
e
th
odol
og
y
a
dopt
e
d
to
a
c
tu
a
li
z
e
th
e
c
ur
r
e
nt
s
tu
dy.
S
e
c
ti
on
3
pr
ovi
de
s
a
de
ta
il
e
d
in
s
ig
ht
of
th
e
pr
opos
e
d
s
ys
te
m
a
r
c
hi
te
c
tu
r
e
,
f
or
th
e
e
nha
nc
e
m
e
nt
of
m
il
it
a
r
y
ope
r
a
ti
ons
a
nd
th
e
he
a
lt
h
s
ta
tu
s
of
gr
a
nd
tr
oops
,
w
hi
le
in
bor
de
r
pa
tr
ol
dut
y
a
n
d
ba
tt
le
f
ie
ld
c
om
ba
ts
.
S
e
c
t
io
n
4
pr
e
s
e
nt
s
ge
ne
r
a
l
di
s
c
us
s
io
n
of
th
e
pr
opos
e
d
s
ys
te
m
a
r
c
hi
te
c
tu
r
e
f
ol
lo
w
e
d
by
th
e
c
ha
ll
e
nge
s
f
or
t
he
de
pl
oym
e
nt
of
I
oT
-
e
na
bl
e
d c
lo
udl
e
t
-
c
lo
u
d i
n m
il
it
a
r
y
c
ont
e
xt
s
, w
hi
c
h l
e
a
ds
t
o pote
nt
ia
l
f
ut
ur
e
r
e
s
e
a
r
c
h di
r
e
c
ti
ons
. S
e
c
ti
on 5 pr
e
s
ne
t
th
e
c
on
c
lu
di
ng r
e
m
a
r
k.
2.
R
E
S
E
A
R
C
H
M
E
T
H
O
D
O
L
O
G
Y
W
e
a
dopt
e
d
th
e
c
yc
li
c
a
c
ti
on
r
e
s
e
a
r
c
h
m
e
th
odol
ogy
to
c
onduc
t
th
is
r
e
s
e
a
r
c
h
s
tu
dy.
C
yc
li
c
a
c
ti
on
r
e
s
e
a
r
c
h
pr
oc
e
s
s
e
n
a
bl
e
s
th
e
g
e
ne
r
a
ti
on
of
pr
e
s
c
r
ip
ti
ve
de
s
ig
n
knowle
dge
th
r
ough
s
tr
uc
tu
r
in
g
a
nd
e
va
lu
a
ti
ng
c
ol
le
c
ti
ve
I
nf
or
m
a
ti
on
T
e
c
hnol
ogy
a
r
ti
f
a
c
ts
in
a
n
or
ga
ni
z
a
ti
on
a
l
s
e
tt
in
g
[
16]
.
I
t
is
m
a
in
ly
c
om
pr
is
e
d
of
f
iv
e
s
ta
ge
s
a
r
r
a
nge
d
in
c
yc
li
c
a
l
pa
tt
e
r
n.
T
he
s
e
s
ta
g
e
s
in
c
lu
de
a
s
s
e
s
s
in
g
th
e
c
ur
r
e
nt
s
it
u
a
ti
on,
id
e
nt
if
y
is
s
ue
s
f
r
om
th
e
e
xi
s
ti
ng s
it
ua
ti
on,
de
vi
s
e
a
pl
a
n
to
r
e
s
ol
ve
th
e
is
s
ue
s
,
a
na
ly
z
e
s
ol
ut
io
n a
nd
r
e
f
le
c
t,
a
s
de
pi
c
te
d
in
F
ig
ur
e
1.
T
he
r
e
f
or
e
,
th
e
s
ta
ge
s
a
r
e
ut
il
iz
e
d
to
a
c
tu
a
li
z
e
th
e
r
e
s
e
a
r
c
h
obj
e
c
ti
ve
s
of
th
is
s
tu
dy.
F
ir
s
tl
y,
a
n
in
ve
s
ti
ga
ti
on
w
a
s
c
a
r
r
ie
d out on r
e
la
te
d e
xi
s
ti
ng r
e
s
e
a
r
c
h w
or
ks
t
o a
s
c
e
r
ta
in
t
he
l
e
ve
l
of
ut
il
iz
in
g I
oT
-
e
na
bl
e
d c
lo
ud s
e
r
vi
c
e
to
s
uppor
t
M
il
it
a
r
y
pe
r
s
onne
l
in
th
e
ir
ope
r
a
ti
ons
w
hi
le
on
th
e
ba
tt
le
f
ie
ld
in
th
e
in
tr
oduc
to
r
y
s
e
c
ti
on
of
th
is
r
e
s
e
a
r
c
h.
F
in
di
ngs
s
how
th
a
t
th
e
r
e
i
s
a
s
ig
ni
f
ic
a
nt
d
e
pl
oym
e
nt
of
I
oT
-
e
na
bl
e
d
C
lo
ud
s
e
r
vi
c
e
s
to
a
id
th
e
ope
r
a
ti
ons
of
m
il
it
a
r
y
pe
r
s
onne
l
w
hi
le
on
th
e
ba
tt
le
f
ie
ld
w
it
h
r
e
s
pe
c
t
to
s
ur
ve
il
la
nc
e
a
nd
a
c
c
e
s
s
to
in
f
or
m
a
ti
on.
T
he
r
e
a
f
te
r
,
th
e
e
m
in
e
nt
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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8938
D
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at
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(
E
dj
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be
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)
27
hi
nde
r
th
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f
f
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c
ti
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s
s
a
nd
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f
f
ic
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s
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uppor
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N
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ti
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bor
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.
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f
te
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w
hi
c
h,
a
pl
a
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de
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s
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ode
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T
he
pr
opos
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d s
y
s
te
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xt
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iv
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ly
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ly
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pt
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t
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t
hi
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le
.
F
ig
ur
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1. C
yc
li
c
a
c
ti
on r
e
s
e
a
r
c
h m
e
th
odol
ogy
3.
