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T
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24
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20
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[
1
2
]
,
h
ig
h
li
g
h
tin
g
th
e
i
m
p
o
r
ta
n
ce
o
f
ac
cu
r
ate
a
n
d
r
eliab
le
ex
h
au
s
t g
a
s
m
o
n
ito
r
in
g
s
y
s
te
m
s
.
Desp
ite
th
e
co
n
tr
ib
u
tio
n
s
o
f
p
r
ev
io
u
s
r
esear
ch
,
m
o
s
t
o
f
th
e
s
y
s
te
m
s
d
ev
elo
p
ed
s
till
f
ac
e
s
ig
n
if
ican
t
li
m
ita
tio
n
s
:
h
ig
h
p
r
o
d
u
ctio
n
co
s
ts
,
lac
k
o
f
p
o
r
tab
ilit
y
,
an
d
m
i
n
i
m
al
f
ield
v
alid
atio
n
[
1
3
]
,
[
1
4
]
.
Mo
r
e
s
p
ec
if
icall
y
,
t
h
e
in
teg
r
atio
n
o
f
m
icr
o
co
n
tr
o
ller
-
b
a
s
ed
s
y
s
te
m
s
f
o
r
th
e
m
ea
s
u
r
e
m
en
t
o
f
f
r
ei
g
h
t
v
e
h
icle
e
m
is
s
io
n
s
w
ith
o
p
er
atio
n
al
ch
ar
ac
ter
is
tics
an
d
e
m
i
s
s
io
n
p
r
o
f
iles
t
h
at
d
if
f
er
f
r
o
m
p
ass
e
n
g
er
v
eh
icles
h
as
n
o
t
b
ee
n
s
tu
d
ied
i
n
d
ep
th
.
R
e
s
ea
r
ch
th
at
co
m
b
i
n
e
s
s
i
m
p
le
d
esig
n
,
m
ea
s
u
r
e
d
ac
cu
r
ac
y
,
a
n
d
I
o
T
in
teg
r
atio
n
p
o
ten
tial f
o
r
co
m
m
er
cial
v
e
h
i
cle
-
s
p
ec
i
f
ic
ap
p
licatio
n
s
is
s
t
il
l li
m
ited
.
B
ased
o
n
th
ese
p
r
o
b
lem
s
,
th
is
s
t
u
d
y
d
esi
g
n
ed
an
d
v
alid
ated
a
p
o
r
ta
b
le
ex
h
au
s
t
em
i
s
s
io
n
m
ea
s
u
r
e
m
e
n
t
in
s
tr
u
m
e
n
t
b
ase
d
o
n
A
r
d
u
in
o
U
n
o
w
it
h
MQ
-
7
(
C
O)
an
d
M
Q
-
2
(
HC
)
s
e
n
s
o
r
s
,
eq
u
ip
p
ed
w
it
h
a
1
6
x
2
I
2
C
liq
u
id
cr
y
s
tal
d
is
p
la
y
(
L
C
D)
m
o
d
u
le
f
o
r
r
ea
l
-
ti
m
e
d
is
p
lay
.
T
h
e
n
o
v
elt
y
o
f
t
h
e
r
esear
ch
lies
i
n
th
e
s
i
m
p
le
y
et
ac
c
u
r
ate
s
y
s
te
m
d
e
s
ig
n
,
w
h
ich
w
as
e
m
p
ir
icall
y
v
alid
ated
o
n
f
i
v
e
f
r
eig
h
t
v
eh
icl
e
u
n
its
a
n
d
s
h
o
w
s
p
o
ten
ti
al
f
o
r
I
o
T
in
teg
r
atio
n
f
o
r
co
n
tin
u
o
u
s
f
ield
m
o
n
ito
r
in
g
[
1
5
]
.
