I
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S In
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na
l J
o
urna
l o
f
Ro
bo
t
ics a
nd
Aut
o
m
a
t
io
n
(
I
J
RA)
Vo
l.
14
,
No
.
3
,
Sep
tem
b
er
20
25
,
p
p
.
36
1
~
3
69
I
SS
N:
2722
-
2
5
8
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,
DOI
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1
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1
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y
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lso
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ro
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o
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u
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p
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o
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-
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e
re
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lerts
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K
ey
w
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s
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ly
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k
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lo
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d
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ter
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et
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f
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g
s
L
o
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L
PG le
ak
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tio
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h
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s
a
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o
p
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c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
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SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
R
ah
u
l M
ah
ala
L
aw
C
o
lleg
e
Deh
r
ad
u
n
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Uttar
an
ch
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Un
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s
ity
Deh
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ad
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a
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d
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I
n
d
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E
m
ail:
r
ah
u
lm
ah
ala9
8
@
g
m
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co
m
1.
I
NT
RO
D
UCT
I
O
N
L
iq
u
ef
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p
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o
le
u
m
g
as
(
L
P
G)
ac
cid
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ts
ar
e
a
s
ig
n
if
ican
t
s
o
cieta
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is
s
u
e,
af
f
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tin
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th
e
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s
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o
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ig
h
ly
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ess
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ized
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d
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s
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im
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s
ed
f
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co
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k
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d
as
f
u
el
in
g
en
er
ato
r
s
an
d
wate
r
h
ea
ter
s
[
1
]
.
L
PG,
a
f
lam
m
ab
le
m
ix
tu
r
e
o
f
p
r
o
p
a
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ta
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e,
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o
s
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ig
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s
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itatin
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s
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ito
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ter
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tec
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k
ag
e
a
n
d
e
n
s
u
r
e
h
u
m
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n
s
af
ety
[
2
]
.
Ho
m
e
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u
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ity
is
a
m
ajo
r
co
n
ce
r
n
d
u
e
to
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id
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g
a
th
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t
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co
m
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e
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cial
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d
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esid
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tial
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s
e.
T
ec
h
n
o
l
o
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y
is
cr
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cial
f
o
r
p
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g
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x
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u
s
in
g
L
P
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as
d
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ca
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h
elp
[
3
]
.
T
h
e
I
o
T
'
s
MQ
-
2
s
en
s
o
r
,
wh
en
in
teg
r
ate
d
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an
au
to
m
atic
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as
leak
d
etec
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s
y
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tem
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s
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-
r
eg
u
latin
g
v
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e
n
s
u
r
es
s
af
ety
an
d
m
in
im
izes
g
as
wastag
e
[
4
]
.
T
h
is
wo
r
k
p
r
o
p
o
s
es
d
is
tr
ib
u
ted
f
ield
-
o
r
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te
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I
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T
g
as
s
en
s
in
g
r
o
b
o
ts
f
o
r
d
etec
tin
g
d
an
g
er
o
u
s
f
lam
m
ab
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g
ases
lik
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m
o
n
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s
u
lp
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r
d
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ca
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b
o
n
d
io
x
id
e
i
n
th
e
en
v
ir
o
n
m
e
n
t
[
5
]
.
T
h
e
I
o
T
is
a
r
ap
id
ly
ev
o
l
v
in
g
tech
n
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lo
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y
th
at
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n
ec
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s
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v
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m
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o
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ter
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te
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s
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s
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s
,
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n
ab
li
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d
ata
co
m
m
u
n
icatio
n
v
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i
n
ter
n
et
co
n
n
ec
tiv
ity
[
6
]
.
I
o
T
co
n
n
ec
ts
p
h
y
s
ical
d
e
v
ices
with
s
en
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s
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ter
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.
I
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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I
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I
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J
R
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&
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to
m
,
Vo
l
.
14
,
No
.
3
,
Sep
tem
b
er
20
25
:
36
1
-
3
6
9
362
ex
ten
d
s
b
ey
o
n
d
p
e
r
s
o
n
al
d
ev
i
ce
s
an
d
p
r
io
r
itizes
s
af
ety
in
p
r
o
jects
[
7
]
.
T
h
e
Sn
o
L
UR
k
s
o
lu
tio
n
en
ab
les
co
s
t
-
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I
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f
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ly
ca
s
in
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s
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d
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en
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s
[
8
]
.
T
h
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p
r
o
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tem
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s
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r
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is
s
io
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s
an
d
h
ig
h
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y
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f
icien
c
y
[
9
]
.
T
h
is
p
ap
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d
is
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s
s
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o
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tatic
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ich
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ala
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m
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d
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s
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r
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g
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o
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s
in
cid
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u
ch
as
asp
h
y
x
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n
in
h
o
m
es
an
d
f
a
cto
r
ies
[
1
0
]
.
T
h
e
s
tu
d
y
d
ef
in
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s
d
esig
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r
eq
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eless
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etwo
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[
1
1
]
.
C
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s
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p
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Fi zo
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[
1
2
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T
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b
at
b
u
r
g
lar
y
,
u
tili
zin
g
th
e
PS
O
r
o
u
tin
g
o
p
tim
izatio
n
alg
o
r
ith
m
[
1
3
]
.
2.
