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4
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I
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I
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4864
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ased
tr
ac
k
in
g
s
y
s
te
m
s
h
a
v
e
b
ee
n
d
ev
elo
p
ed
f
o
r
v
e
h
icle
m
o
n
i
to
r
in
g
,
r
ea
l
-
ti
m
e
lo
ca
tio
n
tr
ac
k
i
n
g
,
an
d
d
ata
ac
q
u
is
itio
n
[
1
3
]
-
[
1
5
]
,
th
ese
s
y
s
te
m
s
ar
e
g
en
er
all
y
d
e
s
ig
n
ed
f
o
r
lan
d
v
eh
icles
a
n
d
p
r
im
ar
il
y
f
o
cu
s
o
n
lo
ca
tio
n
tr
ac
k
i
n
g
r
ath
er
t
h
a
n
o
n
d
etailed
co
n
s
tr
u
ctio
n
o
f
d
r
iv
i
n
g
c
y
cle
s
.
S
t
u
d
ies
o
n
w
ater
-
v
e
h
icle
d
r
iv
i
n
g
c
y
cles
ar
e
r
elativ
el
y
f
e
w
,
a
n
d
ex
is
tin
g
ap
p
r
o
ac
h
es o
f
te
n
r
el
y
o
n
p
r
e
d
ef
in
ed
o
r
s
i
m
u
la
ted
c
y
cles r
at
h
er
th
a
n
r
ea
l
-
w
o
r
ld
o
p
er
atio
n
al
d
ata
[
1
6
]
.
T
o
a
d
d
r
e
s
s
th
es
e
ch
al
l
en
g
es
,
th
i
s
r
es
e
a
r
ch
f
o
cu
s
es
o
n
d
ev
e
l
o
p
in
g
a
w
a
te
r
d
r
iv
in
g
c
y
cl
e
(
W
DC
)
t
r
ac
k
in
g
d
e
v
i
c
e
s
p
e
c
if
i
c
a
lly
d
es
ig
n
e
d
f
o
r
w
at
e
r
-
v
e
h
i
c
l
e
a
p
p
li
c
a
ti
o
n
s
.
T
h
e
o
b
je
c
t
iv
e
s
o
f
th
is
s
t
u
d
y
a
r
e
to
d
e
s
i
g
n
an
d
d
ev
e
l
o
p
a
W
D
C
t
r
a
ck
in
g
d
ev
i
c
e
u
s
in
g
a
n
A
r
d
u
in
o
UN
O
i
n
t
eg
r
a
t
e
d
w
i
t
h
G
PS
an
d
GS
M
m
o
d
u
l
es
t
o
c
o
l
l
e
c
t
s
p
e
e
d
,
tim
e
,
l
o
n
g
i
tu
d
e
,
a
n
d
l
a
ti
tu
d
e
d
a
t
a
d
u
r
in
g
w
at
e
r
v
eh
i
cl
e
o
p
e
r
a
ti
o
n
;
t
o
v
a
l
i
d
at
e
th
e
p
r
o
t
o
ty
p
e
u
n
d
e
r
r
e
a
l
o
p
e
r
a
t
in
g
c
o
n
d
i
ti
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s
b
y
c
o
m
p
a
r
in
g
it
s
m
e
a
s
u
r
em
en
ts
w
ith
a
s
t
an
d
a
r
d
GPS
s
p
e
e
d
o
m
e
t
e
r
; a
n
d
t
o
u
t
il
is
e
t
h
e
c
o
l
l
e
ct
e
d
d
a
t
a
t
o
c
o
n
s
t
r
u
c
t
a
W
D
C
f
o
r
f
u
el
c
o
n
s
u
m
p
t
i
o
n
an
d
em
is
s
i
o
n
an
a
l
y
s
i
s
u
s
in
g
a
d
v
an
c
e
d
v
eh
i
c
le
s
im
u
l
at
o
r
(
A
DV
I
S
OR
)
s
o
f
tw
a
r
e
[
1
7
]
,
[
1
8
]
.
