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71
~
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I
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I
n
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d
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a,
tech
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m
e
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cr
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s
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m
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m
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ile
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licatio
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s
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ased
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latf
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m
s
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tech
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as
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m
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ted
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(
AR
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d
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p
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s
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ab
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ter
ac
tiv
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d
s
u
s
tai
n
ab
le
tr
av
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l
ex
p
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ien
ce
s
[
1
]
–
[
3
]
.
T
h
ese
in
n
o
v
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n
s
b
r
o
ad
en
ac
ce
s
s
to
to
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m
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d
co
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te
x
t
-
a
w
ar
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s
er
v
ice
s
[
4
]
,
[
5
]
.
W
ith
in
t
h
is
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r
o
ad
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tr
en
d
,
r
eg
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s
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ch
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s
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m
p
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n
I
n
d
o
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e
s
ia
f
ac
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b
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th
o
p
p
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tu
n
ities
an
d
ch
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g
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s
in
lev
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ag
in
g
d
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ital
tec
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n
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l
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to
s
tr
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n
d
esti
n
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co
m
p
etiti
v
e
n
ess
a
n
d
v
is
ito
r
s
atis
f
ac
t
io
n
[
6
]
–
[
8
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
:
1
6
9
3
-
6930
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
,
Vo
l.
24
,
No
.
1
,
Feb
r
u
ar
y
20
26
:
71
-
94
72
L
a
m
p
u
n
g
p
r
o
v
in
ce
in
I
n
d
o
n
e
s
ia
is
r
e
n
o
w
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ed
f
o
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a
tu
r
al
a
n
d
cu
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tu
r
al
r
ic
h
n
es
s
,
o
f
f
er
in
g
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u
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s
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n
tial
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tial
f
o
r
to
u
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m
d
ev
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p
m
en
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[
9
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,
[
1
0
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.
P
o
p
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lar
d
esti
n
atio
n
s
s
u
c
h
as
Ma
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a
B
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Mu
tu
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Sar
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Ka
m
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Nati
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P
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ca
l
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d
d
o
m
est
ic
to
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is
ts
[
1
1
]
,
[
1
2
]
.
Ho
w
e
v
er
,
th
i
s
p
o
ten
tial
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as
n
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t
b
ee
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lized
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r
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f
r
ag
m
en
t
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m
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d
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k
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m
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n
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y
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n
g
ag
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m
e
n
t
[
1
3
]
,
[
1
4
]
.
T
h
e
ab
s
en
ce
o
f
e
f
f
ec
tiv
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m
ar
k
eti
n
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s
tr
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h
as
co
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tr
ib
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ted
to
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a
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p
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s
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w
co
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o
v
in
ce
r
an
k
ed
o
n
l
y
12
th
in
d
o
m
e
s
tic
to
u
r
is
t
tr
ip
s
in
2
0
2
4
[
1
5
]
,
[
1
6
]
.
E
x
is
tin
g
t
o
u
r
is
m
p
lat
f
o
r
m
s
r
e
m
ai
n
r
estricte
d
to
s
tatic
w
eb
co
n
ten
t
w
i
th
l
ittl
e
i
n
ter
ac
ti
v
it
y
o
r
p
er
s
o
n
aliza
tio
n
,
w
h
ile
e
ar
lier
A
R
-
b
ased
ap
p
licatio
n
s
a
r
e
lar
g
el
y
m
ar
k
er
-
d
ep
en
d
en
t,
li
m
iti
n
g
f
le
x
ib
ilit
y
a
n
d
,
in
s
o
m
e
ca
s
es,
d
is
r
u
p
tin
g
th
e
n
at
u
r
al
ae
s
th
et
ics
o
f
to
u
r
is
t
s
ites
.
T
h
ese
s
h
o
r
tco
m
i
n
g
s
h
i
g
h
li
g
h
t
th
e
u
r
g
en
t
n
ee
d
f
o
r
a
n
ad
ap
tiv
e,
i
m
m
er
s
i
v
e,
a
n
d
u
s
er
-
ce
n
ter
ed
s
m
ar
t
to
u
r
is
m
s
o
lu
tio
n
,
p
ar
ticu
lar
l
y
t
h
r
o
u
g
h
t
h
e
i
n
teg
r
atio
n
o
f
m
ar
k
er
les
s
A
R
a
n
d
C
P
SS
tech
n
o
lo
g
ies.
C
P
SS
in
te
g
r
ate
d
ig
ita
l
tech
n
o
l
o
g
ies
w
it
h
h
u
m
an
a
n
d
s
o
cial
in
ter
ac
tio
n
s
to
cr
ea
te
in
tel
lig
e
n
t
an
d
ad
ap
tiv
e
en
v
ir
o
n
m
e
n
t
s
[
1
7
]
.
I
n
to
u
r
is
m
,
C
P
SS
e
n
ab
le
th
e
d
ev
elo
p
m
e
n
t o
f
s
m
ar
t,
s
u
s
tai
n
ab
l
e,
an
d
p
er
s
o
n
alize
d
tr
av
el
e
x
p
er
ien
ce
s
th
a
t
i
m
p
r
o
v
e
v
i
s
ito
r
s
ati
s
f
ac
tio
n
an
d
co
n
tr
i
b
u
te
to
r
eg
io
n
al
co
m
p
e
titi
v
en
e
s
s
[
1
8
]
.
As
o
u
tli
n
ed
b
y
A
s
h
ar
i
[
1
9
]
,
C
P
SS
c
o
n
s
is
t
o
f
th
r
ee
k
e
y
d
i
m
en
s
io
n
s
:
c
y
b
er
(
co
n
n
ec
tiv
it
y
a
n
d
cl
o
u
d
co
m
p
u
ti
n
g
)
,
p
h
y
s
ica
l
(
m
o
b
ile
d
ev
ices
eq
u
ip
p
ed
w
i
th
g
lo
b
al
p
o
s
itio
n
i
n
g
s
y
s
te
m
(
GP
S
)
a
n
d
s
en
s
o
r
s
)
,
an
d
s
o
cial
(
u
s
er
-
g
e
n
er
ated
co
n
ten
t
an
d
f
ee
d
b
ac
k
)
.
W
h
e
n
co
m
b
in
ed
w
it
h
AR
,
C
P
SS
ca
n
f
u
r
t
h
er
en
h
a
n
ce
en
g
ag
e
m
en
t
b
y
d
eli
v
er
in
g
i
m
m
er
s
i
v
e
an
d
co
n
tex
t
-
a
w
ar
e
s
er
v
ices,
p
o
s
itio
n
i
n
g
AR
–
C
P
SS
i
n
teg
r
atio
n
as
a
co
r
n
er
s
to
n
e
o
f
s
m
ar
t
to
u
r
is
m
ec
o
s
y
s
te
m
s
[
2
0
]
.
