I
AE
S In
t
er
na
t
io
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.
1
5
,
No
.
1
,
Ma
r
ch
20
2
6
,
p
p
.
89
~
98
I
SS
N:
2722
-
2
5
8
6
,
DOI
:
1
0
.
1
1
5
9
1
/i
jr
a
.
v
1
5
i
1
.
pp
89
-
98
89
J
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na
l ho
m
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:
h
ttp
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Remo
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Dec
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R
ev
is
ed
Feb
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Acc
ep
ted
Feb
2
1
,
2
0
2
6
Th
e
in
te
g
ra
ti
o
n
o
f
a
u
t
o
n
o
m
o
u
s m
o
b
il
e
r
o
b
o
ts
(AMRs)
a
n
d
I
n
tern
e
t
o
f
Th
in
g
s
(Io
T)
tec
h
n
o
lo
g
y
h
a
s
re
v
o
l
u
ti
o
n
ize
d
v
a
rio
u
s
i
n
d
u
stries
,
i
n
c
lu
d
in
g
sm
a
rt
wa
ste
m
a
n
a
g
e
m
e
n
t
(S
WM
).
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n
t
h
is
p
a
p
e
r,
t
h
e
imp
lem
e
n
tat
io
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o
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a
c
u
sto
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ize
d
re
m
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te
p
ro
c
e
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re
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a
ll
(RP
C)
m
e
th
o
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o
lo
g
y
wa
s
su
c
c
e
ss
fu
ll
y
d
e
m
o
n
stra
ted
.
Th
is
m
e
th
o
d
o
l
o
g
y
fa
c
il
it
a
ted
c
o
n
tr
o
l
a
n
d
m
o
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i
to
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g
o
f
AMRs
fo
r
sm
a
rt
in
d
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o
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ste
m
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n
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g
e
m
e
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t
to
c
o
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e
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t
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n
d
d
is
p
o
se
wa
ste
,
m
o
n
it
o
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b
i
n
t
h
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sh
o
ld
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e
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a
n
d
re
p
o
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re
lev
a
n
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p
a
ra
m
e
ters
to
a
c
l
o
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b
a
se
d
p
latfo
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Ke
y
o
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e
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ti
o
n
a
l
p
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ra
m
e
ters
fro
m
t
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t
h
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s
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sh
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s se
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les
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se
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g
e
m
e
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r
fin
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g
s
u
n
d
e
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re
t
h
e
re
lev
a
n
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o
f
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d
v
a
n
c
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sm
a
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a
n
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g
e
m
e
n
t
tec
h
n
o
lo
g
ies
,
c
o
n
tri
b
u
ti
n
g
to
o
p
e
ra
ti
o
n
a
l
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fficie
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c
y
a
n
d
s
u
sta
in
a
b
il
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y
.
K
ey
w
o
r
d
s
:
Au
to
n
o
m
o
u
s
m
o
b
ile
r
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b
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t
I
o
T
p
latf
o
r
m
R
em
o
te
p
r
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ce
d
u
r
e
ca
ll
Sm
ar
t d
ash
b
o
ar
d
Sm
ar
t w
aste m
an
ag
em
en
t
T
h
is i
s
a
n
o
p
e
n
a
c
c
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ss
a
rticle
u
n
d
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r th
e
CC B
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SA
li
c
e
n
se
.
C
o
r
r
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s
p
o
nd
ing
A
uth
o
r
:
Ash
aa
r
i Y
u
s
o
f
C
en
tr
e
f
o
r
R
o
b
o
tics
an
d
Sen
s
in
g
T
ec
h
n
o
lo
g
ies,
T
elek
o
m
R
e
s
ea
r
ch
an
d
Dev
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o
p
m
en
t Sd
n
B
h
d
C
y
b
er
jay
a,
Ma
lay
s
ia
E
m
ail: a
s
h
aa
r
i@
tm
r
n
d
.
co
m
.
m
y
1.