P
R
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P
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M
A
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ys
tm
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ode
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s
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oym
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s
f
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of
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tt
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f
ie
ld
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nvi
r
onm
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nt
a
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bor
de
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s
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a
n
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ti
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s
w
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ll
a
s
a
w
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a
r
a
bl
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di
o
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F
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D
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ta
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w
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in
body
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pe
r
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r
tb
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t
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m
oni
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g
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a
lt
h s
ta
tu
s
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a
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oops
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m
il
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bor
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C
on
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ly
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tr
oduc
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th
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c
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s
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nd
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ode
li
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ur
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or
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s
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m
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gr
ound
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hi
n
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pbe
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,
w
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pe
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s
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ka
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pr
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it
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ode
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hi
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o
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in
s
ta
nc
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,
if
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e
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e
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g
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ta
f
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pt
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le
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ode
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t
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r
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ti
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to
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ig
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tt
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pt
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to
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r
os
s
ove
r
th
e
bor
de
r
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gr
oup
of
p
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s
ons
a
r
m
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d
w
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h
da
nge
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ous
w
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a
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m
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ga
s
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r
om
a
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n
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e
nvi
r
onm
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nt
.
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a
lm
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m
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ph
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n
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a
nd
de
-
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in
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of
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in
g
im
a
ge
s
[
17]
.
I
t
e
li
m
in
a
te
s
e
xc
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s
s
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noi
s
e
f
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ig
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ig
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d
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te
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d
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n
th
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c
to
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.
A
lg
or
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hm
1
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e
s
th
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pe
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nc
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ir
s
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it
a
s
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um
e
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e
nt
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ta
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s
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th
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ta
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ym
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ur
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d
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ta
upon
a
r
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a
s
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e
r
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im
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m
or
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f
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te
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la
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s
e
t
of
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ta
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n
noi
s
e
is
e
li
m
in
a
te
d
f
r
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th
e
da
ta
by
K
F
.
A
f
te
r
w
hi
c
h
va
lu
a
bl
e
da
ta
c
or
r
e
s
ponding
to
t
he
pr
e
de
f
in
e
d t
hr
e
s
hol
d va
lu
e
s
a
r
e
ge
n
e
r
a
te
d.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
2252
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8938
I
nt
J
A
r
ti
f
I
nt
e
ll
,
V
ol
.
10
, N
o.
1
,
M
a
r
c
h
20
2
1
:
24
–
34
28
A
lg
or
it
h
m
1:
K
al
m
an
f
il
t
e
r
in
g (
K
F
)
al
gor
it
h
m
1.
T
s
–
T
r
a
n
s
i
t
i
o
n
s
t
a
t
e
(
I
n
d
i
c
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t
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g
p
r
e
v
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s
s
t
a
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P
s
-
1
)
V
s
–
V
a
r
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a
b
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l
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t
y
m
e
a
s
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m
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R
s
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u
l
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t
(
i
n
d
i
c
a
t
i
n
g
t
h
e
c
o
n
t
r
o
l
v
e
c
t
o
r
s
)
U
s
–
O
b
s
e
r
v
a
t
i
o
n
p
r
o
c
e
s
s
H
s
~
(
0
,
V
s
)
N
s
~
(
0
,
W
s
)
2.
C
a
l
c
u
l
a
t
i
n
g
t
h
e
p
r
e
s
e
n
t
s
t
a
t
e
P
s
b
y
u
t
i
l
i
z
i
n
g
t
h
e
p
r
e
v
i
o
u
s
s
t
a
t
e
P
s
-
1
Ps = T
s
P
s
-
1
+
R
s
V
s
+
H
s
O
s
= U
s
P
s
+
N
s
3.
E
s
t
i
m
a
t
e
t
h
e
p
r
e
s
e
n
t
s
t
a
t
e
f
r
o
m
t
h
e
p
r
e
v
i
o
u
s
s
t
a
t
e
P
s
|
s
-
1
= T
s
P
s
-
1
|
s
-
1
+ R
s
V
s
V
a
r
i
a
b
i
l
i
t
y
m
e
a
s
u
r
e
m
e
n
t
p
r
e
d
i
c
t
i
o
n
A
s
|
s
-
1
= T
s
A
s
-
1|
s
-
1
T
s
T
+
V
s
4.
C
o
m
b
i
n
i
n
g
p
r
e
s
e
n
t
p
r
e
d
i
c
t
i
o
n
w
i
t
h
p
r
e
s
e
n
t
o
b
s
e
r
v
a
t
i
o
n
P
r
e
s
e
n
t
O
b
s
e
r
v
a
t
i
o
n
P.O
s
= O
s
–
U
s
P
s
|
s
-
1
C
o
v
a
r
i
a
n
c
e
M
e
a
s
u
r
e
m
e
n
t
O
b
s
e
r
v
a
t
i
o
n
Vm
s
= U
s
A
s
|
s
-
1
U
s
T
+
W
s
B
e
s
t
g
a
i
n
(
A
c
t
u
a
l
i
z
a
t
i
o
n
o
f
R
e
l
e
v
a
n
t
s
e
n
s
e
d
d
a
t
a
)
Bg
s
= A
s
|
s
-
1
U
s
T
Vm
s
-
1
O
n t
he
ot
he
r
ha
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r
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of
r
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w
or
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oops
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m
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r
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T
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F
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m
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s
s
is
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Evaluation Warning : The document was created with Spire.PDF for Python.
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2252
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D
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pl
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m
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of
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d c
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la
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r
at
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(
E
dj
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. A
be
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)
29
C
lu
s
te
r
s
of
s
e
r
ve
r
s
a
r
e
de
pl
oy
e
d
a
s
c
lo
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t
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in
c
lo
s
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pr
oxi
m
it
y
to
th
e
I
o
T
de
vi
c
e
s
to
r
e
duc
e
th
e
f
a
r
-
r
e
a
c
hi
ng
di
s
ta
nc
e
of
th
e
c
lo
ud.
T
he
r
e
is
th
e
pos
s
ib
il
it
y
of
s
e
ns
e
d
da
ta
r
e
dunda
nt
oc
c
ur
r
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a
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th
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of
noi
s
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th
e
s
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d
da
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a
by
th
e
K
F
a
lg
or
it
hm
.
F
or
in
s
ta
nc
e
,
if
c
a
m
e
r
a
s
e
n
s
or
A
c
a
pt
ur
e
d
a
n
e
n
e
m
y
a
nd
th
e
e
ne
m
y
m
ove
s
to
w
a
r
d
s
e
ns
or
c
a
m
e
r
a
B
,
th
a
t
s
a
m
e
e
ne
m
y
w
il
l
be
r
e
c
a
pt
ur
e
d
by
B
,
r
e
s
ul
ti
ng
to
da
t
a
dupl
ic
a
ti
on.