RE
VI
E
W
O
F
L
I
T
E
RA
T
UR
E
L
PG,
a
f
lam
m
ab
le
g
as,
ca
n
ig
n
ite
an
d
ex
p
l
o
d
e,
p
o
ten
tially
d
am
ag
in
g
wo
r
k
er
s
in
h
az
ar
d
o
u
s
ar
ea
s
.
T
h
e
in
d
u
s
tr
ial
s
ec
to
r
lack
s
e
f
f
icien
t
war
n
in
g
s
y
s
tem
s
an
d
e
q
u
ip
m
en
t
f
o
r
g
as
lea
k
d
etec
ti
o
n
[
1
4
]
.
L
PG
g
as
is
h
ig
h
ly
in
f
lam
m
a
b
le,
p
r
o
n
e
to
f
ir
e
o
r
ex
p
lo
s
io
n
if
leak
ag
e
o
cc
u
r
s
an
d
is
u
n
m
o
n
ito
r
ed
.
I
t is c
h
allen
g
in
g
to
o
r
d
er
g
as
wh
en
it
r
u
n
s
o
u
t
at
o
d
d
tim
es
[
1
5
]
.
T
h
e
p
r
o
ject
u
tili
ze
s
SDG
p
r
in
cip
les
f
o
r
r
esil
ien
ce
an
d
s
u
s
tain
ab
ilit
y
,
en
h
an
cin
g
co
u
n
tr
ies'
ab
ilit
y
to
r
esp
o
n
d
to
e
n
v
ir
o
n
m
en
tal
c
h
an
g
es.
R
ea
l
-
tim
e
u
p
d
ates
ar
e
p
r
o
v
i
d
ed
th
r
o
u
g
h
s
en
s
o
r
n
o
d
es,
lo
ca
l
co
n
tr
o
l
ce
n
ter
s
,
an
d
f
u
n
ctio
n
al
m
o
n
ito
r
i
n
g
u
n
its
[
1
6
]
.
T
h
e
in
n
o
v
atio
n
in
v
o
lv
es
d
ev
elo
p
i
n
g
I
o
T
ap
p
licatio
n
s
to
m
o
n
ito
r
p
eo
p
le
co
u
n
tin
g
d
e
v
ices
an
d
s
en
d
aler
ts
wh
e
n
a
lim
it
is
ex
ce
ed
ed
,
p
r
im
ar
ily
f
o
r
r
u
r
al
ar
ea
s
to
ef
f
icien
tly
tr
a
ck
o
cc
u
p
a
n
cy
s
tatis
tics
[
1
7
]
.
I
o
T
tech
n
o
lo
g
y
is
tr
an
s
f
o
r
m
in
g
th
e
way
we
co
m
m
u
n
icate
,
en
s
u
r
i
n
g
s
ec
u
r
i
ty
an
d
r
e
d
u
cin
g
r
is
k
s
lik
e
g
as
leak
ag
e
a
n
d
f
ir
e
in
cid
en
ts
.
A
d
o
p
tin
g
ap
p
r
o
p
r
iate
d
ev
ices
ca
n
h
elp
p
r
e
v
en
t
ac
ci
d
en
ts
[
1
8
]
.
I
o
T
-
b
ased
L
PG
leak
d
etec
tio
n
s
y
s
tem
s
r
ev
o
lu
ti
o
n
ize
d
etec
tio
n
an
d
aler
t
m
ec
h
an
is
m
s
,
ad
d
r
ess
in
g
th
e
ch
allen
g
e
o
f
h
u
m
an
m
o
n
ito
r
in
g
,
h
ig
h
c
o
s
ts
,
an
d
co
m
p
licated
in
s
tallatio
n
p
r
o
ce
s
s
es
in
h
o
m
es,
b
u
s
in
ess
es,
an
d
in
d
u
s
tr
ies
[
1
9
]
.
Go
o
d
s
tan
d
ar
d
s
ar
e
n
ee
d
ed
f
o
r
L
PG
u
s
ag
e
in
h
o
u
s
eh
o
l
d
co
o
k
in
g
d
u
e
to
p
o
te
n
tial
g
as
l
ea
k
ag
e
f
r
o
m
d
ev
ices
lik
e
r
eg
u
lato
r
s
,
p
ip
es,
an
d
b
u
r
n
er
s
[
2
0
]
.
Dev
ices
co
m
b
in
e
o
r
d
in
ar
y
s
en
s
o
r
s
with
L
PG
g
a
s
leak
ag
e
d
etec
tio
n
s
y
s
tem
s
t
o
d
etec
t
h
az
a
r
d
o
u
s
g
ases
,
en
s
u
r
in
g
u
s
er
s
af
ety
in
all
s
itu
atio
n
s
[
2
1
]
.
T
h
is
r
ep
o
r
t
h
as
a
f
o
cu
s
o
n
th
e
d
esig
n
o
f
a
r
o
b
o
t
f
o
r
th
e
ex
am
in
atio
n
an
d
d
etec
tio
n
o
f
b
lo
ck
ag
es
with
in
th
e
s
ewe
r
s
y
s
tem
,
an
d
p
er
f
o
r
m
s
an
ass
ess
m
en
t
b
y
ap
p
licatio
n
o
f
im
ag
e
r
ec
o
g
n
itio
n
[
2
2
]
.