T
h
e
d
ev
elo
p
ed
d
ev
ice
o
f
f
er
s
a
p
r
ac
tical,
ec
o
n
o
m
ical,
a
n
d
ea
s
y
-
to
-
o
p
er
ate
s
o
lu
tio
n
f
o
r
m
o
n
ito
r
in
g
e
m
is
s
io
n
s
f
r
o
m
f
r
ei
g
h
t
tr
an
s
p
o
r
t
v
eh
icle
s
i
n
s
m
all
w
o
r
k
s
h
o
p
s
,
w
it
h
a
m
ar
g
i
n
o
f
er
r
o
r
b
elo
w
5
%
a
n
d
h
i
g
h
p
r
e
cisi
o
n
,
t
h
er
eb
y
s
u
p
p
o
r
tin
g
t
h
e
i
m
p
le
m
e
n
tat
io
n
o
f
I
n
d
o
n
esia
’
s
air
p
o
llu
tio
n
co
n
t
r
o
l
p
o
licy
w
h
ile
also
p
r
o
v
id
in
g
a
f
o
u
n
d
atio
n
f
o
r
th
e
d
ev
elo
p
m
e
n
t
o
f
a
lar
g
e
-
s
ca
le
I
o
T
-
b
ased
em
is
s
io
n
m
o
n
ito
r
in
g
s
y
s
te
m
.
2.
M
E
T
H
O
DS
2
.
1
.
Sy
s
t
em
a
rc
hite
ct
ure
T
h
e
ex
h
au
s
t
e
m
i
s
s
io
n
m
ea
s
u
r
e
m
en
t
s
y
s
te
m
d
e
v
elo
p
ed
in
th
is
s
tu
d
y
is
a
s
e
m
ico
n
d
u
c
to
r
s
en
s
o
r
-
b
ased
d
esig
n
w
ith
a
n
in
te
g
r
ated
ar
ch
itectu
r
e.
A
b
lo
ck
d
iag
r
a
m
o
f
t
h
e
s
y
s
te
m
is
s
h
o
w
n
i
n
Fi
g
u
r
e
1
,
w
h
ic
h
d
ep
icts
th
e
f
lo
w
o
f
s
i
g
n
al
s
f
r
o
m
t
h
e
g
as
s
en
s
o
r
to
th
e
d
ata
d
is
p
la
y
.
T
h
e
s
y
s
te
m
co
n
s
i
s
t
s
o
f
f
o
u
r
m
ai
n
c
o
m
p
o
n
en
t
s
:
(
1
)
g
as
s
en
s
o
r
m
o
d
u
le
(
MQ
-
7
f
o
r
C
O
an
d
MQ
-
2
f
o
r
H
C
)
,
(
2
)
A
r
d
u
in
o
U
n
o
m
icr
o
co
n
tr
o
ller
-
b
ased
p
r
o
ce
s
s
in
g
u
n
it,
(
3
)
1
6
×2
I
2
C
L
C
D
d
is
p
la
y
i
n
t
er
f
ac
e,
an
d
(
4
)
5
v
o
lt d
ir
ec
t c
u
r
r
en
t
(
VDC
)
p
o
w
er
s
u
p
p
l
y
.
T
h
e
MQ
-
7
s
en
s
o
r
h
a
s
a
s
en
s
it
iv
it
y
to
C
O
g
a
s
in
t
h
e
r
an
g
e
o
f
2
0
–
2
0
0
0
p
p
m
w
it
h
a
w
o
r
k
i
n
g
v
o
lta
g
e
o
f
5
VDC,
w
h
i
le
th
e
MQ
-
2
s
en
s
o
r
h
as
a
s
en
s
iti
v
it
y
to
HC
in
th
e
r
a
n
g
e
o
f
2
0
0
–
1
0
,
0
0
0
p
p
m
.
B
o
th
s
e
n
s
o
r
s
w
o
r
k
o
n
t
h
e
p
r
in
cip
le
o
f
c
h
a
n
g
in
g
t
h
e
r
esi
s
ta
n
ce
o
f
t
h
e
s
e
m
i
co
n
d
u
cto
r
m
ater
ial
S
n
O₂
d
u
e
to
ex
p
o
s
u
r
e
to
t
h
e
tar
g
et
g
as.