T
he
r
e
f
or
e
,
dupl
ic
a
te
s
e
ns
e
d
da
ta
a
r
e
r
e
m
ove
d
f
r
om
th
e
f
il
te
r
e
d
s
e
ns
e
d
da
ta
s
e
t
to
obt
a
in
r
e
le
va
nt
in
f
or
m
a
ti
on.
T
he
r
e
le
va
nt
s
e
ns
e
d
im
a
ge
/d
a
ta
unde
r
goe
s
f
e
a
tu
r
e
e
xt
r
a
c
ti
on
pr
oc
e
s
s
to
obt
a
in
th
e
e
xa
c
t
im
a
ge
/
da
ta
by
ut
il
iz
in
g
a
m
a
c
hi
ne
le
a
r
ni
n
g
a
lg
or
it
hm
.
T
he
r
e
a
r
e
th
r
e
e
m
a
in
ty
pe
s
of
m
a
c
hi
ne
le
a
r
ni
ng
a
lg
or
it
hm
na
m
e
ly
,
s
upe
r
vi
s
e
d,
uns
up
e
r
vi
s
e
d
a
nd
s
e
m
i
-
s
upe
r
vi
s
e
d.
T
he
s
upe
r
vi
s
e
d
le
a
r
ni
ng
w
ho
s
e
pr
oc
e
s
s
is
m
a
jo
r
ly
c
la
s
s
if
ic
a
ti
on
is
w
e
ll
known
a
nd
m
os
tl
y
de
pl
oy
f
or
th
e
r
e
m
ova
l
of
dupl
ic
a
te
s
e
ns
e
d
da
ta
f
r
om
s
e
n
s
or
y
da
ta
s
e
ts
.
O
n
th
e
ot
h
e
r
ha
nd,
th
e
uns
upe
r
vi
s
e
d
w
hi
c
h
i
s
m
a
i
nl
y
of
c
lu
s
te
r
in
g
pr
oc
e
s
s
is
us
e
d
f
or
f
e
a
tu
r
e
e
xt
r
a
c
ti
on.
W
e
ha
v
e
a
dopt
e
d
th
e
li
ne
a
r
di
s
c
r
im
in
a
nt
a
na
ly
s
i
s
(
L
D
A
)
a
lg
or
it
hm
pr
opos
e
d
by
[
18]
f
or
th
e
f
e
a
tu
r
e
e
xt
r
a
c
ti
on
pr
oc
e
s
s
a
s
de
pi
c
te
d
in
a
lg
or
it
hm
2.
L
D
A
is
a
pow
e
r
f
ul
c
la
s
s
if
ic
a
ti
on
to
ol
us
e
d
f
or
bot
h
da
ta
r
e
duc
ti
on
a
nd
f
e
a
tu
r
e
e
xt
r
a
c
ti
on.
C
ons
e
que
nt
ly
,
th
e
r
e
le
va
nt
s
e
ns
e
d
d
a
ta
/i
m
a
ge
unde
r
goe
s
a
n
a
na
ly
ti
c
a
l
pr
oc
e
s
s
in
or
de
r
to
obt
a
in
m
e
a
ni
ngf
ul
or
in
te
ll
ig
e
nt
in
f
or
m
a
ti
on
a
bout
th
e
s
ta
tu
s
of
th
e
e
nvi
r
onm
e
nt
unde
r
s
ur
ve
il
la
nc
e
.
I
f
th
e
in
te
ll
ig
e
nt
in
f
or
m
a
ti
on
obt
a
in
e
d
s
how
s
a
n
e
ne
m
y
w
it
hi
n
th
e
e
nvi
r
onm
e
nt
,
th
e
g
r
a
nd
tr
oo
p
s
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di
e
r
s
a
r
e
a
le
r
te
d
vi
a
th
e
ir
m
obi
le
phone
s
to
pr
oc
e
e
d
to
th
e
lo
c
a
ti
on
of
th
e
e
ne
r
m
y
c
a
pt
ur
e
d
w
it
hi
n
e
nvi
r
onm
e
nt
(
ba
tt
le
f
ie
ld
or
bo
r
de
r
)
.
M
or
e
s
o, s
ol
di
e
r
s
a
r
e
a
tt
a
c
he
d w
it
h r
a
di
o
f
r
e
que
nc
y i
de
nt
if
ic
a
ti
on
(
R
F
I
D
)
ta
gs
f
it
te
d
w
it
h
te
m
pe
r
a
tu
r
e
a
nd
he
a
r
tb
e
a
t
s
e
n
s
or
s
f
or
th
e
m
o
ni
to
r
in
g
of
s
ol
di
e
r
’
s
lo
c
a
ti
on
a
nd
th
e
ir
he
a
lt
h
s
ta
tu
s
, w
hi
le
on bor
de
r
pa
tr
ol
dut
ie
s
or
c
om
ba
t
.
A
lg
or
it
h
m
2:
L
in
e
ar
d
is
c
r
i
m
in
an
t
an
al
ys
is
(
L
D
A
)
al
gor
it
h
m
Let Q
a
T
Q
a
=
N
o
n
-
z
e
r
o
s
v
e
c
t
o
r
s
M
a
t
r
i
x
,
v
i
b
e
t
h
e
i
t
h
N
o
n
-
z
e
r
o
v
a
l
u
e
,
V
=
N
o
n
-
z
e
r
o
v
e
c
t
o
r
,
G
*
J
=
M
a
t
r
i
x
d
i
a
g
o
n
a
l
.
I
n
p
u
t
a
s
e
t
o
f
t
r
a
i
n
i
n
g
c
a
p
t
u
r
e
d
i
m
a
g
e
s
{
I
}
w
h
e
r
e
e
a
c
h
i
s
k
n
o
w
n
t
o
b
e
N
-
d
i
m
e
n
s
i
o
n
a
l
v
e
c
t
o
r
.
1.
C
o
m
p
u
t
e
t
h
e
N
o
n
-
z
e
r
o
v
e
c
t
o
r
s
o
f
Q
a
T
Q
a
w
i
t
h
N
o
n
-
z
e
r
o
v
a
l
u
e
s
:
N
z
= [v
1
…v
r
],
wh
e
r
e
r
≤
K
-
1
a
n
d
Q
a
is from
D
BTW
=Q
a
Q
a
T
2.