I
NT
RO
D
UCT
I
O
N
Sm
ar
t
waste
m
an
ag
em
en
t
(
SW
M)
h
as
em
er
g
ed
as
a
cr
iti
ca
l
co
m
p
o
n
en
t
o
f
u
r
b
an
s
u
s
tain
ab
ilit
y
in
itiativ
es,
d
r
iv
en
b
y
th
e
in
cr
ea
s
in
g
v
o
lu
m
e
o
f
waste
g
en
e
r
ated
in
r
ap
i
d
ly
u
r
b
an
izin
g
e
n
v
ir
o
n
m
en
ts
.
W
ith
p
r
o
jectio
n
s
i
n
d
icatin
g
th
at
g
lo
b
al
s
o
lid
waste
g
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er
atio
n
will
r
ea
ch
ap
p
r
o
x
im
atel
y
3
.
8
8
b
ill
io
n
to
n
n
es b
y
2
0
5
0
[
1
]
,
an
d
g
lo
b
al
d
ir
ec
t c
o
s
t o
f
waste
m
an
ag
em
en
t e
s
tim
ated
to
r
is
e
u
p
to
USD
3
6
1
b
illi
o
n
b
y
2
0
5
0
[
2
]
,
th
e
n
ee
d
f
o
r
ef
f
ec
tiv
e
a
n
d
ef
f
icien
t
w
aste
m
an
ag
em
en
t
s
o
lu
tio
n
s
h
as
n
ev
er
b
ee
n
m
o
r
e
p
r
ess
in
g
.
SW
M
s
y
s
tem
s
lev
er
ag
e
tech
n
o
l
o
g
ies
s
u
ch
as
th
e
I
n
ter
n
et
o
f
T
h
i
n
g
s
(
I
o
T
)
to
f
ac
ilit
ate
r
ea
l
-
tim
e
m
o
n
ito
r
in
g
,
d
ata
an
aly
tics
,
an
d
o
p
tim
ized
c
o
llectio
n
p
r
o
ce
s
s
es.
T
h
e
in
teg
r
atio
n
o
f
th
ese
tech
n
o
lo
g
ies
en
ab
le
o
p
er
ato
r
s
to
en
h
a
n
ce
o
p
er
atio
n
al
ef
f
icien
c
y
,
r
ed
u
ce
co
s
ts
,
an
d
im
p
r
o
v
e
en
v
ir
o
n
m
en
tal
o
u
tco
m
es
b
y
in
teg
r
atin
g
s
m
ar
t
s
en
s
o
r
s
an
d
d
ata
-
d
r
iv
e
n
d
ec
is
io
n
-
m
a
k
in
g
i
n
to
waste
m
an
ag
em
en
t
p
r
ac
tic
es.
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h
e
au
to
m
atio
n
o
f
in
d
o
o
r
was
te
m
an
ag
em
en
t
p
r
o
ce
s
s
es
is
p
ar
ticu
lar
ly
v
ital
f
o
r
m
ain
tai
n
in
g
h
y
g
ien
e
an
d
o
p
er
atio
n
al
ef
f
icien
cy
i
n
en
v
ir
o
n
m
e
n
ts
s
u
ch
as
o
f
f
i
ce
s
,
h
o
s
p
itals
,
an
d
c
o
m
m
er
c
ial
b
u
ild
in
g
s
.
T
h
is
co
n
tr
asts
with
tr
ad
itio
n
al
m
an
u
al
waste
co
llectio
n
m
eth
o
d
s
,
wh
ich
ar
e
o
f
ten
lab
o
r
-
in
te
n
s
iv
e
an
d
p
r
o
n
e
to
in
ef
f
icien
cies.
Su
b
s
eq
u
en
tly
,
t
h
is
in
ef
f
icien
cy
ad
d
s
u
p
in
o
p
e
r
atio
n
al
co
s
ts
,
wh
ich
r
an
g
es f
r
o
m
ar
o
u
n
d
USD3
5
p
er
to
n
n
e
in
lo
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in
co
m
e
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n
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ies
to
o
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er
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p
er
t
o
n
n
e
in
h
ig
h
-
in
co
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e
co
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n
tr
ie
s
[
3
]
.
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g
au
to
n
o
m
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s
m
o
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ile
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o
ts
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AM
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s
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izatio
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ca
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ig
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if
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tly
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ce
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cu
r
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waste
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.