T
h
e
an
alo
g
s
ig
n
al
g
en
er
ated
b
y
t
h
e
s
e
n
s
o
r
is
co
n
v
er
ted
to
d
ig
ital
v
ia
t
h
e
A
r
d
u
i
n
o
’
s
b
u
ilt
-
in
an
alo
g
-
to
-
d
ig
ita
l
co
n
v
er
ter
(
A
DC
)
(
1
0
-
b
it
r
eso
lu
tio
n
)
,
th
en
p
r
o
ce
s
s
ed
u
s
in
g
a
ca
lib
r
atio
n
al
g
o
r
ith
m
to
p
r
o
d
u
ce
g
a
s
co
n
ce
n
tr
atio
n
s
i
n
%
(
C
O)
an
d
p
p
m
(
HC
)
[
1
6
]
.
T
h
e
f
in
al
d
ata
is
d
is
p
la
y
ed
o
n
th
e
L
C
D
in
r
ea
l
-
ti
m
e.
T
h
e
ca
p
tu
r
e
s
ch
e
m
e
o
f
t
h
e
d
ev
ice
i
s
s
h
o
w
n
i
n
Fi
g
u
r
e
2
.
Fig
u
r
e
1
.
S
y
s
te
m
b
lo
ck
d
iag
r
a
m
Fig
u
r
e
2
.
Dev
ice
a
r
ch
itect
u
r
e
2
.
2
.
So
f
t
w
a
re
T
h
e
s
o
f
t
w
ar
e
d
esig
n
i
n
i
m
p
l
e
m
en
tin
g
t
h
e
C
O
an
d
H
C
e
x
h
a
u
s
t
g
a
s
test
eq
u
ip
m
e
n
t
i
s
b
ased
o
n
A
r
d
u
i
n
o
Un
o
w
i
th
t
h
e
C
p
r
o
g
r
a
m
m
in
g
la
n
g
u
a
g
e.
T
h
e
s
o
f
t
w
a
r
e
f
lo
w
c
h
ar
t o
f
t
h
e
to
o
l is s
h
o
w
n
i
n
Fi
g
u
r
e
3
.
T
h
e
w
o
r
k
f
lo
w
o
f
th
e
f
r
eig
h
t
v
e
h
icl
e
ex
h
a
u
s
t
e
m
is
s
io
n
m
ea
s
u
r
e
m
en
t
s
y
s
te
m
,
as
d
ep
icted
in
th
e
f
lo
w
ch
ar
t
Fi
g
u
r
e
3
,
b
eg
in
s
w
ith
t
h
e
in
it
ializatio
n
o
f
elec
tr
o
n
ic
co
m
p
o
n
en
t
s
in
cl
u
d
in
g
th
e
MQ
-
7
s
en
s
o
r
f
o
r
C
O
d
etec
tio
n
an
d
th
e
MQ
-
2
s
e
n
s
o
r
f
o
r
HC
d
etec
tio
n
.
T
h
e
t
w
o
s
e
n
s
o
r
s
w
o
r
k
s
i
m
u
lta
n
eo
u
s
l
y
to
ca
p
t
u
r
e
th
e
g
a
s
co
n
ce
n
tr
atio
n
le
v
el
f
r
o
m
t
h
e
co
m
b
u
s
tio
n
o
f
th
e
en
g
i
n
e,
w
h
ich
i
s
f
u
r
t
h
er
s
u
b
j
ec
ted
to
d
ata
c
o
n
v
er
s
io
n
t
h
r
o
u
g
h
a
s
er
ie
s
o
f
p
r
o
ce
s
s
in
g
:
th
e
an
alo
g
u
e
v
al
u
e
o
f
th
e
ADC
is
co
n
v
er
ted
to
v
o
ltag
e,
t
h
e
r
esi
s
ta
n
ce
R
s
a
n
d
th
e
R
s
/
R
o
r
atio
ar
e
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Desig
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(
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1387
ca
lcu
lated
,
an
d
t
h
e
n
tr
an
s
f
o
r
m
ed
to
th
e
co
n
ce
n
tr
atio
n
o
f
p
p
m
u
s
in
g
t
h
e
p
o
ten
t
ial
ca
lib
r
atio
n
eq
u
atio
n
.