C
o
m
p
u
t
e
t
h
e
i
n
i
t
i
a
l
r
m
o
s
t
w
e
i
g
h
t
y
N
o
n
-
z
e
r
o
v
e
c
t
o
r
s
a
n
d
t
h
e
i
r
c
o
r
r
e
s
p
o
n
d
i
n
g
N
o
n
-
z
e
r
o
s
v
a
l
u
e
s
o
f
t
h
e
n
u
l
l
s
p
a
c
e
o
f
D
BTW
by
V= Q
a
N
z
a
n
d
A
a
=
V
T
D
BTW
V
;
L
e
t
M
=
V
A
b
-
1/2
c
o
m
p
u
t
e
n
o
n
-
z
e
r
o
v
e
c
t
o
r
s
o
f
M
T
D
SOS
M
,
P
3.
D
e
l
e
t
e
(
o
p
t
i
o
n
a
l
l
y
)
N
o
n
-
z
e
r
o
v
e
c
t
o
r
s
w
i
t
h
l
a
r
g
e
s
t
N
o
n
-
z
e
r
o
v
a
l
u
e
s
i
n
P
.
L
e
t
P
G
a
n
d
A
w
b
e
th
e
G
(
≤
r
)
s
e
l
e
c
t
e
d
N
on
-
z
e
r
o
v
e
c
tor
s
a
n
d
th
e
i
r
c
o
r
r
e
s
po
n
d
in
g
N
on
-
z
e
r
os
v
a
lu
e
s
.
4.
M
a
p
a
l
l
c
a
p
t
u
r
e
d
i
m
a
g
e
s
{
I
i
}
t
o
t
h
e
G
-
d
i
m
e
n
s
i
o
n
a
l
s
u
b
s
p
a
c
e
s
p
a
n
n
e
d
b
y
⅂
=
M
P
G
A
w
-
1/2
,
a
n
d
h
a
v
e
{
o
i
}
,
w
h
e
r
e
o
=
⅂
T
I
i
.
5.
D
i
m
e
n
s
i
o
n
a
l
i
t
y
c
a
n
b
e
r
e
d
u
c
e
d
f
u
r
t
h
e
r
;
w
h
e
r
e
t
h
e
d
i
m
e
n
s
i
o
n
a
l
i
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t
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T
I.
T
he
he
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body
te
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pe
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a
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lo
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ie
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bor
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on
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m
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a
a
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phone
f
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k
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ti
on,
if
a
s
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’
s
lo
c
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is
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t
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d
to
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pr
om
is
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f
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xpos
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g
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m
to
th
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ne
m
y(
s
)
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m
il
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a
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s
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le
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te
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vi
a
m
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phon
e
f
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in
f
or
c
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m
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nt
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d
da
t
a
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s
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t
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he
d
to
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lo
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iF
i,
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P
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e
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m
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tr
y
tr
a
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r
(
M
Q
T
T
)
pr
ot
oc
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,
w
he
n
e
ve
r
th
e
r
e
is
no
e
m
e
r
ge
nc
y
s
it
ua
ti
on
or
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us
pe
c
te
d
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ve
nt
c
a
pt
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e
d
dur
in
g
s
ur
ve
il
la
nc
e
ope
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a
ti
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H
ow
e
v
e
r
,
th
e
a
va
il
a
bl
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s
to
r
a
ge
s
pa
c
e
in
th
e
c
lo
udl
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t
c
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n
be
us
e
d
to
c
a
c
he
a
por
ti
on
of
t
he
da
ta
ba
s
e
f
r
om
t
he
c
lo
ud. T
hus
, t
o obta
in
s
e
ns
e
d da
ta
t
ha
t
ha
s
be
e
n pr
e
vi
ous
ly
f
or
w
a
r
de
d t
o t
he
c
lo
ud or
in
f
or
m
a
ti
on
s
e
nd
to
th
e
c
lo
ud
vi
a
th
e
in
te
r
ne
t
f
r
om
th
e
m
il
it
a
r
y
he
a
dqua
r
te
r
s
.
F
or
in
s
ta
nc
e
,
m
il
it
a
r
y
pe
r
s
onne
l
m
oni
to
r
in
g
th
e
e
nt
ir
e
e
ve
nt
a
t
th
e
f
or
c
e
he
a
dqu
a
r
te
r
s
on
th
e
c
lo
ud
vi
a
th
e
in
te
r
ne
t
m
a
y
de
c
id
e
to
a
s
k
s
om
e
tr
oops
to
pul
l
out
f
r
om
th
e
ba
tt
le
f
ie
ld
a
nd
r
e
tu
r
n
ba
c
k
ho
m
e
de
pe
ndi
ng
on
s
it
ua
ti
on
s
on
gr
ound.
T
hi
s
i
nf
or
m
a
ti
on
c
a
n
onl
y
ge
t
to
th
e
c
om
m
a
nda
nt
a
t
th
e
ba
tt
le
f
ie
ld
c
ont
r
ol
c
e
nt
e
r
th
r
ough
th
e
c
lo
udl
e
t
c
a
c
hi
ng
a
por
ti
on of
th
e
c
lo
ud da
ta
ba
s
e
. F
ur
th
e
r
m
or
e
, de
c
is
io
ns
a
nd c
om
m
uni
c
a
ti
on f
r
om
he
a
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te
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t
o t
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ie
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c
ont
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t
vi
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t
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c
lo
ud i
s
a
ls
o ha
ndl
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d by the
c
lo
udl
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t,
w
hi
c
h
r
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c
e
iv
e
s
s
uc
h i
nf
or
m
a
ti
on f
r
om
t
he
c
lo
ud a
nd
in
tu
r
n
r
e
la
y
it
to
th
e
c
ont
r
ol
uni
t.
T
h
e
r
e
a
r
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s
e
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l
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b
a
s
e
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or
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d
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tf
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na
m
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ly
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ghl
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de
m
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N
oS
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da
ta
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i
s
known
f
or
it
s
pr
ovi
s
io
ni
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f
e
a
tu
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s
(
s
uc
h
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dyna
m
ic
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[
19]
.
P
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r
e
s
e
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r
c
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s
ha
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pr
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10
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20
2
1
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24
–
34
30
a
ll
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uni
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or
m
a
c
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s
s
a
nd,
th
e
m
a
n
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ge
m
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nt
da
t
a
[
20]
.