AR
h
a
s
g
a
in
ed
i
n
cr
ea
s
i
n
g
at
te
n
tio
n
i
n
to
u
r
is
m
f
o
r
its
ab
il
it
y
to
p
r
o
v
id
e
r
ea
l
-
ti
m
e
o
v
er
la
y
s
o
f
cu
lt
u
r
al
an
d
n
atu
r
al
attr
ac
tio
n
s
,
t
h
er
eb
y
e
n
r
ich
i
n
g
th
e
v
is
ito
r
ex
p
e
r
i
en
ce
[
2
1
]
.
C
o
m
p
ar
ed
to
m
a
r
k
er
-
b
ased
s
y
s
te
m
s
,
m
ar
k
er
le
s
s
A
R
o
f
f
er
s
g
r
ea
ter
f
lex
ib
ilit
y
a
n
d
i
m
m
er
s
io
n
b
y
eli
m
i
n
ati
n
g
t
h
e
n
ee
d
f
o
r
s
tatic
t
r
ig
g
er
s
s
u
c
h
as
q
u
ic
k
r
esp
o
n
s
e
(
QR
)
co
d
es
[
2
2
]
.
Stu
d
ies
in
I
n
d
o
n
e
s
ia
h
a
v
e
co
n
f
i
r
m
ed
its
u
s
ab
ilit
y
,
r
ep
o
r
tin
g
ac
cu
r
ac
y
r
ates
ab
o
v
e
9
0
%
an
d
s
tr
o
n
g
u
s
er
s
ati
s
f
ac
t
io
n
[
2
3
]
,
alth
o
u
g
h
d
ev
ice
co
m
p
a
tib
ilit
y
r
e
m
ain
s
a
li
m
itati
o
n
[
2
4
]
.
I
n
co
n
tr
ast,
r
ec
en
t
e
v
alu
at
io
n
s
o
f
m
ar
k
e
r
-
b
ased
A
R
h
i
g
h
li
g
h
t
p
r
ac
ti
ca
l
ch
alle
n
g
es,
i
n
cl
u
d
in
g
s
e
n
s
it
iv
i
t
y
to
li
g
h
t
in
g
co
n
d
itio
n
s
,
v
ie
w
i
n
g
d
is
ta
n
ce
,
a
n
d
m
ar
k
er
d
u
r
ab
ilit
y
,
w
it
h
u
s
a
b
ilit
y
s
co
r
es
r
ated
o
n
l
y
at
a
m
o
d
er
ate
lev
el
(
s
y
s
te
m
u
s
ab
ilit
y
s
ca
le
(
SUS
)
=
7
1
.
5
8
)
[
2
5
]
.
I
n
L
a
m
p
u
n
g
p
r
o
v
in
ce
,
ea
r
lier
A
R
ap
p
licatio
n
s
h
a
v
e
s
h
o
w
n
p
o
ten
tial
i
n
p
r
o
m
o
ti
n
g
d
esti
n
atio
n
s
an
d
d
eliv
er
i
n
g
i
n
ter
ac
ti
v
e
co
n
ten
t
t
o
to
u
r
is
ts
[
2
6
]
.
B
u
ild
in
g
u
p
o
n
th
ese
f
in
d
i
n
g
s
,
th
i
s
s
tu
d
y
p
r
o
p
o
s
es
th
e
in
te
g
r
atio
n
o
f
m
o
b
ile
a
n
d
w
eb
-
b
ased
m
ar
k
er
le
s
s
AR
w
i
th
C
P
SS
t
o
d
eliv
er
d
y
n
a
m
ic,
ad
ap
tiv
e,
an
d
u
s
er
-
ce
n
ter
ed
to
u
r
is
m
s
er
v
ices t
h
at
o
v
er
co
m
e
t
h
e
co
n
s
tr
ai
n
t
s
o
f
co
n
v
en
t
io
n
al
s
y
s
te
m
s
.
Desp
ite
th
e
s
e
ad
v
an
t
ag
e
s
,
s
e
v
er
al
li
m
itatio
n
s
r
e
m
ai
n
.
Ma
r
k
er
-
b
ased
A
R
s
y
s
te
m
s
ar
e
in
h
er
e
n
tl
y
r
estricte
d
b
y
th
e
ir
r
elian
ce
o
n
p
r
ed
ef
in
ed
p
h
y
s
ical
m
ar
k
er
s
,
w
h
ic
h
li
m
it
s
f
lex
ib
ilit
y
an
d
ap
p
licab
ilit
y
ac
r
o
s
s
d
iv
er
s
e
en
v
ir
o
n
m
e
n
ts
.
Mo
r
eo
v
er
,
ex
is
ti
n
g
m
o
b
ile
-
b
ased
i
m
p
le
m
en
tat
io
n
s
o
f
te
n
d
e
m
an
d
r
elativ
el
y
h
ig
h
h
ar
d
w
ar
e
s
p
ec
if
icatio
n
s
to
s
u
p
p
o
r
t
r
ea
l
-
ti
m
e
r
en
d
er
i
n
g
,
r
ed
u
c
in
g
ac
ce
s
s
ib
ilit
y
f
o
r
u
s
er
s
w
it
h
m
id
-
r
an
g
e
o
r
lo
w
-
en
d
d
ev
ices.
T
h
ese
co
n
s
tr
ain
t
s
p
o
s
e
c
h
allen
g
e
s
f
o
r
s
ca
lab
ili
t
y
an
d
w
id
esp
r
ea
d
ad
o
p
tio
n
o
f
AR
-
b
ased
to
u
r
is
m
ap
p
licatio
n
s.
B
ey
o
n
d
m
ar
k
er
d
ep
en
d
en
c
y
an
d
h
ar
d
w
ar
e
li
m
ita
tio
n
s
,
lo
ca
tio
n
-
b
ased
A
R
i
n
to
u
r
is
m
f
ac
es
f
u
n
d
a
m
en
ta
l
ch
alle
n
g
e
s
in
co
o
r
d
in
ate
tr
an
s
f
o
r
m
atio
n
.
E
x
is
t
i
n
g
AR
f
r
a
m
e
w
o
r
k
s
o
f
ten
f
ail
t
o
ac
cu
r
atel
y
r
en
d
er
d
is
tan
t
g
eo
g
r
ap
h
ic
p
o
in
ts
w
ith
i
n
p
er
ce
p
tu
all
y
co
n
s
tr
ai
n
ed
e
n
v
ir
o
n
m
e
n
ts
,
ca
u
s
in
g
d
esti
n
a
tio
n
s
lo
ca
ted
h
u
n
d
r
ed
s
o
f
k
ilo
m
eter
s
a
w
a
y
to
ap
p
ea
r
d
is
to
r
ted
o
r
in
v
is
ib
le
[
2
7
]
,
[
2
8
]
.