Sp
ec
if
icall
y
f
o
r
C
O,
t
h
e
p
p
m
v
al
u
e
is
co
n
v
er
ted
to
p
er
ce
n
t
ac
co
r
d
in
g
to
e
m
is
s
io
n
m
ea
s
u
r
e
m
e
n
t
s
tan
d
ar
d
s
,
w
h
ile
HC
r
e
m
ai
n
s
in
p
p
m
u
n
i
ts
.
T
h
e
f
in
al
r
esu
lt
s
ar
e
d
is
p
la
y
ed
in
r
ea
l
-
ti
m
e
o
n
th
e
1
6
×2
I
2
C
L
C
D
w
it
h
C
O
(
%)
in
t
h
e
f
ir
s
t
r
o
w
a
n
d
HC
(
p
p
m
)
i
n
t
h
e
s
ec
o
n
d
r
o
w
,
allo
w
i
n
g
u
s
er
s
to
d
ir
ec
tl
y
e
v
alu
a
t
e
th
e
f
ea
s
ib
il
it
y
o
f
v
eh
ic
le
e
m
is
s
io
n
s
a
g
ain
s
t
r
e
g
u
lato
r
y
t
h
r
esh
o
ld
s
[
1
7
]
.
T
h
e
s
y
s
te
m
is
d
es
i
g
n
ed
o
n
a
co
n
tin
u
o
u
s
lo
o
p
b
asis
w
it
h
a
2
-
s
ec
o
n
d
u
p
d
ate
in
ter
v
al,
all
o
w
i
n
g
f
o
r
au
to
m
a
tic
r
e
m
ea
s
u
r
e
m
en
t a
s
p
er
o
p
er
atio
n
al
n
ee
d
s
.
Fig
u
r
e
3
.
So
f
t
w
ar
e
f
lo
w
c
h
ar
t
2
.
3
.
Sens
o
r
c
a
lib
ra
t
io
n
Sen
s
o
r
ca
lib
r
atio
n
is
a
cr
itical
p
r
o
ce
d
u
r
e
t
o
en
s
u
r
e
th
e
ac
c
u
r
ac
y
,
li
n
ea
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d
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o
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u
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h
e
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lib
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s
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ai
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s
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s
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n
s
o
r
p
r
ep
ar
a
tio
n
(
b
u
r
n
-
in
)
a
n
d
ca
lib
r
atio
n
w
ith
r
e
f
er
en
ce
g
as.
2
.
3
.
1
.
Sens
o
r
prepa
ra
t
io
n (
bu
rn
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in)
T
in
d
io
x
id
e
-
b
ased
(
S
n
O₂)
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etal
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x
id
e
(
MO
S)
s
e
m
ico
n
d
u
cto
r
s
e
n
s
o
r
s
r
eq
u
ir
e
i
n
it
ial
th
er
m
al
co
n
d
itio
n
i
n
g
to
ac
h
iev
e
th
e
el
ec
tr
o
ch
e
m
ical
s
tab
ili
t
y
r
eq
u
ir
ed
in
g
as
m
ea
s
u
r
e
m
e
n
t
o
p
er
ati
o
n
s
[
1
8
]
.
T
h
e
Sn
O₂
s
en
s
iti
v
e
la
y
er
d
ep
o
s
ited
o
n
t
h
e
A
l₂O₃
ce
r
a
m
ic
s
u
b
s
tr
ate
c
o
n
tain
s
r
esid
u
a
l
o
r
g
an
ic
s
o
lv
en
ts
a
n
d
ad
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r
b
ate
w
ater
m
o
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u
les
th
at
ar
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tr
a
p
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ed
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u
r
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g
t
h
e
m
a
n
u
f
ac
t
u
r
i
n
g
p
r
o
ce
s
s
[
1
9
]
.