F
ig
ur
e
3
de
pi
c
ts
th
e
ge
ne
r
a
l
f
r
a
m
e
w
or
k
of
th
e
pr
opos
e
d
s
ys
te
m
il
lu
s
te
r
a
in
g
how
th
e
va
r
io
us
c
om
pone
nt
s
of
th
e
s
ys
te
m
in
te
r
a
c
t
to
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a
c
h
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r
,
f
ol
lo
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by
a
m
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th
e
m
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ti
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a
l
m
ode
l
of
t
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pr
opos
e
d s
y
s
te
m
f
r
a
m
e
w
or
k.
F
ig
ur
e
3. T
he
f
r
a
m
e
w
or
k of
t
he
m
il
it
a
r
y a
s
s
is
te
d I
oT
-
ba
s
e
d
c
lo
udl
e
t
-
c
lo
ud
T
he
m
a
th
e
m
a
ti
c
a
l
m
ode
l
of
th
e
pr
opo
s
e
d s
ys
te
m
f
r
a
m
e
w
or
k
a
s
s
how
n
in
A
lg
or
it
hm
3
is
c
om
pr
is
e
of
f
our
m
a
in
s
te
ps
.
A
t
th
e
in
it
ia
l
s
ta
ge
,
s
e
n
s
e
d
da
ta
ge
ne
r
e
a
t
e
d
f
r
om
a
c
ti
va
te
d
s
e
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or
nod
e
s
a
r
e
f
il
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r
e
d
w
it
h
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e
s
uppor
t
of
K
a
lm
a
n F
il
te
r
in
g t
ha
t
a
s
s
how
n
in
A
lg
or
it
h
m
1
f
or
t
he
r
e
m
ova
l
of
e
xc
e
s
s
iv
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noi
s
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(
dupl
ic
a
te
da
ta
)
.
H
e
nc
e
,
to
obt
a
in
r
e
le
va
nt
s
e
n
s
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d
da
ta
(
im
a
ge
s
)
,
pr
om
ti
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th
e
li
ne
a
r
di
s
c
r
im
in
a
nt
a
na
ly
s
i
s
a
s
s
how
n
in
A
lg
or
it
hm
2
to
e
xt
r
a
c
t
th
e
a
c
tu
a
l
f
e
a
tu
r
e
s
f
r
om
th
e
r
e
lv
a
nt
s
e
ns
e
d
da
ta
.
T
he
f
e
a
tu
r
e
s
e
xt
r
a
c
te
d
a
r
e
us
e
d
f
or
de
c
is
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e
de
c
is
io
n
m
a
ki
ng
by
th
e
m
il
it
a
r
y
pe
r
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onne
l.
A
s
m
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nt
i
one
d
e
a
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li
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r
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s
e
ns
or
s
a
r
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a
c
tv
it
a
te
d
onl
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w
he
n
unus
ua
l
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ve
nt
(
i.
e
. de
te
c
ti
on of
i
ll
e
ga
l
m
ig
r
a
nt
s
a
t
th
e
boa
r
de
r
a
n a
dve
r
s
a
r
y w
it
hi
n ba
tt
le
f
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ld
)
oc
c
ur
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ls
e
t
he
y
r
e
m
a
in
in
a
n
id
le
s
ta
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to
c
ons
e
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ve
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gy.
F
ur
th
e
r
m
or
e
,
th
e
f
u
nc
ti
ona
lt
y
of
A
lg
or
it
hm
2
is
r
e
pe
a
te
d
unt
il
a
ll
a
c
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f
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r
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s
a
r
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xt
r
a
c
t
e
d r
e
s
pe
c
ti
ve
ly
.
A
lg
or
it
h
m
3:
P
r
op
os
e
d
s
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t
e
m
f
r
a
m
e
w
o
r
k
L
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t
T
=
S
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n
s
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(
s
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A
s
=
A
c
t
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(
s
)
I
s
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v
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d
(
R
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m
a
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n
I
d
l
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s
t
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t
e
)
s
e
n
s
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r
(
s
)
S
d
=
S
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n
s
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d
d
a
t
a
R
s
=
R
e
t
r
i
e
v
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d
s
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d
d
a
t
a
S
t
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p
1
I
f
R
e
q
u
e
s
t
S
d
=
=
T
T
h
e
n
A
s
Else I
s
S
t
e
p
2
W
h
i
l
e
R
s
;
E
x
e
c
u
t
e
A
l
g
o
r
i
t
h
m
1
:
K
a
l
m
a
n
F
i
l
t
e
r
i
n
g
(
K
F
)
O
b
t
a
i
n
R
e
l
e
v
a
n
t
s
e
n
s
e
d
D
a
t
a
:
B
g
s
= A
s
|
s
-
1
U
s
T
Vm
s
-
1
S
t
e
p
3
I
f
B
g
s
=
=
A
s
|
s
-
1
U
s
T
Vm
s
-
1
;
C
a
l
l
A
l
g
o
r
i
t
h
m
2
:
L
i
n
e
a
r
D
i
s
c
r
i
m
i
n
a
n
t
A
n
a
l
y
s
i
s
(
L
D
A
)
S
t
e
p
4
:
E
l
s
e
I
f
L
D
A
=
=
F
(
P
o
s
s
i
b
l
e
F
e
a
t
u
r
e
s
)
;
O
b
t
a
i
n
a
c
t
u
a
l
f
e
a
t
u
r
e
s
:
(
I
)
=
(
⅂
W)
T
I.
E
l
s
e
R
e
p
e
a
t
S
t
e
p
4
E
n
d
I
F
,
E
n
d
W
h
i
l
e
,
E
n
d
I
f
,
E
n
d
E
l
s
e
I
f
3.1. Ne
t
w
or
k
c
om
m
u
n
ic
at
io
n
p
r
ot
oc
ol
s
d
e
p
lo
ye
d
T
he
ne
twor
k c
om
m
uni
c
a
ti
on pr
ot
oc
ol
s
ut
il
iz
e
d i
n our
pr
opos
e
d s
ys
te
m
w
e
r
e
c
a
r
e
f
ul
ly
s
e
le
c
te
d ba
s
e
d
on
th
e
ir
c
a
pa
bi
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D
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pl
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(
E
dj
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. A
be
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31
que
r
y
te
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m
e
tr
y
tr
a
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f
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r
(
M
Q
T
T
)
pr
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m
a
c
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ne
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to
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m
a
c
hi
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a
ppl
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ti
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pr
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t
ut
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publ
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ubs
c
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m
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th
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pr
ovi
s
io
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a
n
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it
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xi
bi
li
ty
a
nd
s
im
pl
ic
it
y
of
im
pl
e
m
e
nt
a
ti
on
[
21]
.