Su
ch
s
p
atia
l
m
ap
p
in
g
i
n
ad
eq
u
ac
ies
u
n
d
er
m
i
n
e
u
s
er
e
x
p
er
ien
ce
,
as
v
ir
tu
al
o
b
j
ec
ts
lo
s
e
co
h
er
en
ce
a
n
d
d
ir
e
ctio
n
al
ac
c
u
r
ac
y
w
h
e
n
p
r
o
j
ec
ted
in
to
r
ea
l
-
w
o
r
ld
s
etti
n
g
s
[
2
2
]
,
[
2
9
]
–
[
3
1
]
.
T
h
e
ab
s
en
ce
o
f
a
s
y
s
te
m
atic,
m
u
lt
i
-
l
a
y
er
ed
co
o
r
d
in
ate
tr
an
s
f
o
r
m
ati
o
n
ar
ch
itect
u
r
e
h
a
s
r
esu
lted
i
n
i
n
co
n
s
i
s
te
n
t
AR
o
b
j
ec
t
p
lace
m
en
t,
p
o
o
r
d
ep
th
p
er
ce
p
tio
n
,
an
d
co
m
p
r
o
m
is
ed
s
p
ati
al
r
elatio
n
s
h
ip
s
b
et
w
ee
n
v
ir
tu
al
to
u
r
i
s
m
co
n
t
en
t
a
n
d
p
h
y
s
ical
g
eo
g
r
ap
h
ic
r
ef
er
en
c
es
[
3
2
]
.
T
h
is
h
ig
h
li
g
h
ts
th
e
n
ee
d
f
o
r
a
s
y
s
te
m
a
tic,
m
u
lt
i
-
la
y
er
ed
co
m
p
u
tatio
n
al
f
r
a
m
e
w
o
r
k
ca
p
ab
le
o
f
b
r
id
g
in
g
r
ea
l
-
w
o
r
ld
g
eo
d
etic
co
o
r
d
in
ates
w
i
t
h
AR
-
o
p
ti
m
iz
ed
p
er
ce
p
tu
al
p
o
s
itio
n
in
g
.
T
o
a
d
d
r
ess
th
is
g
ap
,
th
is
s
tu
d
y
i
n
tr
o
d
u
ce
s
t
h
e
h
ier
ar
c
h
ical
co
o
r
d
in
ate
tr
an
s
f
o
r
m
atio
n
ar
ch
itec
tu
r
e
(
HC
T
A
)
,
a
n
o
v
el
ap
p
r
o
ac
h
d
esig
n
ed
to
i
m
p
r
o
v
e
s
p
atial
a
cc
u
r
ac
y
a
n
d
en
s
u
r
e
i
m
m
er
s
i
v
e,
co
n
s
i
s
te
n
t r
en
d
er
i
n
g
o
f
v
ir
t
u
al
to
u
r
i
s
m
co
n
ten
t.
B
u
ild
in
g
o
n
t
h
ese
c
h
alle
n
g
es
an
d
p
r
ev
io
u
s
r
e
s
ea
r
ch
,
t
h
er
e
i
s
a
clea
r
n
ee
d
f
o
r
a
tech
n
o
lo
g
y
-
d
r
iv
e
n
s
o
lu
tio
n
t
h
at
ca
n
i
m
p
r
o
v
e
a
cc
ess
to
to
u
r
i
s
m
i
n
f
o
r
m
atio
n
in
L
a
m
p
u
n
g
p
r
o
v
in
ce
.
Mo
b
ile
an
d
w
eb
-
b
ased
ap
p
licatio
n
s
ar
e
p
ar
ticu
lar
l
y
w
ell
-
s
u
i
ted
to
t
h
is
p
u
r
p
o
s
e
,
as
t
h
e
y
p
r
o
v
id
e
o
n
-
d
e
m
a
n
d
ac
ce
s
s
to
s
er
v
ice
s
a
n
d
g
r
ea
ter
f
le
x
ib
ilit
y
f
o
r
to
u
r
is
ts
r
eg
ar
d
less
o
f
ti
m
e
o
r
lo
ca
tio
n
.
Ma
r
k
er
less
AR
o
f
f
er
s
a
s
i
g
n
i
f
ica
n
t
ad
v
a
n
tag
e
i
n
th
is
co
n
te
x
t
b
y
eli
m
in
ati
n
g
th
e
n
ee
d
f
o
r
p
h
y
s
ical
m
ar
k
er
s
s
u
c
h
as
QR
co
d
es,
th
er
eb
y
e
n
ab
lin
g
b
r
o
ad
er
ex
p
lo
r
atio
n
o
f
to
u
r
is
t
s
ites
w
h
il
e
p
r
eser
v
in
g
th
eir
n
a
tu
r
al
ae
s
t
h
etics
[
3
3
]
–
[
3
5
]
.
T
h
is
ap
p
r
o
ac
h
en
r
ich
e
s
th
e
v
is
i
to
r
ex
p
er
ien
ce
t
h
r
o
u
g
h
i
n
ter
ac
ti
v
e
an
d
i
m
m
er
s
i
v
e
f
ea
t
u
r
es.
Am
o
n
g
t
h
e
a
v
ailab
le
f
r
a
m
e
w
o
r
k
s
,
AR
.
j
s
s
tan
d
s
o
u
t
as
a
p
r
o
m
is
in
g
to
o
l
f
o
r
d
ev
elo
p
i
n
g
m
ar
k
er
less
AR
-
b
ased
ap
p
licatio
n
s
co
m
p
at
ib
le
w
it
h
b
o
th
An
d
r
o
id
an
d
w
eb
p
latf
o
r
m
s
.
W
h
e
n
i
n
te
g
r
ated
w
it
h
t
h
e
C
P
SS
p
ar
ad
ig
m
,
AR
.
j
s
ca
n
d
eliv
er
r
ea
l
-
ti
m
e
v
i
s
u
aliza
t
io
n
s
o
f
n
ea
r
b
y
attr
ac
tio
n
s
,
e
n
r
ich
ed
w
it
h
r
at
in
g
s
a
n
d
u
s
er
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g
e
n
er
ated
co
n
t
en
t.
B
y
co
m
b
in
in
g
t
h
e
c
y
b
er
(
d
ig
ital)
,
p
h
y
s
ica
l
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
K
A
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elec
o
m
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o
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mp
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f m
a
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r
less
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g
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lity
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er
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p
h
ysica
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o
cia
l sys
tems
…
(
I
lh
a
m
F
ir
ma
n
A
s
h
a
r
i
)
73
(
en
v
ir
o
n
m
e
n
tal)
,
an
d
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o
cial
(
f
ee
d
b
ac
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im
e
n
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io
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s
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th
i
s
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te
g
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atio
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f
o
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ter
s
in
n
o
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at
iv
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ap
p
r
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ac
h
es
f
o
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p
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o
m
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g
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a
m
p
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s
to
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is
m
w
h
ile
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ci
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g
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g
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en
t a
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f
o
r
m
a
tio
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e
m
i
n
atio
n
.