C
o
m
p
a
r
e
d
w
i
th
ex
i
s
tin
g
t
r
a
ck
in
g
d
ev
ic
es
,
th
e
p
r
o
p
o
s
e
d
s
y
s
t
em
is
d
es
ig
n
e
d
t
o
s
u
p
p
o
r
t
th
e
d
e
v
e
l
o
p
m
en
t
o
f
w
a
t
e
r
d
r
iv
in
g
-
cy
c
le
m
o
d
e
ls
b
a
s
e
d
o
n
r
e
a
l
-
w
o
r
l
d
d
a
t
a
,
p
r
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v
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d
in
g
a
p
r
a
ct
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c
al
an
d
l
o
w
-
c
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s
t
s
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lu
ti
o
n
f
o
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ev
a
lu
a
tin
g
w
a
t
e
r
-
v
eh
ic
l
e
p
er
f
o
r
m
an
c
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d
s
u
p
p
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t
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g
en
v
ir
o
n
m
en
t
a
lly
f
o
cu
s
e
d
r
es
e
a
r
ch
[
1
9
]
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
T
h
is
r
es
ea
r
ch
c
o
m
p
r
is
es
f
o
u
r
p
h
ases
:
d
es
ig
n
in
g
th
e
W
DC
t
r
ac
k
in
g
d
ev
i
ce
u
s
in
g
P
r
o
t
eu
s
,
d
ev
e
lo
p
in
g
th
e
W
DC
tr
ac
k
in
g
d
ev
i
ce
u
s
in
g
an
A
r
d
u
in
o
UN
O,
v
ali
d
atin
g
th
e
p
r
o
t
o
ty
p
e
w
ith
an
ex
is
tin
g
d
e
v
ice,
an
d
an
aly
zin
g
th
e
d
at
a
c
o
ll
ec
t
ed
u
s
in
g
W
D
C
in
A
DVI
S
OR
.
Fig
u
r
e
1
ill
u
s
tr
at
es
th
e
o
v
e
r
a
ll
f
l
o
w
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e
r
ese
a
r
ch
ac
t
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b
eg
in
n
in
g
w
ith
th
e
d
esig
n
o
f
th
e
W
DC
t
r
ac
k
in
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ce
u
s
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im
u
lati
o
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e,
f
o
ll
o
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ed
b
y
p
r
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t
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e
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e
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p
m
en
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v
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li
d
at
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n
,
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d
d
ata
an
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ly
s
is
.
T
h
is
s
t
r
u
ctu
r
e
d
w
o
r
k
f
lo
w
en
s
u
r
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th
at
th
e
d
ev
ic
e
i
s
p
r
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p
e
r
ly
d
es
ig
n
ed
an
d
v
er
if
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d
b
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r
e
b
ein
g
d
e
p
l
o
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ed
f
o
r
r
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l
-
w
o
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ld
d
ata
c
o
l
le
c
tio
n
an
d
p
e
r
f
o
r
m
an
ce
ev
alu
a
ti
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n
.
Fig
u
r
e
1
.
Flo
w
o
f
r
esear
c
h
ac
ti
v
itie
s
2
.
1
.
P
ha
s
e
1
:
d
esig
n
w
a
t
e
r
driv
ing
cy
cle
t
ra
ck
ing
dev
ice
us
ing
pro
t
eus
s
o
f
t
w
a
re
Fig
u
r
e
2
p
r
esen
ts
th
e
s
y
s
te
m
ar
ch
itectu
r
e
o
f
t
h
e
W
DC
tr
ac
k
in
g
d
e
v
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,
s
h
o
w
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in
ter
ac
tio
n
b
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w
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t
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A
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UNO,
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p
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(
L
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.
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h
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a
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ir
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tio
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in
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d
an
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ata
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T
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A
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in
ed
w
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GSM
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f
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GP
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latit
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elec
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r
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[
2
0
]
an
d
tr
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f
er
t
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d
ata
to
t
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GSM
m
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[
2
1
]
v
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A
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UNO.
T
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Fig
u
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2
.
S
y
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m
ar
ch
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r
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o
f
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DC
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d
ev
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Evaluation Warning : The document was created with Spire.PDF for Python.