I
t
c
a
n
s
uppor
t
th
e
s
m
a
ll
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s
t
m
oni
to
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it
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r
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S
e
r
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r
s
or
C
li
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s
)
or
in
te
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m
it
te
d
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twor
ks
.
T
hi
s
is
a
c
tu
a
li
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d
by
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xc
ha
ngi
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a
s
e
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c
h
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r
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t
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ha
vi
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it
s
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n
pur
pos
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.
E
ve
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y
bi
t
in
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p
a
c
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t
i
s
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r
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a
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to
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ta
tr
a
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m
it
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A
c
c
or
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to
[
22]
,
M
Q
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to
pol
ogy
ha
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S
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r
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r
a
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c
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F
our
th
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r
a
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on
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lo
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r
m
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ut
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(
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G
L
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)
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pl
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pr
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(
I
P
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ba
s
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gh
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pe
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is
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io
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[
23]
.
I
t
is
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be
te
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twor
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he
pr
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m
a
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c
hi
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c
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r
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ha
s
th
e
pot
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ia
l
of
im
pr
ovi
ng
m
il
it
a
r
y
ope
r
a
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ba
s
e
d
on
ba
tt
le
f
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ld
w
a
r
f
a
r
e
a
nd
a
na
ti
on’
s
bor
de
r
s
uvi
e
ll
a
nc
e
in
r
e
a
l
t
im
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.
I
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ha
s
de
m
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ta
tr
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ti
m
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ly
a
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li
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in
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m
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to
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bi
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tr
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pr
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a
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bi
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of
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d
da
ta
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t
w
h
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ne
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de
d.
T
hi
s
w
a
s
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c
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dw
it
h
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uppor
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of
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lo
udl
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d
c
lo
s
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d
to
th
e
I
oT
s
e
ns
or
de
vi
c
e
s
a
s
oppos
e
d
by
pr
e
vi
ous
r
e
s
e
a
r
c
h
w
or
k
i
n
[
10
-
11]
.
I
n
[
10]
,
th
e
y
onl
y
a
dopt
e
d
th
e
us
e
of
m
ic
r
oc
ont
r
ol
le
r
s
to
r
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tr
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da
ta
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y
da
ta
f
r
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or
s
,
w
hi
c
h
a
r
e
known
to
be
in
c
om
pa
ti
bi
le
w
it
h
de
vi
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s
of
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gh
vol
ta
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pow
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r
,
a
nd
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m
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oc
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pow
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H
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pr
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m
ut
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obi
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r
a
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pbe
r
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P
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r
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nt
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tr
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r
s
onne
l
f
or
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is
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s
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m
a
ki
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T
hu
s
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a
d
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du
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gh
la
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vi
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s
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lo
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s
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o pr
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h w
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T
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y
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ls
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e
pr
e
vi
ous
r
e
s
e
a
r
c
h
e
s
s
uc
h
a
s
in
[
12]
by
us
in
g
f
il
te
r
in
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a
lg
or
it
hm
s
f
ir
s
tl
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xc
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f
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/d
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m
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in
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w
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k
in
[
13]
th
a
t
onl
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id
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a
lt
h
s
ta
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s
of
g
r
a
ndt
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pe
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s
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l.
T
hi
s
w
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s
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c
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c
ti
ve
s
e
r
vi
c
e
s
is
ve
r
y
im
por
ta
nt
a
s
it
pr
ovi
de
s
om
e
s
ig
ni
f
ic
a
nt
s
a
f
e
ty
a
nd
w
e
ll
bi
e
ng
of
gr
a
ndt
r
oops
,
e
na
bl
in
g
qui
c
k
r
e
s
pons
e
a
nd
a
s
s
is
ta
n
c
e
w
he
n
a
m
il
it
a
r
y
pe
r
s
one
l
is
a
m
bu
s
he
d by
e
ne
m
y
f
ir
e
pow
e
r
or
hi
s
/h
e
r
he
a
lt
h
s
ta
tu
s
is
be
lo
w
e
xpe
c
ta
ti
on.
I
n
te
r
m
s
of
c
om
m
uni
c
a
ti
on
b
e
twe
e
n
th
e
s
y
s
te
m
c
om
pone
nt
s
-
to
-
c
om
pone
nt
s
, c
om
pone
nt
s
-
to
-
m
il
it
a
r
y
pe
r
s
one
l
a
nd
m
il
it
a
r
y
pe
r
s
one
l
-
to
-
m
il
it
a
r
y
pe
r
s
one
l
w
a
s
a
c
hi
e
ve
d
w
it
h
th
e
s
uppor
t
of
s
e
le
c
te
d
c
om
m
uni
c
a
ti
on
pr
ot
oc
ol
s
th
a
t
a
r
e
pr
e
s
um
e
d
to
be
r
e
li
a
bl
e
a
nd
e
f
f
ic
ie
nt
,
to
a
id
ti
m
e
ly
in
te
r
a
c
ti
ons
a
nd
in
f
or
m
a
ti
on s
ha
r
in
g w
it
hout
i
nt
e
r
r
up
ti
on dur
in
g ope
r
a
ti
ons
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
2252
-
8938
I
nt
J
A
r
ti
f
I
nt
e
ll
,
V
ol
.
10
, N
o.
1
,
M
a
r
c
h
20
2
1
:
24
–
34
32
4.1. Ch
al
le
n
ge
s
of
d
e
p
lo
ym
e
n
t
of
I
oT
-
e
n
ab
le
d
c
lo
u
d
le
t
-
c
lo
u
d
i
n
m
il
it
ar
y c
on
t
e
xt
s
A
c
a
de
m
ic
r
e
s
e
a
r
c
he
r
s
a
nd
I
T
I
ndus
tr
ie
s
in
vol
ve
d
in
th
e
p
r
ol
if
e
r
a
ti
on
of
I
oT
-
e
na
bl
e
d
c
lo
udl
e
t
-
ba
s
e
d
c
lo
ud
f
or
m
il
it
a
r
y
ope
r
a
ti
ons
ha
ve
c
om
pl
e
x
c
ha
ll
e
nge
s
,
po
s
e
d
by
th
e
hos
ti
le
a
nd
h
a
z
a
r
dous
ba
tt
le
f
ie
ld
/b
or
de
r
e
nvi
r
onm
e
nt
,
a
s
w
e
ll
a
s
th
e
s
tr
a
te
gi
c
na
tu
r
e
of
m
il
it
a
r
y
ope
r
a
ti
ons
.