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h
e
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elt
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h
is
s
t
u
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y
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n
t
h
e
i
n
te
g
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atio
n
o
f
m
ar
k
er
le
s
s
AR
a
n
d
C
P
SS
w
it
h
i
n
m
o
b
ile
f
o
r
to
u
r
is
m
d
ev
elo
p
m
en
t
i
n
L
a
m
p
u
n
g
p
r
o
v
in
ce
.
Un
l
ik
e
ea
r
lier
w
o
r
k
s
th
at
p
r
im
ar
il
y
e
m
p
lo
y
ed
m
a
r
k
er
-
b
ased
AR
f
o
r
d
esti
n
atio
n
p
r
o
m
o
tio
n
,
th
i
s
r
esear
ch
ad
o
p
ts
a
h
o
lis
tic
ap
p
r
o
a
ch
th
at
co
m
b
i
n
es
d
i
g
ital
in
f
r
as
tr
u
ctu
r
e,
g
eo
s
p
atia
l
ac
cu
r
ac
y
,
a
n
d
co
m
m
u
n
it
y
i
n
te
r
ac
tio
n
to
cr
ea
te
an
ad
ap
tiv
e
a
n
d
u
s
er
-
ce
n
ter
ed
s
m
ar
t
to
u
r
is
m
e
x
p
er
ien
ce
.
T
h
is
in
te
g
r
atio
n
n
o
t
o
n
l
y
e
n
h
a
n
ce
s
en
g
a
g
e
m
en
t
th
r
o
u
g
h
i
m
m
er
s
i
v
e
an
d
f
lex
ib
le
co
n
ten
t
d
eli
v
er
y
b
u
t
also
lev
er
ag
es
r
ea
l
-
ti
m
e
d
ata
an
d
f
ee
d
b
ac
k
to
p
r
o
v
id
e
p
er
s
o
n
alize
d
s
er
v
ices
.
C
o
n
s
eq
u
e
n
tl
y
,
th
e
p
r
o
p
o
s
ed
s
y
s
te
m
s
tr
en
g
t
h
en
s
L
a
m
p
u
n
g
’
s
co
m
p
etiti
v
e
n
ess
i
n
th
e
n
atio
n
al
an
d
i
n
ter
n
at
io
n
al
to
u
r
is
m
lan
d
s
c
ap
e.
I
n
th
e
d
ev
elo
p
m
en
t
o
f
s
m
ar
t
to
u
r
is
m
ap
p
licatio
n
s
,
it
is
ess
en
tial
to
co
n
d
u
c
t
b
o
th
f
u
n
ctio
n
al
an
d
n
o
n
-
f
u
n
ctio
n
al
test
i
n
g
to
en
s
u
r
e
f
e
asib
ilit
y
a
n
d
o
p
tim
a
l
p
er
f
o
r
m
an
ce
u
n
d
er
r
ea
l
-
w
o
r
ld
co
n
d
iti
o
n
s
[
2
4
]
,
[
3
6
]
.
Fo
r
AR
-
b
ased
s
y
s
te
m
s
,
th
i
s
in
c
lu
d
es
ev
alu
at
in
g
o
v
er
la
y
ac
c
u
r
a
c
y
,
g
eo
lo
ca
tio
n
p
r
ec
is
io
n
,
o
b
ject
r
ea
d
ab
ilit
y
,
an
d
ap
p
licatio
n
p
r
o
g
r
a
m
m
i
n
g
i
n
ter
f
ac
e
(
A
P
I
)
r
esp
o
n
s
e
ti
m
es
a
s
in
d
icato
r
s
o
f
tech
n
ical
ef
f
icie
n
c
y
.
Ho
w
ev
er
,
b
e
y
o
n
d
tech
n
ical
p
er
f
o
r
m
an
ce
,
ass
e
s
s
i
n
g
u
s
er
ex
p
er
ien
ce
is
eq
u
all
y
cr
itical
to
d
ete
r
m
i
n
e
w
h
et
h
er
th
e
s
y
s
te
m
p
r
o
v
id
es
p
r
ac
tical
v
alu
e
an
d
en
g
a
g
e
m
e
n
t.
T
o
th
is
en
d
,
th
e
u
s
er
ex
p
er
ien
ce
q
u
esti
o
n
n
air
e
s
h
o
r
t
(
UE
Q
-
S)
w
as
e
m
p
lo
y
ed
,
as
it
o
f
f
er
s
a
co
n
ci
s
e
y
et
v
ali
d
ated
f
r
am
e
w
o
r
k
th
at
e
f
f
ec
ti
v
el
y
ca
p
tu
r
es
b
o
th
p
r
ag
m
atic
a
s
p
ec
ts
(
u
s
e
f
u
ln
e
s
s
,
ef
f
icien
c
y
,
clar
it
y
)
an
d
h
ed
o
n
i
c
asp
ec
ts
(
s
ti
m
u
latio
n
,
en
j
o
y
m
en
t,
n
o
v
elt
y
)
.
C
o
m
p
ar
ed
to
th
e
f
u
ll
UE
Q,
th
e
s
h
o
r
t
v
er
s
io
n
p
r
o
v
id
es
a
m
o
r
e
ef
f
ici
e
n
t
an
d
ti
m
e
-
s
av
in
g
m
ea
s
u
r
e
m
en
t
o
f
u
s
er
s
atis
f
ac
tio
n
w
h
ile
r
ed
u
cin
g
r
esp
o
n
d
en
t
b
u
r
d
en
[
3
7
]
.
2.
M
E
T
H
O
D
Fig
u
r
e
1
illu
s
tr
ates
t
h
e
f
iv
e
-
p
h
ase
r
esear
ch
w
o
r
k
f
lo
w
.
P
h
ase
1
d
esig
n
s
th
e
C
P
SS
ar
ch
itec
tu
r
e
(
cy
b
er
,
p
h
y
s
ical,
s
o
cial
a
s
p
ec
ts
)
.
P
h
as
e
2
o
u
tlin
e
s
b
u
s
i
n
ess
p
r
o
ce
s
s
es
,
in
cl
u
d
in
g
u
s
er
i
n
ter
ac
tio
n
,
co
n
tr
ib
u
tio
n
,
lo
ca
tio
n
s
ea
r
ch
,
an
d
AR
d
is
p
la
y
.
P
h
a
s
e
3
in
tr
o
d
u
ce
s
t
h
e
HC
T
A
f
o
r
ac
cu
r
ate
AR
r
en
d
er
in
g
th
r
o
u
g
h
g
eo
g
r
ap
h
ic,
p
er
ce
p
tu
al,
an
d
d
ev
ice
co
o
r
d
in
ate
s
y
s
te
m
s
.
P
h
ase
4
in
te
g
r
ates
C
P
SS
lo
g
ic
w
it
h
d
ata
f
lo
w
,
co
o
r
d
in
ate
m
ap
p
i
n
g
,
an
d
r
ea
l
-
ti
m
e
r
e
n
d
er
in
g
.