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J
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6
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3
526
P
r
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teu
s
8
is
a
s
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f
t
w
ar
e
ap
p
licatio
n
th
at
allo
w
s
t
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e
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,
t
est,
a
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s
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m
u
la
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f
elec
tr
o
n
ic
cir
cu
it
s
an
d
m
icr
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co
n
tr
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s
[
1
9
]
is
s
h
o
w
n
in
Fi
g
u
r
e
3
.
P
r
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teu
s
is
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o
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th
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esti
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r
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atic
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t
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u
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ir
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ata,
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en
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d
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y
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o
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atio
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n
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L
C
D.
Fig
u
r
e
3
.
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cr
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is
p
la
y
2
.
2
.
P
ha
s
e
2
:
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ev
elo
p
w
a
t
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driv
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t
ra
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ing
dev
ice
pro
t
o
t
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h
e
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ev
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m
e
n
t
o
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th
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tr
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k
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M
m
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ec
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r
e
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ig
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(
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d
,
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d
L
C
D,
as
lis
ted
in
T
ab
le
1
.
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h
is
p
r
o
j
ec
t
u
s
es
SIM
8
0
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GSM/GP
R
S/G
P
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th
e
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ain
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m
p
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n
en
t
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llect
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e
d
r
iv
in
g
c
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cle
d
ata.
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h
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8
0
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ad
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b
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d
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S/GP
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m
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at
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p
p
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ts
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e
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0
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1
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0
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r
eq
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en
c
y
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p
o
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l a
n
d
v
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atile
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an
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e
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o
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n
clu
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g
tr
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n
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n
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d
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o
v
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l
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ti
m
e
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o
s
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n
in
g
d
ata.
T
ab
le
1
s
u
m
m
ar
izes
t
h
e
m
ai
n
h
ar
d
w
ar
e
co
m
p
o
n
e
n
t
s
u
s
ed
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th
e
d
e
v
elo
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m
e
n
t
o
f
t
h
e
W
D
C
tr
ac
k
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n
g
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ty
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e
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ac
h
co
m
p
o
n
en
t
p
la
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s
a
s
p
ec
if
ic
r
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le
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en
s
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r
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r
ate
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ata
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is
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,
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o
ce
s
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in
g
,
s
to
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ag
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an
d
d
is
p
la
y
.
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h
e
A
r
d
u
in
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f
u
n
c
tio
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s
as
th
e
ce
n
tr
al
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n
tr
o
l
u
n
it,
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o
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d
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atin
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m
m
u
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icatio
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et
w
ee
n
th
e
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S,
GSM,
SD
ca
r
d
,
an
d
L
C
D.
T
h
e
GP
S
m
o
d
u
l
e
is
r
esp
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n
s
ib
le
f
o
r
co
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p
o
s
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al
an
d
s
p
ee
d
d
ata,
w
h
ic
h
f
o
r
m
th
e
b
asis
o
f
t
h
e
W
DC
.
T
h
e
GSM
m
o
d
u
le
f
a
cilitates
d
ata
co
m
m
u
n
icatio
n
a
n
d
in
teg
r
atio
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w
ith
th
e
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g
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y
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te
m
,
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h
e
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ca
r
d
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s
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e
th
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co
ll
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ted
d
ata
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o
r
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f
f
li
n
e
a
n
al
y
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i
s
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e
L
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p
r
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id
e
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ti
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e
v
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al
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ac
k
o
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t
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e
r
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o
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ar
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u
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eh
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d
r
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c
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d
ata
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ab
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1
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L
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
R
ec
o
n
f
i
g
u
r
ab
le
&
E
m
b
ed
d
ed
Sy
s
t
I
SS
N:
2089
-
4864
Dev
elo
p
in
g
a
w
a
ter d
r
ivin
g
cy
cle
tr
a
ck
in
g
d
ev
ice
b
a
s
ed
o
n
GP
S
…
(
N
u
r
F
a
r
a
z
a
tu
l A
z
n
a
Mo
h
d
F
a
d
z
il
)
527
2
.
3
.