T
h
e
r
e
f
or
e
,
th
e
r
e
is
ne
e
d
to
br
id
ge
th
e
ga
p
be
twe
e
n
I
T
in
dus
tr
ie
s
a
nd
m
il
it
a
r
y
ope
r
a
ti
ona
l
p
r
oc
e
s
s
e
s
to
a
c
hi
e
ve
opt
im
a
l
m
il
it
a
r
y
I
oT
e
na
bl
e
d
c
lo
udl
e
t
-
c
lo
ud
in
n
ova
ti
ons
in
th
e
f
or
e
s
e
e
a
bl
e
f
ut
ur
e
.
T
o
th
i
s
e
nd,
a
n
um
be
r
of
I
oT
-
e
na
bl
e
d
c
lo
udl
e
t
-
c
lo
ud
r
e
la
te
d
is
s
ue
s
a
r
e
di
s
c
u
s
s
e
d:
U
ti
li
z
a
ti
on
of
ne
twor
k:
T
he
a
va
il
a
bi
li
ty
of
ne
twor
k
in
f
r
a
s
tr
uc
tu
r
e
s
in
th
e
ta
c
ti
c
a
l
m
il
it
a
r
y
ope
r
a
ti
ons
,
a
r
e
e
xt
r
e
m
e
ly
li
m
it
e
d
by
c
ons
i
s
te
nt
di
s
c
onne
c
ti
on
s
a
nd
r
a
di
o
w
a
ve
s
ig
n
a
l
f
lu
c
tu
a
ti
on
c
ondi
ti
ons
.
T
h
e
s
e
is
s
ue
s
of
te
n
e
m
a
na
te
f
r
om
s
e
n
s
or
de
vi
c
e
s
w
hi
c
h
m
a
y
dr
a
s
ti
c
a
ll
y
di
s
r
upt
c
om
m
uni
c
a
ti
on
le
a
di
ng
to
lo
s
s
of
vi
ta
l
in
f
or
m
a
ti
on.
D
e
s
pi
te
th
e
s
it
in
g
of
c
lo
udl
e
t
c
lo
s
e
r
to
th
e
s
e
ns
in
g
de
vi
c
e
s
,
i
t
is
s
ti
ll
r
e
ga
r
de
d
a
s
a
n
in
s
uf
f
ic
ie
nt
a
ppr
oa
c
h.
A
s
lo
ng
a
s
b
a
ndw
id
th
r
e
m
a
in
s
th
e
vi
ta
l
r
e
s
our
c
e
s
w
hi
c
h
th
e
s
e
n
s
in
g
de
vi
c
e
s
de
pe
nd
on
f
or
tr
a
ns
m
it
ti
ng s
e
ns
e
d da
ta
t
o t
he
c
lo
udl
e
t.
I
nt
e
r
ope
r
a
bi
li
ty
:
A
de
qua
te
in
te
r
ope
r
a
bi
li
ty
be
twe
e
n
de
vi
c
e
s
is
of
te
n
not
a
c
h
ie
va
bl
e
due
to
th
e
f
a
c
t
th
a
t
s
e
ve
r
a
l
f
unc
ti
ona
li
ti
e
s
a
r
e
ye
t
to
b
e
s
e
r
ve
d
by
m
il
it
a
r
y
ha
r
dw
a
r
e
a
nd
pe
r
s
onne
l.
T
hi
s
is
s
u
e
is
u
s
ua
ll
y
pr
e
dom
in
a
nt
w
he
n
th
e
r
e
is
a
ne
e
d
f
o
r
th
e
in
te
gr
a
ti
on
of
de
vi
c
e
a
c
r
os
s
c
oa
li
ti
on
pa
r
tn
e
r
s
(
e
.g.,
be
twe
e
n
th
e
E
ur
ope
a
n
U
ni
on
a
nd
A
f
r
ic
a
n
U
ni
on)
.
I
t
c
a
n
be
r
e
s
ol
ve
d
by
de
pl
oyi
ng
s
e
r
vi
c
e
-
or
ie
nt
e
d
a
r
c
hi
te
c
tu
r
e
w
hi
c
h
e
na
bl
e
s
th
e
p
a
r
tn
e
r
s
to
s
ha
r
e
in
f
or
m
a
ti
on
by
ut
il
iz
in
g
a
c
om
m
on
m
e
s
s
a
gi
ng
pr
ot
oc
ol
a
nd
di
s
ti
n
c
ti
ve
in
te
r
f
a
c
e
s
.
P
r
iv
a
c
y
a
nd
s
e
c
ur
it
y:
F
a
il
ur
e
s
in
m
il
it
a
r
y
I
oT
e
na
bl
e
d
c
lo
udl
e
t
-
c
lo
ud
s
ys
te
m
c
a
n
c
om
pr
om
is
e
th
e
he
a
lt
h
s
ta
tu
s
of
gr
a
nd
tr
oops
w
hi
le
in
c
om
ba
t
a
nd
in
te
ll
ig
e
nc
e
g
a
th
e
r
in
g.
A
ls
o,
m
il
it
a
r
y
f
a
c
il
it
ie
s
a
r
e
bound
to
be
s
ubj
e
c
te
d
to
s
a
bot
a
ge
by
th
e
e
ne
m
ie
s
,
le
a
di
ng
to
di
s
s
e
m
in
a
ti
on
of
m
is
in
f
or
m
a
ti
on
a
nd
s
e
r
vi
c
e
di
s
r
upt
io
n
[
25]
.
U
ti
li
z
a
ti
on
of
I
oT
s
e
ns
or
s
a
nd
ot
he
r
de
vi
c
e
s
:
C
on
s
ta
nt
pow
e
r
s
uppl
y
to
s
e
n
s
or
s
a
nd
de
vi
c
e
s
in
a
bor
de
r
/b
a
tt
le
f
ie
ld
e
nvi
r
onm
e
nt
is
a
not
he
r
m
a
jo
r
is
s
ue
.