P
h
ase
5
co
n
d
u
cts
e
v
al
u
atio
n
s
o
n
lo
ca
tio
n
ac
cu
r
ac
y
,
r
es
o
u
r
ce
u
til
iz
atio
n
,
A
R
r
en
d
er
in
g
,
A
P
I
p
er
f
o
r
m
an
ce
,
a
n
d
u
s
er
ex
p
er
ien
ce
(
UE
Q
-
S).
Fig
u
r
e
1
.
R
esear
ch
w
o
r
k
f
lo
w
d
iag
r
a
m
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6930
T
E
L
KOM
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K
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m
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n
tr
o
l
,
Vo
l.
24
,
No
.
1
,
Feb
r
u
ar
y
20
26
:
71
-
94
74
2
.
1
.
P
ha
s
e
1
:
CP
SS
a
rc
hite
ct
ure
des
ig
n
Fig
u
r
e
2
illu
s
t
r
ate
s
th
e
d
ev
elo
p
m
e
n
t
ar
ch
i
tectu
r
e
o
f
a
m
ar
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er
less
A
R
to
u
r
is
m
ap
p
licatio
n
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ased
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th
e
C
y
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er
–
P
h
y
s
ical
–
So
cial
S
y
s
te
m
(
C
P
SS
)
p
ar
ad
ig
m
.
T
h
e
ar
ch
itectu
r
e
co
m
b
in
e
s
p
h
y
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ical
ele
m
en
ts
s
u
ch
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s
m
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ile
d
ev
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d
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s
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er
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m
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e
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ts
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n
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u
d
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n
g
s
er
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er
s
,
clo
u
d
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er
v
ices,
a
n
d
A
P
I
s
to
s
u
p
p
o
r
t
r
ea
l
-
ti
m
e
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ata
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r
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ce
s
s
in
g
.
So
cial
a
s
p
ec
ts
ar
e
in
te
g
r
ated
th
r
o
u
g
h
u
s
er
in
ter
ac
tio
n
an
d
co
n
te
n
t
s
h
ar
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n
g
to
e
n
h
a
n
c
e
co
n
tex
t
u
al
a
n
d
in
ter
ac
ti
v
e
to
u
r
is
m
e
x
p
er
ien
ce
s
.
Fig
u
r
e
2
.
C
y
b
er
-
p
h
y
s
ical
-
s
o
ci
al
s
y
s
te
m
d
ia
g
r
a
m
B
ased
o
n
Fig
u
r
e
2
,
th
e
co
r
e
co
m
p
o
n
e
n
t
s
o
f
th
e
C
P
SS
f
r
a
m
e
w
o
r
k
i
n
teg
r
ated
in
to
th
e
d
ev
elo
p
ed
s
y
s
te
m
ar
e
o
u
tlin
ed
as
f
o
llo
w
s
.
2
.
1
.
1
.
Cy
ber
a
s
pect
T
h
e
cy
b
er
asp
ec
t
o
f
C
P
SS
r
e
f
er
s
to
h
o
w
d
ata
is
co
llected
a
n
d
p
r
o
ce
s
s
ed
f
r
o
m
u
s
er
s
’
s
m
ar
t
p
h
o
n
es
v
ia
e
m
b
ed
d
ed
s
en
s
o
r
s
to
e
n
h
an
ce
in
f
o
r
m
atio
n
d
eliv
er
y
to
o
th
er
u
s
er
s
[
3
8
]
.
T
h
e
f
o
llo
w
in
g
o
u
tli
n
es
th
e
c
y
b
er
asp
ec
t
o
f
C
P
SS
,
lo
ca
tio
n
-
b
ased
to
u
r
i
s
m
ap
p
licatio
n
s
,
in
co
r
p
o
r
atin
g
m
ap
s
A
P
I
s
,
OAu
t
h
f
o
r
s
ec
u
r
e
ac
ce
s
s
,
an
d
in
ter
n
et
co
n
n
ec
ti
v
it
y
.
−
A
p
i
m
ap
s
:
th
e
ap
p
licatio
n
i
n
teg
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m
ati
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n
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an
d
esti
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ated
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av
el
ti
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e
[
3
9
]
,
[
4
0
]
.
−
OAu
t
h
s
er
v
ice
s
:
b
y
i
m
p
le
m
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n
t
in
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ates th
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[
4
1
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.
−
I
n
ter
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et
:
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n
ac
tiv
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i
n
ter
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et
co
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tio
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tial
f
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en
ab
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2
.
1
.
2
.
P
hy
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h
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p
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ld
[
4
2
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So
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asp
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d
e
v
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lo
p
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th
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−
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GP
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ca
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t
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v
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m
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−
GP
S
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ld
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−
C
o
m
p
as
s
an
d
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co
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Evaluation Warning : The document was created with Spire.PDF for Python.
T
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−
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h
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2
.
1
.
3
.
So
cia
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t p
r
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ted
[
3
8
]
,
[
4
3
]
.
−
User
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ca
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co
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tr
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to
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d
esti
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[
1
9
]
.
T
h
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f
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ab
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t d
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−
Ser
v
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q
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s
s
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m
en
t
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s
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k
e
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r
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w
ith
in
t
h
e
C
P
SS
f
r
a
m
e
w
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k
[
4
4
]
.
User
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ex
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2
.
2
.
P
ha
s
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2
:
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pro
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des
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So
m
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2
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2
.
1
.
User
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it
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n info
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Fig
u
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3
illu
s
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ates
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Fig
u
r
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3
.
W
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2
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2
.
2
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As
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Fi
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2
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2
.
3
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T
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Fi
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is
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la
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
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6
9
3
-
6930
T
E
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KOM
NI
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elec
o
m
m
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p
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C
o
n
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l
,
Vo
l.
24
,
No
.
1
,
Feb
r
u
ar
y
20
26
:
71
-
94
76
Fig
u
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4
.
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s
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ased
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rd
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u
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6
s
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r
d
d
i
s
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R
c
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ter
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h
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ated
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s
y
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te
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en
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er
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er
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er
,
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h
ich
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es
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h
e
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h
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ea
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est
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r
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attr
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s
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h
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R
.
j
s
m
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ir
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ates
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u
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ates
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ated
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at
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h
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ai
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u
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6
.
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r
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ca
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d
Fig
u
r
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7
.
Dis
tan
ce
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a
n
s
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o
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m
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f
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m
ac
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al
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tio
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to
AR
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r
en
d
er
ed
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o
s
itio
n
Evaluation Warning : The document was created with Spire.PDF for Python.
T
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1
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ph
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G
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a.
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o
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b.
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h
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co
n
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f
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m
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ical
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te
m
atica
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l
y
ap
p
l
ied
to
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ap
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in
ates u
s
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n
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th
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f
o
llo
w
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atio
n
s
:
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r
th
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ir
s
t
la
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u
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e,
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in
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s
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s
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d
latit
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in
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is
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ac
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d
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(
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th
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h
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r
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c
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s
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n
s
u
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p
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m
at
.