As
illu
s
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ated
in
Fig
u
r
e
1
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AM
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s
eq
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ea
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g
th
e
en
tire
waste
m
an
ag
em
en
t
p
r
o
ce
s
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
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2
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8
6
I
AE
S
I
n
t
J
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b
&
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u
to
m
,
Vo
l
.
1
5
,
No
.
1
,
Ma
r
ch
20
2
6
:
89
-
98
90
Fig
u
r
e
1
.
An
illu
s
tr
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o
f
a
n
in
d
o
o
r
SW
M
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o
lu
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m
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o
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l
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e
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ased
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s
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r
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ted
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e
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ap
ab
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o
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licatio
n
s
.
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h
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p
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r
m
s
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w
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t
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r
am
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s
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ata
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teg
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s
m
ar
t
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in
s
.
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s
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m
m
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m
eth
o
d
o
lo
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ies
av
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r
em
o
te
p
r
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ce
d
u
r
e
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(
R
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v
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o
r
im
p
r
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v
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e
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f
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a
n
d
r
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o
f
in
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ac
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s
with
in
th
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ar
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o
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p
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ates
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B
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ess
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e
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with
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s
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M
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i
n
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o
o
r
s
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g
s
.
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h
e
p
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o
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-
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ased
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tio
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ly
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ely
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th
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ap
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:
−
I
m
p
lem
en
tatio
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f
a
cu
s
to
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ized
R
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f
r
am
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p
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d
esig
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ar
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en
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−
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2.
RE
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eth
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o
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SW
M
u
tili
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AM
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s
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g
h
R
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f
r
a
m
ewo
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im
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lem
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tatio
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s
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b
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ex
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s
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in
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ain
s
,
th
er
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ar
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s
ig
n
if
ican
t
o
p
p
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tu
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it
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to
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th
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f
r
am
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wo
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k
with
in
in
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M
s
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s
.
2
.
1
.
Re
m
o
t
e
pro
ce
du
re
ca
ll (
RP
C)
R
PC
[
4
]
h
a
v
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b
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n
a
c
o
r
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s
to
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.
A
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d
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F
ig
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2
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91
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[
5
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I
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,
R
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.
[
6
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,
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4
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[
7
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d
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[
8
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[
9
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.
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3.
M
E
T
H
O
D
3
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1
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Sy
s
t
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ex
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u
r
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,
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3
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3
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2
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b
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Fig
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5
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.
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h
e
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aliza
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ilit
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ata
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ated
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m
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6
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ar
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etec
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esh
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ter
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ate
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ash
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d
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r
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iate
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ar
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eter
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th
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er
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izatio
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llin
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ile
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ased
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ata
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R
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en
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r
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u
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ef
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icien
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o
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M
s
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.
Fig
u
r
e
6
.
R
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co
m
m
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RE
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,
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ata
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o
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u
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in
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o
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p
latf
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m
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ce
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ata
th
r
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u
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ased
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s
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ates
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ar
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eter
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f
o
r
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as
d
e
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icted
in
Fig
u
r
e
8
.
T
h
is
v
is
u
aliza
tio
n
f
r
o
m
r
ea
l
-
ti
m
e
d
ata
s
tr
ea
m
is
f
ac
ilit
ated
v
ia
th
e
R
PC
m
eth
o
d
s
d
is
cu
s
s
ed
in
Sectio
n
3
.
As
en
d
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s
er
s
o
f
th
is
s
o
lu
tio
n
s
u
ch
as
f
ac
ilit
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an
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em
en
t
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g
o
f
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ab
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ce
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SW
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v
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d
allo
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ick
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ec
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m
ak
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,
at
th
e
s
am
e
tim
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ce
s
d
ep
en
d
en
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f
r
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m
m
an
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lab
o
r
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o
n
m
en
ts
.
Fig
u
r
e
8
.
R
PC
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en
ab
led
in
d
o
o
r
s
m
ar
t w
aste m
o
n
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r
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g
d
ash
b
o
ar
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
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7
2
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2
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tiv
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n
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o
f
f
e
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le
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ata
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n
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g
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er
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atter
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s
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n
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e
o
p
e
n
in
g
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f
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in
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lap
s
p
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ig
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ter
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[
1
]
“
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[
3
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“
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