T
h
is
d
o
cu
m
en
t
aim
s
to
en
h
an
ce
s
af
ety
m
ea
s
u
r
es
o
n
a
s
m
ar
t
s
ec
u
r
ity
r
o
b
o
t
b
y
u
tili
zin
g
tag
g
in
g
an
d
o
th
e
r
s
en
s
o
r
s
to
m
o
n
ito
r
g
as
f
lo
w
[
2
3
]
.
T
h
e
r
esear
c
h
aim
s
to
in
teg
r
ate
I
o
T
d
ev
ices
i
n
to
th
e
au
to
m
atic
L
PG
cy
lin
d
er
g
as
lev
el
m
o
n
ito
r
in
g
s
y
s
tem
to
p
r
ev
en
t
g
as
ex
h
au
s
tio
n
a
n
d
en
s
u
r
e
tim
ely
r
ep
lace
m
en
t
[
2
4
]
.
T
h
e
s
y
s
tem
m
o
n
ito
r
s
L
PG
le
v
els
in
c
y
lin
d
er
s
an
d
p
r
ev
en
ts
d
am
ag
e
d
u
r
in
g
g
as
leak
ag
e
b
y
c
u
ttin
g
o
f
f
th
e
p
o
wer
s
u
p
p
ly
an
d
ac
tiv
atin
g
a
n
ex
h
au
s
t f
an
[
2
5
]
.
3.
M
E
T
H
O
DO
L
O
G
Y
T
h
e
d
esig
n
o
f
th
e
L
o
R
a
L
PG
d
etec
to
r
b
o
t
is
s
u
ch
th
at
t
h
e
d
if
f
er
en
t
L
PG
s
en
s
in
g
,
co
m
m
u
n
icatio
n
,
an
d
aler
tin
g
elem
e
n
ts
h
a
v
e
b
ee
n
co
m
b
in
ed
as
s
h
o
w
n
in
t
h
e
b
lo
ck
d
iag
r
am
o
f
L
o
R
a
L
PG
d
etec
to
r
b
o
t
in
Fig
u
r
e
1
,
allo
win
g
it
to
p
e
r
f
o
r
m
a
m
u
ltit
u
d
e
o
f
f
u
n
cti
o
n
s
.
T
h
e
s
y
s
tem
is
co
o
r
d
in
ated
b
y
b
lo
c
k
s
,
a
m
icr
o
co
n
tr
o
ller
th
at
is
ab
o
v
e
all
r
esp
o
n
s
ib
le
f
o
r
th
e
tr
an
s
m
is
s
io
n
o
f
d
ata
an
d
th
e
co
n
tr
o
l
o
f
th
e
b
o
t.
T
h
is
u
n
it
is
th
e
p
r
im
ar
y
co
n
t
r
o
l
ce
n
ter
f
r
o
m
wh
er
e
all
th
e
in
p
u
t
in
f
o
r
m
atio
n
d
er
i
v
ed
f
r
o
m
th
e
s
en
s
o
r
s
is
co
llected
,
p
r
o
ce
s
s
es,
an
d
s
en
d
s
it
to
o
th
er
m
o
d
u
les
in
th
e
s
y
s
tem
.
Ad
d
itio
n
ally
,
d
u
e
to
its
d
esig
n
,
its
i
n
teg
r
atio
n
in
to
th
e
b
o
t is si
m
p
le,
an
d
its
p
o
wer
r
e
q
u
ir
em
en
ts
ar
e
m
i
n
im
al.
T
h
e
s
en
s
o
r
b
l
o
ck
h
as
two
co
m
p
o
n
e
n
ts
,
wh
ich
in
clu
d
e
an
MQ
2
g
as
s
en
s
o
r
an
d
an
en
v
i
r
o
n
m
en
tal
s
en
s
o
r
.
T
h
e
MQ
2
s
en
s
o
r
is
ca
p
ab
le
o
f
d
etec
tin
g
L
PG
in
th
e
air
an
d
s
en
d
s
an
an
al
o
g
u
e
s
i
g
n
al
th
at
is
d
ir
ec
tly
p
r
o
p
o
r
tio
n
al
to
th
e
co
n
ce
n
tr
ati
o
n
o
f
g
as
it
d
etec
ts
.
T
o
d
eter
m
in
e
if
th
er
e
is
a
g
as
leak
in
th
e
ar
ea
,
th
is
s
ig
n
al
is
f
o
llo
wed
b
y
th
e
m
icr
o
co
n
tr
o
l
ler
u
n
til
it
o
v
er
tak
es
a
s
et
v
al
u
e.
At
th
e
s
am
e
tim
e,
th
e
en
v
ir
o
n
m
e
n
tal
s
en
s
o
r
p
r
o
v
id
es
tem
p
er
atu
r
e
an
d
h
u
m
id
ity
v
alu
es,
w
h
ich
h
elp
e
n
h
an
ce
t
h
e
b
o
t’
s
m
o
n
ito
r
in
g
f
u
n
ctio
n
s
f
o
r
th
e
d
etec
tio
n
o
f
g
as
leak
s
an
d
s
o
u
r
ce
s
an
d
th
e
co
n
d
itio
n
s
u
n
d
er
wh
ich
th
ey
o
cc
u
r
.