1
=
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×
(
180
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(
2
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2
×
(
180
)
(
3
)
∆
=
(
2
−
1
)
×
(
180
)
(
4
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6930
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
,
Vo
l.
24
,
No
.
1
,
Feb
r
u
ar
y
20
26
:
71
-
94
78
w
h
er
e
,
−
(
p
h
i)
:
l
atitu
d
e
in
r
ad
ian
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−
(
la
m
b
d
a)
:
l
o
n
g
it
u
d
e
in
r
ad
ian
s
−
: P
i c
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tan
t (
3
.
1
4
1
5
9
)
c.
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s
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e
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lcu
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io
n
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o
th
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l
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d
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er
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n
to
a
s
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n
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le
s
ca
lar
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t
h
at
ca
p
tu
r
es
t
h
e
t
h
r
ee
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d
i
m
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s
h
ip
b
et
w
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t
w
o
p
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t
s
o
n
E
ar
th
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s
s
u
r
f
ac
e.
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h
e
v
alu
e
r
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lti
n
g
f
r
o
m
(
5
)
w
il
l
th
e
n
b
e
u
s
ed
in
t
h
e
s
u
b
s
e
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u
en
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s
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s
o
f
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h
e
Hav
er
s
i
n
e
f
o
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la
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e
f
i
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d
is
tan
ce
.
T
h
is
is
th
e
f
u
n
d
a
m
en
ta
l p
ar
t th
at
“
w
ei
g
h
t
s
”
th
e
co
n
tr
ib
u
tio
n
s
o
f
b
o
th
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d
e
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d
lo
n
g
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e
ch
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i
m
u
l
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s
l
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E
ar
th
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th
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d
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m
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n
s
io
n
al
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p
a
ce
[
46]
.
=
s
in
2
(
Δ
2
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+
c
os
(
1
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×
c
os
(
2
)
×
s
in
2
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∆
2
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(
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w
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,
−
:
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−
₁
(
latitu
d
e
d
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∆
:
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−
₁
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lo
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g
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T
h
e
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f
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m
u
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is
s
p
ec
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ig
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m
u
la
d
o
es
in
d
e
ed
s
u
f
f
er
f
r
o
m
r
o
u
n
d
-
o
f
f
er
r
o
r
s
f
o
r
s
m
all
d
i
s
tan
ce
s
d
u
e
to
th
e
co
m
p
u
ta
tio
n
o
f
(
)
=
1
−
2
2
f
o
r
s
m
a
ll
,
lead
in
g
to
lo
s
s
o
f
p
r
ec
is
io
n
w
h
e
n
s
u
b
tr
ac
tin
g
n
ea
r
l
y
eq
u
al
n
u
m
b
er
s
.
d.
Gr
ea
t
-
cir
cle
d
is
ta
n
ce
T
h
e
tr
an
s
f
o
r
m
atio
n
f
r
o
m
t
h
e
h
av
er
s
i
n
e
co
m
p
o
n
en
t
to
th
e
ac
t
u
al
an
g
u
lar
d
is
ta
n
ce
e
m
p
lo
y
s
th
e
in
v
er
s
e
h
av
er
s
in
e
f
u
n
c
tio
n
,
i
m
p
le
m
e
n
ted
th
r
o
u
g
h
t
h
e
t
w
o
-
p
ar
a
m
ete
r
ar
ctan
g
e
n
t
f
u
n
ctio
n
[
4
7
]
.
T
h
is
a
n
g
u
lar
d
is
tan
ce
,
d
en
o
ted
as
‘
c
’
,
i
s
p
r
ec
is
el
y
ca
l
cu
lated
u
s
in
g
(
6
)
an
d
d
is
tan
ce
in
m
e
ter
ca
lcu
lated
u
s
i
n
g
(
7
)
.
=
2
×
2
×
(
√
,
√
1
−
)
(
6
)
=
×
(
7
)
w
h
er
e
,
−
:
d
is
tan
ce
i
n
m
e
ter
s
−
:
e
ar
th
’
s
r
ad
iu
s
(
6
,
3
7
1
,
0
0
0
m
)
−
2
:
t
wo
-
p
ar
a
m
eter
ar
ctan
g
e
n
t f
u
n
ctio
n
Su
b
s
eq
u
e
n
tl
y
,
a
cir
cle
b
ea
r
in
g
ca
lcu
latio
n
is
ap
p
lied
to
d
ete
r
m
in
e
t
h
e
an
g
u
lar
d
ir
ec
tio
n
b
e
t
w
ee
n
th
e
u
s
er
a
n
d
th
e
d
esti
n
atio
n
[
4
8
]
.
T
h
is
en
ab
les
t
h
e
s
y
s
te
m
to
r
o
tate
th
e
AR
o
b
j
ec
t
alo
n
g
th
e
Y
-
ax
i
s
,
e
n
s
u
r
in
g
t
h
at
it
co
n
s
is
ten
tl
y
f
ac
e
s
th
e
ca
m
er
a
w
it
h
i
n
a
3
D
en
v
ir
o
n
m
en
t.
T
h
e
Fig
u
r
e
9
illu
s
tr
ate
s
th
i
s
tr
an
s
f
o
r
m
atio
n
an
d
o
r
ien
tatio
n
p
r
o
ce
s
s
.
B
y
ca
lcu
la
tin
g
t
h
e
o
b
j
ec
t
’
s
b
ea
r
in
g
r
elati
v
e
to
t
h
e
u
s
er
’
s
p
o
s
itio
n
,
t
h
e
f
r
o
n
t
o
f
t
h
e
AR
o
b
j
ec
t
ca
n
b
e
co
n
s
is
te
n
t
l
y
o
r
ien
ted
to
w
ar
d
th
e
ca
m
er
a
’
s
ce
n
ter
p
o
in
t
.
A
s
a
r
esu
lt,
th
e
o
b
j
ec
t
’
s
f
r
o
n
t
f
ac
e
r
e
m
ai
n
s
v
i
s
ib
le
r
eg
ar
d
less
o
f
ca
m
er
a
r
o
tatio
n
.
Fig
u
r
e
9
.
C
ir
cle
b
ea
r
in
g
b
et
w
e
en
u
s
er
p
o
s
itio
n
an
d
to
u
r
i
s
t a
tt
r
ac
tio
n
e.
Vec
to
r
co
m
p
o
n
e
n
ts
T
h
e
g
r
ea
t
-
cir
cle
b
ea
r
in
g
ca
lc
u
latio
n
r
eq
u
ir
e
s
co
m
p
u
ti
n
g
t
w
o
v
ec
to
r
co
m
p
o
n
e
n
ts
t
h
at
r
ep
r
esen
t
th
e
d
ir
ec
tio
n
f
r
o
m
t
h
e
s
tar
ti
n
g
p
o
in
t
to
th
e
d
est
in
at
io
n
o
n
a
s
p
h
e
r
ical
E
ar
th
m
o
d
el.