I
t
is
v
e
r
y
c
om
pl
ic
a
te
d
to
s
uppl
y
c
ons
ta
nt
pow
e
r
to
s
e
ns
or
s
a
nd
ot
he
r
I
oT
de
vi
c
e
s
f
r
om
a
s
ta
bl
e
po
w
e
r
s
our
c
e
.
A
ls
o,
it
is
a
lm
os
t
in
f
e
a
s
ib
le
to
r
e
c
ha
r
ge
pe
r
io
di
c
a
ll
y
a
s
in
th
e
c
a
s
e
of
c
om
m
e
r
c
ia
l
de
vi
c
e
s
.
M
os
t
I
oT
de
vi
c
e
s
a
nd
s
e
n
s
or
s
a
r
e
us
u
a
ll
y
pow
e
r
e
d
by
a
ba
tt
e
r
y s
our
c
e
w
hi
c
h ha
s
a
l
im
it
e
d l
if
e
s
pa
n.
O
pe
n
in
te
gr
a
ti
on
s
t
a
nda
r
ds
:
T
he
r
e
i
s
a
n
ur
ge
nt
ne
e
d
f
or
I
oT
ont
ol
ogi
e
s
to
be
in
te
gr
a
te
d w
it
h
e
xi
s
ti
ng
s
ta
nda
r
ds
in
or
de
r
to
e
ns
ur
e
in
te
r
ope
r
a
bi
li
ty
a
m
ong
de
vi
c
e
s
w
it
h
di
f
f
e
r
e
nt
f
unc
ti
ona
li
ty
a
nd
ow
ne
r
s
hi
p
[
26]
.
H
ow
e
ve
r
,
ont
ol
ogy
-
ba
s
e
d
r
e
a
s
oni
ng
a
s
in
it
ia
ll
y
be
e
n
a
ppl
ie
d
to
m
il
it
a
r
y
s
e
ns
or
m
a
na
ge
m
e
nt
s
ys
t
e
m
s
s
uc
h
a
s
pa
ir
in
g s
e
ns
or
s
t
o m
is
s
io
n t
a
s
ks
.
5.
C
O
N
C
L
U
S
I
O
N
I
n
c
onc
lu
s
io
n,
th
is
pa
pe
r
ha
s
di
s
c
us
s
e
d
th
e
de
pl
oym
e
nt
of
I
o
T
s
e
ns
or
s
/R
F
I
D
ta
gs
e
na
bl
e
d
c
lo
udl
e
t
c
lo
ud
c
om
put
in
g
f
or
th
e
s
ur
ve
il
la
nc
e
of
a
na
ti
on’
s
bor
de
r
or
ba
tt
le
f
ie
ld
e
nvi
r
onm
e
nt
.
T
he
pr
opos
e
d
s
ys
t
e
m
c
ons
is
ts
of
a
c
lo
udl
e
t
th
a
t
r
e
duc
e
s
th
e
la
te
n
c
y
a
nd
d
e
la
y
of
tr
a
n
s
m
it
ti
ng
s
e
ns
or
y
da
t
a
f
r
om
I
oT
s
e
n
s
or
s
to
th
e
c
lo
ud.
T
hi
s
le
a
ds
to
th
e
pr
ovi
s
io
n
of
ti
m
e
ly
in
f
or
m
a
ti
on
f
or
in
te
ll
ig
e
nc
e
ga
th
e
r
in
g,
a
s
oppo
s
e
d
to
pr
e
vi
ou
s
r
e
s
e
a
r
c
he
s
in
th
i
s
f
ie
ld
. T
he
r
e
f
o
r
e
,
th
e
in
te
gr
a
ti
on
of
I
oT
s
e
ns
in
g
de
vi
c
e
s
a
nd
c
lo
udl
e
t
-
ba
s
e
d
c
lo
ud
c
om
put
in
g
hol
ds
f
ut
ur
e
pr
om
is
e
s
a
nd
oppor
tu
ni
ti
e
s
to
e
xpl
or
e
,
in
te
r
m
s
of
r
e
s
e
a
r
c
he
s
a
nd
in
ve
s
tm
e
nt
pr
of
it
r
e
tu
r
ns
.
I
t
is
a
ls
o
m
a
de
up
of
f
il
te
r
in
g
a
lg
or
it
hm
s
th
a
t
w
e
r
e
us
e
d
to
r
e
m
o
ve
noi
s
e
or
out
le
ir
s
a
nd
r
e
dunda
nt
da
ta
f
r
om
s
e
ns
e
d
d
a
ta
s
a
m
pl
e
,
s
o
th
a
t
r
e
le
va
nt
d
a
ta
c
a
n
b
e
r
e
ta
in
e
d.
F
u
r
th
e
r
m
or
e
,
th
e
he
a
lt
h
s
ta
tu
s
a
nd
th
e
lo
c
a
ti
ons
(
w
he
r
e
-
a
bout
)
of
m
il
it
a
r
y
pe
r
s
one
l
in
a
c
ti
ve
s
e
r
vi
c
e
s
,
ba
s
e
d
on
bor
de
r
pa
tr
ol
or
in
ba
tt
le
f
ie
ld
a
r
e
m
oni
to
r
e
d
in
r
e
a
l
ti
m
e
a
s
oppos
e
d
by
pr
e
vi
ous
r
e
s
e
a
r
c
he
s
.
W
e
a
ls
o
in
tr
oude
c
e
d
s
om
e
ne
twor
k
pr
ot
oc
ol
s
to
a
id
in
te
r
a
c
ti
on
be
twe
e
n
th
e
s
y
s
te
m
c
om
pone
nt
s
a
nd
m
il
it
a
r
y
pe
r
s
one
l.
I
n
th
e
f
ut
ur
e
,
w
e
in
te
nd
to
im
pl
e
m
e
nt
a
nd
te
xt
r
un
our
pr
opos
e
d m
ode
l
in
r
e
a
l
li
f
e
s
c
e
na
r
io
t
o a
id
t
he
m
a
na
ge
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ia
(
gr
a
nt
numbe
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:
07G
17)
.
R
E
F
E
R
E
N
C
E
S
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r
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lo
udl
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lo
ud f
or
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u
r
v
e
il
la
nc
e
ope
r
at
io
ns
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E
dj
e
E
. A
be
l
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