Usi
n
g
th
ese
s
en
s
o
r
s
,
th
e
m
icr
o
co
n
tr
o
ller
g
ets
ess
en
tial
s
ig
n
als
th
at
m
ak
e
it
p
o
s
s
ib
le
f
o
r
th
e
b
o
t
to
tak
e
ac
tio
n
wh
en
th
e
en
v
ir
o
n
m
e
n
t
is
h
ar
m
f
u
l
an
d
h
en
ce
en
s
u
r
e
its
s
af
ety
.
I
n
o
r
d
e
r
to
p
r
o
p
el
th
e
b
o
t,
th
er
e
is
a
m
o
t
o
r
c
o
n
tr
o
l
b
lo
ck
th
at
s
er
v
es
as
th
e
m
o
b
ilizin
g
elem
en
t.
T
h
e
b
lo
ck
is
co
n
s
tr
u
cted
b
y
a
m
o
to
r
d
r
iv
er
th
at
allo
ws
th
e
b
o
t
to
n
av
i
g
ate
an
d
r
ep
o
s
itio
n
its
elf
af
ter
r
ec
eiv
i
n
g
a
s
ig
n
al
f
r
o
m
a
m
icr
o
co
n
tr
o
ller
.
T
h
e
m
o
to
r
d
r
iv
er
r
ec
eiv
e
d
an
d
ex
ec
u
ted
t
h
e
co
n
tr
o
l
co
m
m
an
d
s
an
d
m
o
v
e
d
th
e
b
o
t
ap
p
r
o
p
r
iately
.
T
h
is
m
o
b
ilit
y
f
ea
tu
r
e
is
a
r
ea
l
b
o
n
u
s
f
o
r
s
itu
atio
n
s
wh
en
th
e
b
o
t
r
eq
u
ir
es
s
elf
-
tr
av
er
s
in
g
o
v
er
th
e
e
x
am
in
ed
ar
ea
o
r
m
o
v
in
g
t
o
war
d
s
th
e
s
u
s
p
ec
ted
leak
lo
ca
tio
n
.
T
h
e
co
m
m
u
n
icatio
n
b
lo
c
k
in
te
g
r
a
tes
th
e
L
o
R
a
R
F
m
o
d
u
le
f
o
r
m
o
b
ilit
y
p
u
r
p
o
s
es,
wh
ich
is
ca
p
ab
le
o
v
er
lar
g
e
d
is
tan
ce
s
with
less
p
o
wer
co
n
s
u
m
p
tio
n
.
I
n
th
e
ev
e
n
t
th
at
th
e
s
en
s
o
r
s
d
etec
t
g
as
leak
s
o
r
o
th
e
r
s
tr
an
g
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
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&
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N:
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-
2
5
8
6
Desig
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a
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leme
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tio
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o
f
I
n
tern
et
o
f Th
in
g
s
-
en
a
b
led
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o
n
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-
r
a
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e
a
u
to
n
o
mo
u
s
…
(
R
a
j
esh
S
in
g
h
)
363
en
v
ir
o
n
m
en
tal
ch
a
n
g
es,
th
e
in
f
o
r
m
atio
n
h
as
to
b
e
tr
an
s
m
itte
d
b
y
th
e
m
icr
o
co
n
tr
o
ller
th
r
o
u
g
h
a
L
o
R
a
m
o
d
u
le
to
s
o
m
e
r
em
o
te
u
n
it
o
r
a
b
ase
s
tat
io
n
.
W
ith
L
o
R
a,
B
o
t
s
ca
n
co
m
m
u
n
icate
o
v
er
g
r
e
ater
d
is
tan
ce
s
th
an
co
n
v
en
tio
n
al
wir
eless
s
y
s
tem
s
wo
u
ld
allo
w.
T
h
is
is
im
p
o
r
tan
t
wh
en
it
is
n
ec
es
s
ar
y
f
o
r
th
e
b
o
t
to
o
p
er
ate
au
to
n
o
m
o
u
s
ly
in
is
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p
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m
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SO
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SI
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a
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p
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al
p
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s
1
1
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1
2
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1
3
.
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g
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al
p
in
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0
is
u
s
ed
t
o
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o
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ct
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e
NSS;
d
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g
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tal
p
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9
co
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th
e
DI
O
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p
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d
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h
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L
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R
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n
th
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ca
s
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f
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t
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m
o
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h
e
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p
i
n
s
4
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5
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1
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d
1
3
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ll
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ct
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o
f
th
e
A
r
d
u
in
o
U
n
o
.
I
N
1
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I
N
2
,
I
N
3
,
a
n
d
I
N
4
i
n
p
u
t
p
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n
s
o
f
t
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e
L
2
9
3
D
(
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r
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co
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d
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d
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g
it
al
p
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n
s
4
,
5
,
6
,
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d
7
)
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n
tr
o
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th
e
m
o
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s
m
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v
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m
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n
t
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f
ir
s
t
DC
m
o
t
o
r
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d
r
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v
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n
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OUT
1
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n
d
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2
,
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T
3
a
n
d
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UT
4
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m
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m
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m
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f
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wa
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b
ac
k
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r
m
s
y
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m
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b
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t
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t
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g
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v
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n
n
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te
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t
o
t
h
e
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.