P
ha
s
e
3
:
v
a
lid
a
t
io
n o
f
wa
t
er
driv
ing
cy
cle
t
r
a
ck
ing
d
ev
ice
pro
t
o
t
y
pe
A
t
t
h
i
s
s
tag
e,
v
alid
atio
n
o
f
th
e
W
DC
tr
ac
k
i
n
g
d
ev
ice
p
r
o
to
t
y
p
e
w
ill
b
e
co
m
p
ar
ed
w
it
h
a
s
ta
n
d
ar
d
GP
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s
p
ee
d
o
m
eter
.
T
h
is
in
s
p
ec
tio
n
is
to
en
s
u
r
e
t
h
at
th
e
W
DC
tr
a
ck
in
g
d
ev
ice
p
r
o
to
t
y
p
e
m
ee
ts
th
e
s
tan
d
ar
d
s
an
d
p
er
f
o
r
m
a
n
ce
to
r
ec
o
r
d
an
d
co
llect
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p
ee
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,
ti
m
e,
lo
n
g
it
u
d
e,
an
d
latitu
d
e
d
ata.
T
h
e
r
elati
v
e
p
e
r
ce
n
tag
e
er
r
o
r
[
2
2
]
be
t
w
ee
n
W
DC
an
d
s
p
ee
d
o
m
et
er
w
il
l
b
e
ca
lc
u
lated
an
d
a
n
al
y
s
ed
to
e
n
s
u
r
e
t
h
e
ac
cu
r
ac
y
o
f
th
e
W
D
C
tr
ac
k
in
g
d
ev
ice
p
r
o
to
ty
p
e
to
co
llect
d
ata.
,
ₜ
=
|
−
|
×
100
(
1
)
Th
e
d
ata
co
llectio
n
p
h
ase
w
a
s
co
n
d
u
cted
u
n
d
er
co
n
tr
o
lled
ex
p
er
i
m
en
ta
l
p
ar
am
e
ter
s
to
en
s
u
r
e
th
e
r
eliab
ilit
y
o
f
t
h
e
W
DC
.
T
h
e
GP
S
-
GSM
tr
ac
k
in
g
d
ev
ice
was
co
n
f
i
g
u
r
ed
w
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th
a
d
ata
s
a
m
p
lin
g
f
r
eq
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en
c
y
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f
1
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r
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o
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ate
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n
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ett
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ield
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ater
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h
icle
’
s
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er
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o
r
m
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ce
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en
s
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r
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n
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c
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th
e
P
a
y
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n
g
W
ater
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ax
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P
W
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p
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y
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lecti
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g
t
y
p
ical
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p
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atin
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n
d
itio
n
s
.
T
h
e
r
ec
o
r
d
ed
d
ata
w
er
e
s
u
b
s
eq
u
en
t
l
y
f
il
ter
ed
to
r
e
m
o
v
e
n
o
is
e
b
e
f
o
r
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b
ein
g
i
m
p
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ted
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n
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th
e
A
DVI
SO
R
s
o
f
t
w
ar
e
f
o
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f
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el
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co
n
s
u
m
p
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n
an
d
e
m
i
s
s
io
n
m
o
d
elin
g
.
2
.
4
.
P
ha
s
e
4
:
a
na
ly
ze
da
t
a
wa
t
er
driv
ing
cy
cle
t
r
a
ck
ing
d
ev
ice
us
ing
a
dv
a
nced
v
ehicle
s
i
m
ula
t
o
r
I
n
P
h
ase
4
,
P
W
T
r
o
u
te
w
as
s
elec
ted
f
o
r
th
is
r
esear
ch
.
T
h
is
r
o
u
te,
a
w
ater
-
v
e
h
icle
co
u
r
s
e
u
s
ed
f
o
r
r
ec
r
ea
tio
n
al
ac
tiv
it
ies
i
n
Ku
a
l
a
T
er
en
g
g
an
u
,
b
eg
i
n
s
at
He
n
tian
P
u
la
u
W
ar
is
an
,
p
r
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ce
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s
to
Hen
tian
P
u
lau
Du
y
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n
g
,
Hen
tian
Seb
er
an
g
T
ak
ir
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d
He
n
tia
n
P
asar
P
a
y
a
n
g
,
an
d
t
h
e
n
r
et
u
r
n
s
to
th
e
s
tar
t
in
g
p
o
in
t.