C
o
m
p
o
n
e
n
t
X,
w
h
ich
ca
p
t
u
r
es
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
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mp
leme
n
ta
tio
n
o
f m
a
r
ke
r
less
a
u
g
men
ted
r
ea
lity
a
n
d
cy
b
er
-
p
h
ysica
l
-
s
o
cia
l sys
tems
…
(
I
lh
a
m
F
ir
ma
n
A
s
h
a
r
i
)
79
th
e
ea
s
t
w
ar
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w
est
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d
d
ir
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tio
n
al
in
f
l
u
e
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ce
,
is
ca
lc
u
lat
ed
u
s
in
g
(
8
)
.
Si
m
u
l
ta
n
e
o
u
s
l
y
,
C
o
m
p
o
n
e
n
t
Y,
r
ep
r
esen
tin
g
t
h
e
n
o
r
th
w
ar
d
-
s
o
u
th
w
ar
d
d
ir
ec
tio
n
al
in
f
l
u
en
ce
,
is
d
er
iv
ed
u
s
i
n
g
(
9
)
.
=
s
in
(
∆
)
×
c
os
(
2
)
(
8
)
=
c
os
(
1
)
×
s
in
(
2
)
−
(
1
)
×
c
os
(
2
)
c
os
(
∆
)
(
9
)
w
h
er
e
,
−
₁
: la
titu
d
e
o
f
s
tar
tin
g
p
o
in
t (
i
n
r
ad
ian
s
)
−
₂
:
latitu
d
e
o
f
d
esti
n
atio
n
p
o
in
t (
in
r
ad
ian
s
)
−
: d
if
f
er
e
n
ce
in
lo
n
g
itu
d
e
(
λ
₂
−
λ
₁
)
in
r
ad
ian
s
f.
B
ea
r
in
g
an
g
le
T
h
e
f
in
al
s
tep
in
d
eter
m
in
i
n
g
th
e
g
r
ea
t
-
cir
cle
b
ea
r
in
g
is
to
ca
lcu
late
th
e
b
ea
r
in
g
an
g
le
its
elf
,
w
h
ic
h
u
tili
ze
s
th
e
s
e
v
ec
to
r
co
m
p
o
n
en
t
s
.
T
h
e
in
itial
b
ea
r
in
g
a
n
g
le,
θ
,
in
r
ad
ia
n
s
,
is
co
m
p
u
ted
d
ir
ec
tly
f
r
o
m
C
o
m
p
o
n
e
n
ts
X
a
n
d
Y
u
s
in
g
t
h
e
t
w
o
-
ar
g
u
m
e
n
t a
r
cta
n
g
e
n
t
f
u
n
ctio
n
,
as d
e
f
in
ed
b
y
(
10
).
=
2
(
,
)
(
1
0
)
T
o
m
ak
e
t
h
is
b
ea
r
i
n
g
in
t
u
iti
v
e
f
o
r
n
a
v
ig
at
io
n
,
it
i
s
t
h
en
co
n
v
e
r
ted
f
r
o
m
r
ad
ian
s
i
n
to
s
ta
n
d
ar
d
co
m
p
as
s
d
eg
r
ee
s
.
T
h
is
co
n
v
er
s
io
n
i
n
v
o
lv
es
s
ca
li
n
g
b
y
180
an
d
en
s
u
r
i
n
g
th
e
r
esu
lt
i
s
w
i
th
i
n
th
e
0°
to
3
6
0
°
r
an
g
e
u
s
i
n
g
th
e
m
o
d
u
lo
3
6
0
o
p
er
atio
n
,
as sh
o
w
n
i
n
(
1
1
)
=
(
×
180
+
360
)
360
(
1
1
)
w
h
er
e
,
−
θ
: b
ea
r
in
g
an
g
le
i
n
r
ad
ian
s
−
2
(
,
)
: t
w
o
-
ar
g
u
m
en
t a
r
cta
n
g
en
t
f
u
n
ctio
n
th
at
p
r
eser
v
es q
u
ad
r
an
t i
n
f
o
r
m
a
tio
n
T
h
e
r
esu
lt g
i
v
es 0
° =
No
r
th
,
9
0
° =
E
ast,
1
8
0
° =
So
u
th
,
an
d
2
7
0
° =
W
est
.
2
.
3
.
2
.
L
a
y
er
2
:
p
er
ce
ptua
l
co
o
rdina
t
e
s
y
s
t
e
m
(
P
CS)
a.
A
d
j
u
s
t
m
e
n
t
r
atio
Sin
ce
A
R
o
b
j
ec
ts
at
ac
tu
al
g
eo
g
r
ap
h
ic
d
is
tan
ce
s
w
o
u
ld
o
f
ten
b
e
to
o
f
ar
to
s
ee
clea
r
ly
(
p
o
ten
tiall
y
k
ilo
m
e
tr
es
a
w
a
y
)
,
w
e
n
ee
d
to
b
r
in
g
th
e
m
clo
s
er
to
an
o
p
ti
m
al
v
ie
w
in
g
d
is
ta
n
ce
w
h
i
l
e
m
a
in
ta
in
i
n
g
th
eir
d
ir
ec
tio
n
al
ac
cu
r
ac
y
.
T
h
is
ad
ju
s
t
m
e
n
t
r
atio
,
d
en
o
ted
b
y
,
is
ca
lcu
lated
b
y
d
iv
id
in
g
th
e
o
p
ti
m
al
A
R
v
ie
w
i
n
g
d
is
tan
ce
b
y
t
h
e
tr
u
e
g
eo
g
r
ap
h
ic
d
is
tan
ce
o
b
tain
ed
f
r
o
m
th
e
Hav
er
s
i
n
e
f
o
r
m
u
la,
a
s
s
h
o
w
n
i
n
(
1
2
)
.
(
)
=
(1
2
)
w
h
er
e,
−
: a
d
j
u
s
t
m
e
n
t r
ati
o
(
0
<
r
<
1
)
−
: o
p
tim
a
l
A
R
v
ie
w
i
n
g
d
is
tan
ce
(
ty
p
ical
l
y
1
0
-
2
0
m
eter
s
)
−
: tr
u
e
g
eo
g
r
ap
h
ic
d
is
ta
n
ce
ca
lcu
lated
u
s
in
g
Ha
v
er
s
i
n
e
f
o
r
m
u
l
a
T
h
is
r
atio
r
ep
r
esen
ts
h
o
w
m
u
ch
w
e
n
ee
d
to
“
s
h
r
i
n
k
”
th
e
ac
tu
al
d
is
ta
n
ce
to
ac
h
ie
v
e
th
e
d
esire
d
AR
v
i
e
w
i
n
g
d
is
tan
ce
.
b.