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h
e
n
s
p
e
ci
f
ic
co
n
f
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g
u
r
ati
o
n
s
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d
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g
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c
en
tr
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m
p
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m
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h
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r
s
p
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m
ess
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m
t
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R
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m
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Ar
d
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p
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s
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h
ar
d
w
ar
e
c
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n
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cti
o
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o
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t
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r
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o
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v
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t
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lo
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g
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F
ig
u
r
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4
.
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n
t
h
is
c
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cu
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t,
th
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m
ai
n
m
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c
r
o
co
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t
r
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ll
er
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th
e
N
o
d
eM
C
U
V
3
,
wh
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ch
is
p
o
we
r
ed
b
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9
V
b
a
tte
r
y
.
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h
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b
a
tte
r
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'
s
p
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v
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m
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p
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No
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eM
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n
d
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ter
m
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l
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at
ta
ch
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d
t
o
th
e
G
ND
p
i
n
.
T
h
is
a
r
r
a
n
g
em
e
n
t
all
o
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f
o
r
a
p
p
r
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p
r
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te
p
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we
r
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g
o
f
t
h
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b
o
a
r
d
.
F
u
r
t
h
er
m
o
r
e,
N
o
d
eM
C
U
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o
ta
k
e
s
c
h
a
r
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o
f
c
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m
m
u
n
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ca
ti
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n
wit
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t
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e
L
o
R
a
R
F
m
o
d
u
l
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al
o
n
g
s
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d
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p
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s
s
in
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i
n
p
u
t
s
i
g
n
als
r
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ei
v
e
d
f
r
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m
th
e
k
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p
ad
.
T
h
e
L
o
R
a
R
F
M
o
d
u
le
al
lo
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f
o
r
wir
eless
c
o
m
m
u
n
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ca
t
io
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v
ia
l
o
n
g
-
d
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t
an
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s
i
g
n
als
.
W
it
h
t
h
is
,
th
e
c
o
m
m
u
n
ic
ati
o
n
r
a
n
g
e
is
s
i
g
n
if
ic
an
tl
y
in
c
r
ea
s
e
d
.
T
h
e
m
o
d
u
l
e
r
e
q
u
i
r
es
a
3
.
3
V
p
o
we
r
s
u
p
p
l
y
,
s
o
its
Vc
c
p
i
n
is
atta
c
h
e
d
to
t
h
e
3
.
3
V
p
i
n
o
f
th
e
No
d
eM
C
U.
T
h
e
GND
p
i
n
o
f
th
e
L
o
R
a
m
o
d
u
l
e
is
t
h
e
n
c
o
n
n
ec
t
e
d
to
th
e
GND
o
f
N
o
d
eM
C
U
.
T
h
e
co
m
m
u
n
i
ca
ti
o
n
b
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twe
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n
t
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m
o
d
u
l
e
a
n
d
t
h
e
b
o
ar
d
is
p
e
r
f
o
r
m
e
d
u
s
in
g
th
e
SP
I
p
r
o
to
c
o
l.
T
h
e
p
i
n
s
MI
S
O,
MO
SI
,
a
n
d
SC
L
K
ar
e
c
o
n
n
ec
ted
t
o
D
9
,
D
8
,
an
d
D
7
,
a
n
d
t
h
e
NSS
p
i
n
is
co
n
n
e
cte
d
t
o
D
6
.
T
h
e
DI
O
0
p
i
n
is
co
n
n
e
cte
d
t
o
t
h
e
D
5
,
an
d
t
h
e
R
ST
p
i
n
is
c
o
n
n
e
ct
ed
t
o
th
e
D4
.
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t
h
is
s
y
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te
m
,
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c
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cir
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.
E
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t
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b
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d
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ar
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d
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co
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u
t
s
i
g
n
al
.
T
h
is
c
o
n
f
i
g
u
r
at
io
n
m
a
k
es
it
p
o
s
s
i
b
le
f
o
r
th
e
e
n
d
-
u
s
er
t
o
is
s
u
e
c
o
m
m
a
n
d
s
a
n
d
c
o
n
tr
o
l
f
u
n
cti
o
n
s
r
em
o
t
el
y
u
s
i
n
g
th
e
L
o
R
a
m
o
d
u
le
.
Fig
u
r
e
4
.
C
o
n
n
ec
ti
o
n
d
ia
g
r
a
m
o
f
r
o
u
t
e
r
n
o
d
e
4.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
L
o
R
a
L
PG
d
etec
to
r
b
o
t'
s
wo
r
k
in
g
p
r
in
cip
le
r
ev
o
lv
es
ar
o
u
n
d
g
as
leak
ag
e
d
etec
tio
n
an
d
alar
m
in
g
r
elev
an
t
p
er
s
o
n
n
el,
wh
ich
is
ac
h
iev
ed
th
r
o
u
g
h
a
s
et
o
f
s
eq
u
en
tial
task
s
.
So
m
e
en
v
ir
o
n
m
e
n
tal
co
n
d
itio
n
s
th
at
n
ee
d
to
b
e
m
o
n
ito
r
ed
ar
e
ca
p
t
u
r
ed
b
y
th
e
s
en
s
o
r
s
m
o
u
n
ted
o
n
th
e
b
o
t.