F
ig
u
r
e
4
s
h
o
w
s
t
h
e
s
elec
ted
P
W
T
r
o
u
te
u
s
ed
f
o
r
f
ield
test
in
g
an
d
d
ata
co
llectio
n
.
T
h
e
r
o
u
te
r
ep
r
esen
ts
a
t
y
p
ical
o
p
er
atio
n
al
w
ater
tr
an
s
p
o
r
t
p
a
th
in
Ku
a
la
T
er
en
g
g
an
u
an
d
s
er
v
es
as
th
e
b
asis
f
o
r
co
n
s
tr
u
c
tin
g
th
e
W
DC
u
s
ed
in
th
is
s
t
u
d
y
.
Fig
u
r
e
4
.
P
W
T
r
o
u
te
W
h
en
th
e
b
o
at
s
ta
r
ts
m
o
v
in
g
,
t
h
e
W
DC
t
r
a
ck
in
g
d
ev
ic
e
a
ls
o
n
ee
d
s
t
o
b
e
s
ta
r
t
ed
.
T
h
e
m
o
v
em
en
t o
f
th
e
w
ater
v
eh
ic
le
an
d
th
e
p
r
o
t
o
ty
p
e
m
u
s
t
s
ta
r
t
s
im
u
ltan
eo
u
s
ly
.
T
h
e
c
o
ll
ec
t
ed
d
a
ta
w
ill
b
e
d
is
p
lay
ed
o
n
th
e
L
C
D
s
cr
ee
n
.
T
h
e
d
at
a
is
r
e
co
r
d
e
d
f
r
o
m
th
e
G
PS
an
d
s
en
t
t
o
th
e
GSM
.
A
f
ter
th
e
w
ater
v
eh
i
cle
r
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R
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[
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Op
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atio
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al
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[
2
3
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2
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[
2
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Fig
u
r
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6
s
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I
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8
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u
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Fig
u
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RE
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ata.
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Dev
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u
r
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Fig
u
r
e
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.
W
DC
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k
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m
u
latio
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N:
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Dev
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u
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8
s
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o
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Fig
u
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.
P
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3
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ased
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ates th
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Dr
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0
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200
300
400
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[
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,
Un
iv
e
rsiti
M
a
lay
sia
T
e
re
n
g
g
a
n
u
.
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re
se
a
rc
h
in
tere
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a
re
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b
o
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c
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sm
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m
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c
a
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c
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tac
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z
u
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if
li
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y
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so
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m
y
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Dr
.
Nurr
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A
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id
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d
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c
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En
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(
m
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c
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ics
)
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ro
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tern
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Isla
m
ic Un
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sity
M
a
la
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in
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ro
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lec
tri
c
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l
).
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r
m
a
in
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se
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c
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in
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d
riv
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les
,
e
n
e
rg
y
ra
tes
,
e
m
i
ss
io
n
s,
a
n
d
th
e
im
p
lem
e
n
tatio
n
o
f
Io
T
in
b
ig
d
a
ta m
a
n
a
g
e
m
e
n
t.
S
h
e
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
P
4
6
2
0
@p
p
s.u
m
t.
e
d
u
.
m
y
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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t J
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N:
2089
-
4864
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r
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)
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Ts.
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.
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in
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la
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c
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c
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tac
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c
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tro
n
a
s,
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a
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h
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c
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r
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Un
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a
lay
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T
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re
n
g
g
a
n
u
,
M
a
la
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.
He
r
r
e
se
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rc
h
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tere
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in
c
lu
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y
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tri
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m
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m
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,
d
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,
f
u
e
l
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c
o
n
o
m
y
,
e
m
issio
n
s,
a
n
d
o
p
ti
m
iza
ti
o
n
.
S
h
e
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
sa
li
sa
@u
m
t.
e
d
u
.
m
y
.
Evaluation Warning : The document was created with Spire.PDF for Python.