A
d
j
u
s
ted
co
o
r
d
in
ates
T
h
e
ad
j
u
s
ted
co
o
r
d
in
ates
ar
e
ca
lcu
lated
b
y
lin
ea
r
i
n
ter
p
o
latio
n
alo
n
g
th
e
g
r
ea
t
-
cir
cle
p
ath
.
Sp
ec
if
icall
y
,
t
h
e
ad
j
u
s
ted
lati
tu
d
e,
φ
,
is
d
eter
m
i
n
ed
b
y
ad
d
in
g
t
h
e
p
r
o
d
u
ct
o
f
t
h
e
latit
u
d
e
d
if
f
er
e
n
ce
(
−
)
an
d
th
e
ad
j
u
s
t
m
e
n
t r
atio
(
)
to
th
e
s
tar
tin
g
lati
tu
d
e
(
1
)
,
as d
ep
icted
in
(
1
3
).
=
+
(
−
)
×
(1
3
)
Si
m
i
lar
l
y
,
t
h
e
ad
j
u
s
ted
lo
n
g
itu
d
e,
,
is
ca
lcu
lated
b
y
ad
d
in
g
t
h
e
p
r
o
d
u
ct
o
f
th
e
lo
n
g
it
u
d
e
d
if
f
er
en
c
e
(
−
)
an
d
th
e
ad
j
u
s
t
m
e
n
t r
atio
(
)
to
th
e
s
tar
tin
g
lo
n
g
it
u
d
e
(
1
)
,
as sh
o
w
n
i
n
(
1
4
).
=
+
(
−
)
×
(1
4
)
w
h
er
e,
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6930
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
,
Vo
l.
24
,
No
.
1
,
Feb
r
u
ar
y
20
26
:
71
-
94
80
−
(
1
,
1
)
: u
s
er
’
s
cu
r
r
en
t p
o
s
itio
n
co
o
r
d
in
ates
−
(
2
,
₂
)
: a
ctu
al
p
o
in
t o
f
i
n
ter
est (
P
OI
)
lo
ca
tio
n
co
o
r
d
in
ates
−
(
,
)
: a
d
j
u
s
ted
co
o
r
d
in
ates f
o
r
A
R
d
is
p
la
y
−
: a
d
j
u
s
t
m
e
n
t r
atio
f
r
o
m
(
6
)
2
.
3
.
3
.
L
a
y
er
3
:
d
ev
ice
co
o
rdi
na
t
e
s
y
s
t
e
m
(
DC
S)
a.
AR
d
is
ta
n
ce
ca
lcu
la
tio
n
T
h
e
(
1
5)
ca
lcu
lat
es
h
o
w
f
ar
aw
a
y
an
AR
o
b
j
ec
t
w
ill
ap
p
ea
r
f
r
o
m
t
h
e
u
s
er
.
T
h
e
d
is
tan
ce
i
s
ca
lcu
lated
b
ased
o
n
an
i
n
d
ex
.
T
h
e
b
ase
d
is
tan
ce
i
s
1
0
m
eter
s
.
Fo
r
ea
ch
i
n
cr
e
m
e
n
t
o
f
th
e
i
n
d
ex
,
th
e
d
is
tan
ce
i
n
cr
ea
s
es
b
y
5
m
eter
s
.
=
+
(
×
)
(
1
5
)
w
h
er
e,
−
:
AR
d
is
ta
n
ce
(
in
m
eter
s
)
−
:
b
ase
d
is
tan
ce
(
co
n
s
ta
n
t: 1
0
m
eter
s
)
−
:
o
b
j
ec
t in
d
ex
(
in
te
g
er
: 0
,
1
,
2
,
.
.
.
)
−
:
d
is
tan
ce
i
n
cr
e
m
e
n
t p
er
in
d
ex
(
co
n
s
tan
t: 5
m
eter
s
)
b.
3
D
ca
r
tesi
an
p
o
s
itio
n
ca
lc
u
lati
o
n
T
h
e
3
D
p
o
s
itio
n
co
o
r
d
in
ates
ar
e
ca
lcu
lated
u
s
i
n
g
p
o
lar
-
to
-
C
ar
tesi
a
n
tr
an
s
f
o
r
m
atio
n
as
il
lu
s
tr
ated
i
n
(
1
6
)
an
d
(
1
7
)
,
in
co
r
p
o
r
atin
g
th
e
b
ea
r
in
g
an
g
le
a
n
d
o
p
ti
m
ized
AR
d
is
ta
n
ce
.
=
×
s
in
(
)
(
1
6
)
=
×
c
os
(
)
(
1
7
)
w
h
er
e:
−
, z
: h
o
r
izo
n
tal
p
lan
e
co
o
r
d
in
at
es (
m
eter
s
)
−
: b
ea
r
in
g
an
g
le
i
n
r
ad
ian
s
−
: A
R
d
is
ta
n
ce
f
r
o
m
(
1
3
)
c.
Ver
tical
p
o
s
itio
n
f
o
r
m
u
la
Ver
tical
p
o
s
itio
n
f
o
r
m
u
la
a
s
s
ee
n
i
n
(
1
8
)
d
eter
m
i
n
e
s
t
h
e
o
b
j
ec
t
’
s
h
ei
g
h
t
(
y
p
o
s
itio
n
)
r
el
ati
v
e
to
t
h
e
u
s
er
’
s
e
y
e
lev
el.
=
{
−
4
.
0
=
0
(
)
0
.
0
=
1
(
)
4
.
5
≥
2
(
)
}
(
1
8
)
d.
R
o
tatio
n
f
o
r
m
u
la
R
o
tatio
n
f
o
r
m
u
la
d
ef
i
n
es se
ts
t
h
e
o
r
ien
ta
tio
n
o
r
d
ir
ec
tio
n
th
e
o
b
j
ec
t is f
ac
in
g
i
n
3
D.
1)
X
-
r
o
tatio
n
(
)
,
t
h
is
is
t
h
e
o
b
j
ec
t
’
s
u
p
w
ar
d
,
o
r
d
o
w
n
w
ar
d
tilt
as
s
ee
n
i
n
(
1
9)
.
=
{
−
20°
=
0
(
)
0°
≥
1
(
ℎ
)
}
(
1
9
)
=
0
,
th
e
o
b
j
ec
t is tilted
d
o
w
n
b
y
2
0
d
eg
r
ee
s
.
≥
1
,
th
e
o
b
j
ec
t is h
o
r
izo
n
tal
(
n
o
tilt
)
.
2)
Y
-
r
o
tatio
n
(
)
,
t
h
is
is
th
e
o
b
j
ec
t
’
s
le
f
t
o
r
r
ig
h
t
d
ir
ec
tio
n
(
b
ea
r
in
g
)
,
w
h
ich
is
d
eter
m
i
n
ed
b
y
t
h
e
v
alu
e
o
f
th
e
v
ar
iab
le
θ
b
ea
r
in
g
as se
en
i
n
(
2
0
)
.
=
θ
b
ear
i
n
g
(
)
(
20
)
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