Mo
s
t
im
p
o
r
ta
n
tly
,
th
e
s
y
s
tem
h
as
b
ee
n
d
esig
n
ed
to
f
u
n
ctio
n
with
a
g
r
ea
ter
d
eg
r
ee
o
f
a
u
to
n
o
m
y
,
wh
ich
m
ea
n
s
th
at
th
e
s
y
s
tem
d
o
es
n
o
t
r
e
q
u
ir
e
co
n
s
tan
t
m
o
n
ito
r
in
g
with
r
e
g
a
r
d
to
in
f
o
r
m
atio
n
co
llectio
n
o
r
s
en
d
in
g
,
th
e
r
ef
o
r
e
,
b
r
o
ad
e
n
in
g
th
e
s
co
p
e
o
f
th
e
s
y
s
tem
to
ar
ea
s
th
at
ca
n
b
e
cl
ass
if
ied
as
s
em
i
-
h
o
s
tile.
I
t
s
tar
ts
with
th
e
p
h
ase
o
f
ac
q
u
ir
in
g
d
ata
th
at
is
ca
r
r
ied
o
u
t
b
y
th
e
s
en
s
o
r
s
,
wh
ich
m
e
asu
r
e
th
e
c
o
n
ce
n
tr
atio
n
o
f
L
P
G,
tem
p
er
atu
r
e,
a
n
d
h
u
m
id
ity
in
th
e
v
icin
ity
.
T
h
e
MQ
2
s
en
s
o
r
g
ases
s
p
ec
if
ically
m
ea
s
u
r
e
th
e
co
n
ce
n
tr
atio
n
o
f
L
PG
v
a
p
o
r
in
th
e
air
,
an
d
a
n
elec
tr
ic
cu
r
r
en
t
is
g
en
er
ated
i
n
d
ir
ec
t
p
r
o
p
o
r
tio
n
to
th
e
v
o
lu
m
e
o
f
g
as
p
r
esen
t.
T
h
is
s
ig
n
al
g
ets
tr
an
s
m
itted
t
o
a
m
icr
o
c
o
n
tr
o
ller
m
o
u
n
ted
o
n
b
o
a
r
d
.
T
h
is
m
icr
o
co
n
tr
o
ller
is
p
r
o
g
r
am
m
ed
t
o
c
o
n
tin
u
ally
co
m
p
ar
e
t
h
ese
v
alu
es
to
p
r
eset
lim
its
.
Fu
r
th
er
m
o
r
e
,
tem
p
er
at
u
r
e
an
d
h
u
m
id
ity
s
en
s
o
r
s
p
r
o
v
id
e
m
o
r
e
d
ata
r
e
g
ar
d
in
g
th
e
s
ettin
g
,
wh
ich
is
im
p
o
r
tan
t
f
o
r
th
e
ass
ess
m
en
t o
f
a
r
is
k
en
v
ir
o
n
m
e
n
t b
ec
au
s
e
th
e
g
as a
n
d
its
d
etec
tio
n
ar
e
af
f
ec
ted
b
y
ce
r
tain
en
v
ir
o
n
m
en
t
co
n
d
itio
n
s
.
Fig
u
r
e
5
illu
s
tr
ates th
e
h
ar
d
wa
r
e
ar
r
a
n
g
em
en
t
u
s
ed
in
th
e
L
o
R
a
L
PG d
etec
to
r
b
o
t.
Fig
u
r
e
5
.
Har
d
war
e
s
etu
p
u
s
ed
in
L
o
r
a
L
PG
d
etec
to
r
b
o
t
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
14
,
No
.
3
,
Sep
tem
b
er
20
25
:
36
1
-
3
6
9
366
As
s
o
o
n
as
th
e
in
f
o
r
m
atio
n
is
co
llected
,
th
e
s
y
s
tem
m
o
v
es
o
n
to
th
e
s
tag
e
o
f
p
r
o
ce
s
s
in
g
th
e
d
ata,
m
ak
in
g
d
ec
is
io
n
s
,
an
d
tak
in
g
ac
tio
n
s
.
At
th
is
p
o
in
t,
th
e
m
icr
o
co
n
tr
o
ller
p
r
o
ce
s
s
es
th
e
av
ailab
le
in
f
o
r
m
atio
n
an
d
estab
lis
h
es
wh
eth
er
th
e
le
v
els
o
f
L
PG
h
av
e
in
cr
ea
s
ed
b
ey
o
n
d
th
e
d
esire
d
m
ar
k
er
s
.
I
f
th
e
co
n
ce
n
tr
atio
n
o
f
g
ases
is
u
n
d
er
p
a
r
am
etr
ic
lim
i
ts
,
th
e
b
o
t
r
em
ai
n
s
p
ass
iv
e
an
d
g
o
es o
n
o
b
s
er
v
i
n
g
th
e
s
itu
atio
n
.
Ho
wev
e
r
,
i
n
th
e
ev
en
t
th
at
t
h
e
g
as
lev
el
ex
ce
e
d
s
th
e
lim
it,
th
e
m
icr
o
c
o
n
tr
o
l
ler
is
p
r
o
g
r
am
m
ed
to
r
ea
ct
to
a
s
er
ies
o
f
e
v
en
ts
.
First,
th
e
m
icr
o
p
h
o
n
e
is
u
s
ed
t
o
s
et
o
f
f
t
h
e
b
u
zz
er
in
a
v
icin
i
ty
,
wh
ich
ca
u
s
es
a
lo
u
d
s
o
u
n
d
in
t
h
e
p
r
esen
ce
o
f
p
eo
p
le,
in
f
o
r
m
i
n
g
th
e
m
o
f
th
e
d
an
g
e
r
im
m
ed
iately
.
T
h
e
lo
c
al
aler
t
s
y
s
tem
g
u
ar
an
tees
th
at
th
er
e
is
n
o
n
ee
d
t
o
s
tay
co
n
n
ec
ted
o
v
er
a
d
is
tan
ce
in
o
r
d
er
f
o
r
p
eo
p
le
clo
s
e
to
th
e
ar
ea
to
b
e
war
n
e
d
ab
o
u
t p
o
s
s
ib
le
th
r
ea
ts
.
At
th
e
s
am
e
tim
e,
th
e
m
icr
o
c
o
n
tr
o
lle
r
g
o
es
o
n
to
th
e
co
m
m
u
n
icati
o
n
s
tag
e
as
th
e
in
f
o
r
m
atio
n
h
as
b
ee
n
s
en
t
v
ia
th
e
L
o
R
a
R
F
ch
ip
to
a
r
em
o
te
u
n
it,
wh
ich
is
th
e
r
o
u
ter
n
o
d
e
.
W
ith
th
e
L
o
R
a
co
m
m
u
n
ica
tio
n
s
tan
d
ar
d
,
it
is
p
o
s
s
ib
le
to
b
u
ild
p
ar
ticu
la
r
n
etwo
r
k
s
o
f
d
ev
ices
with
c
o
n
s
id
er
ab
le
d
is
tan
ce
b
etwe
en
ea
ch
o
th
er
,
with
lo
w
p
o
wer
in
tr
an
s
m
itti
n
g
t
h
e
in
f
o
r
m
atio
n
wh
ic
h
is
r
eq
u
ir
ed
in
r
eg
io
n
s
th
at
ar
e
n
o
t
clo
s
e
t
o
t
h
e
ar
ea
s
wh
er
e
th
e
b
o
t
is
s
itu
ated
.
T
h
u
s
,
all
m
o
n
ito
r
in
g
s
tatio
n
s
o
b
tain
in
f
o
r
m
a
tio
n
in
s
tan
tan
eo
u
s
ly
,
ev
en
th
o
u
g
h
t
h
er
e
ar
e
g
r
ea
t
d
is
tan
ce
s
o
r
b
ar
r
ier
s
th
at
wo
u
ld
o
b
s
tr
u
ct
ty
p
ical
wir
eless
co
n
n
ec
tio
n
s
.
T
h
e
s
y
s
tem
'
s
co
m
m
u
n
icatio
n
r
an
g
e
v
ar
ies
f
r
o
m
5
0
0
m
to
1
5
k
m
,
d
ep
en
d
i
n
g
u
p
o
n
t
h
e
c
o
n
d
itio
n
s
,
wh
er
e
1
5
k
m
is
in
id
ea
l
co
n
d
itio
n
s
,
b
u
t
in
u
r
b
an
en
v
ir
o
n
m
en
ts
with
o
b
s
tacle
s
,
it
m
ay
d
r
o
p
to
5
0
0
m
.
L
aten
c
y
ty
p
ically
r
a
n
g
es
f
r
o
m
1
to
2
s
ec
o
n
d
s
,
en
s
u
r
in
g
n
ea
r
-
r
ea
l
-
tim
e
r
esp
o
n
s
e.
Det
ec
tio
n
ac
cu
r
ac
y
r
ea
c
h
es
u
p
to
9
5
%,
th
o
u
g
h
it
m
ay
d
ec
r
ea
s
e
to
8
5
%
in
ch
allen
g
in
g
c
o
n
d
itio
n
s
o
r
with
s
en
s
o
r
ca
lib
r
atio
n
is
s
u
es.
T
h
e
L
PG
d
etec
tio
n
s
y
s
tem
co
m
p
r
is
es
th
e
r
o
u
ter
n
o
d
e
as
th
e
ce
n
tr
al
co
n
tr
o
l
a
n
d
co
m
m
u
n
icatio
n
ce
n
ter
,
wh
ich
in
th
is
ca
s
e
is
t
h
e
L
o
R
a
L
PG
d
etec
to
r
b
o
t,
a
n
d
r
elay
s
th
is
d
ata
to
th
e
h
o
s
ted
p
latf
o
r
m
.
T
h
is
in
clu
d
es
r
ec
eiv
in
g
co
m
m
a
n
d
s
,
p
r
o
ce
s
s
in
g
th
em
,
o
r
r
elay
in
g
th
em
f
u
r
th
e
r
wh
ile
s
till
p
er
m
itti
n
g
lim
ited
in
ter
ac
tiv
ity
f
r
o
m
t
h
e
u
s
er
v
ia
th
e
k
ey
p
ad
.
T
h
e
f
u
n
ctio
n
al
r
o
u
ter
n
o
d
e
c
h
ar
ac
ter
is
tic
is
aim
ed
to
f
ac
ilit
ate
ea
s
e
in
th
e
i
n
teg
r
atio
n
o
f
s
en
s
o
r
d
ata
f
r
o
m
th
e
u
s
er
in
t
o
th
e
clo
u
d
f
o
r
ea
s
y
r
em
o
te
ac
ce
s
s
,
as
well
as
p
r
o
v
id
e
a
s
u
s
tain
ab
le
an
d
s
elf
-
co
n
tain
e
d
s
af
ety
m
o
n
ito
r
in
g
s
y
s
tem
.
T
h
e
p
r
o
ce
s
s
s
tar
ts
f
r
o
m
th
e
d
ata
r
ec
ep
tio
n
s
tag
e,
wh
er
eb
y
th
e
r
o
u
ter
n
o
d
e
ce
llu
lar
m
o
d
u
le
is
ab
le
to
r
ec
eiv
e
s
ig
n
als
f
r
o
m
th
e
d
etec
to
r
b
o
t.
Or
d
in
ar
ily
,
th
is
d
ata
co
m
p
r
is
es
th
e
L
o
R
a
an
d
n
u
m
er
o
u
s
en
v
ir
o
n
m
e
n
tal
an
d
L
PG
co
n
ce
n
tr
atio
n
r
ea
d
in
g
s
,
wh
ic
h
ar
e
p
er
f
o
r
m
e
d
b
y
o
n
e
o
f
th
e
s
en
s
o
r
s
in
co
r
p
o
r
ate
d
o
n
th
e
b
o
t.
So
,
with
L
o
R
a
tech
n
o
lo
g
y
,
th
e
r
o
u
ter
n
o
d
e
ca
n
co
n
d
u
ct
lo
n
g
-
r
an
g
e
co
m
m
u
n
icatio
n
an
d
is
ab
le
to
in
ter
f
ac
e
with
th
e
d
etec
to
r
b
o
t
o
v
er
g
r
ea
t
d
is
tan
ce
s
.
Fig
u
r
e
6
d
e
p
icts
th
e
h
ar
d
war
e
c
o
n
f
ig
u
r
atio
n
o
f
th
e
r
o
u
ter
n
o
d
e.
Fig
u
r
e
6
.
Har
d
war
e
s
etu
p
u
s
ed
in
r
o
u
te
r
n
o
d
e
T
h
e
n
ex
t
s
tep
in
v
o
lv
es
th
e
r
o
u
ter
n
o
d
e
tr
an
s
f
er
r
in
g
to
d
ata
p
r
o
ce
s
s
in
g
u
p
o
n
ac
q
u
is
itio
n
o
f
th
e
in
f
o
r
m
atio
n
.
T
h
e
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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-
2
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6
Desig
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u
r
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u
r
e
7
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CO
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ically
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ter
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lik
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ag
e
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tr
ac
k
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s
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ca
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m
ak
e
th
is
a
f
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lly
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to
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o
m
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s
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ea
lth
m
o
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ito
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g
s
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tem
.
T
h
e
ap
p
licatio
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s
a
n
d
a
d
v
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ce
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en
t
o
f
th
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tech
n
o
l
o
g
y
h
av
e
a
wid
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s
co
p
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in
th
e
lo
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g
a
n
d
s
h
o
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t
ter
m
s
.
Sin
c
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s
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d
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ea
lth
ar
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s
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ig
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iv
a
in
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s
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b
e
ap
p
lied
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ad
a
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ted
in
a
n
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m
b
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co
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tr
u
ctio
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,
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in
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m
an
u
f
ac
t
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r
in
g
,
an
d
ev
e
n
h
ea
lth
ca
r
e.
T
h
e
later
v
er
s
io
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s
o
f
th
is
s
y
s
tem
m
ay
co
n
tain
b
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en
s
o
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s
wh
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h
wo
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ld
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ab
le
to
m
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ito
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m
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ar
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eter
s
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u
ch
as
b
lo
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d
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x
y
g
en
s
atu
r
atio
n
an
d
r
esp
ir
ato
r
y
r
ate,
wo
r
k
an
y
ti
m
e
o
f
th
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d
ay
.
Mo
r
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v
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r
,
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s
y
s
tem
it
s
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ld
also
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f
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tial a
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s
.
An
o
th
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ea
lly
f
ascin
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ir
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tio
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to
p
u
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s
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e
p
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d
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o
f
d
ev
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at
co
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ld
b
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wo
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p
l
o
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F
UNDING
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NF
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A
T
I
O
N
No
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n
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in
g
was r
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
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8
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Vo
l
.
14
,
No
.
3
,
Sep
tem
b
er
20
25
:
36
1
-
3
6
9
368
AUTHO
R
CO
NT
RI
B
UT
I
O
NS ST
A
T
E
M
E
N
T
T
h
is
jo
u
r
n
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u
s
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C
o
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tr
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u
to
r
R
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les
T
ax
o
n
o
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y
(
C
R
ed
iT)
to
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n
ize
in
d
iv
id
u
al
au
th
o
r
co
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u
tio
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s
,
r
ed
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ce
au
th
o
r
s
h
ip
d
is
p
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tes,
an
d
f
ac
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ate
co
llab
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n
.
Na
m
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f
Aut
ho
r
C
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So
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Vi
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An
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Geh
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R
ah
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Viv
ek
Ku
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✓
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C
:
C
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p
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[
1
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