T
h
e
p
r
esen
ce
o
f
t
h
ese
v
o
latile
s
p
ec
ies ca
u
s
es se
n
s
o
r
r
esis
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ce
d
r
if
t u
n
d
er
in
itial o
p
er
atin
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n
d
itio
n
s
,
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m
p
r
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m
is
i
n
g
m
e
asu
r
e
m
en
t a
cc
u
r
ac
y
an
d
r
ep
r
o
d
u
cib
ilit
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.
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r
o
ce
s
s
b
u
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n
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in
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p
er
f
o
r
m
ed
b
y
co
n
t
in
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o
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s
h
ea
ti
n
g
o
f
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h
e
s
en
s
o
r
h
ea
t
in
g
ele
m
en
t
at
a
n
o
m
i
n
al
w
o
r
k
i
n
g
v
o
ltag
e
o
f
5
VDC
f
o
r
2
4
h
o
u
r
s
in
an
am
b
ie
n
t
air
en
v
ir
o
n
m
e
n
t
w
i
th
co
n
tr
o
lled
te
m
p
er
atu
r
e
(
2
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±
2
°C
)
an
d
r
elativ
e
h
u
m
id
it
y
(
6
0
±
5
%)
[
2
0
]
.
T
h
is
th
er
m
al
m
ec
h
an
i
s
m
f
ac
il
itat
es
th
e
d
eso
r
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tio
n
o
f
v
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latile
o
r
g
a
n
ic
m
o
lec
u
les
a
n
d
th
e
r
eo
r
ien
tatio
n
o
f
Sn
O₂
c
r
y
s
talli
tes,
lead
i
n
g
to
th
e
s
tab
ilizatio
n
o
f
s
u
r
f
ac
e
m
o
r
p
h
o
lo
g
y
a
n
d
ad
s
o
r
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ate
o
x
y
g
e
n
co
n
ce
n
tr
atio
n
s
.
Du
r
in
g
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u
r
n
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in
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r
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x
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ea
ctio
n
o
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r
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at
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a
ir
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ter
f
ac
e
t
h
at
f
o
r
m
s
a
n
elec
tr
o
n
d
ep
letio
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la
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w
ith
eq
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ili
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en
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ter
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r
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Fi
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e
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Du
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tab
ilizatio
n
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en
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2
1
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.
I
n
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eq
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ate
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itio
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th
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en
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atio
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p
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h
er
e
t
h
e
s
ig
n
al
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to
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Fig
u
r
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4
.
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esti
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s
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h
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MQ
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7
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d
MQ
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r
s
2
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3
.
2
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a
lib
ra
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io
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Sp
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lib
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tab
lis
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a
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ip
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h
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o
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s
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e
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n
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tr
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o
f
a
ce
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tif
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r
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as.
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h
e
p
r
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l
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s
es
s
tan
d
ar
d
g
as
C
O
i
n
N₂
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5
0
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0
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2
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0
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p
m
)
a
n
d
p
r
o
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an
e
f
o
r
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5
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1
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2
0
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0
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p
m
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w
ith
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n
ce
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tain
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eliv
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a
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m
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[
2
2
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1
0
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it A
D
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d
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s
(
0
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2
3
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n
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er
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u
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t v
o
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=
1023
(
1
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T
h
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r
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ce
o
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t
h
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n
s
o
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lated
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r
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r
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=
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(
−
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10
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R
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esis
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ce
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air
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(
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h
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co
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tr
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ase
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o
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tain
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r
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m
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ir
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tial
m
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·
(
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(
4
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w
it
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n
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n
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o
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h
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MQ
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7
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en
s
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r
f
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r
C
O:
=
99
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042
an
d
=
−
1
.
518
;
th
e
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2
s
en
s
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r
f
o
r
HC
:
=
1000
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0
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d
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−
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.
35
.
P
ar
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eter
n
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ati
v
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icate
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a
d
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r
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s
e
in
~
~
as
th
e
g
as
co
n
ce
n
tr
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n
in
cr
ea
s
es d
u
e
to
th
e
r
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o
x
r
ea
ctio
n
o
n
th
e
s
u
r
f
ac
e
o
f
S
n
O₂
[
2
3
]
.
2.
3
.
3
.
E
x
peri
m
ent
a
l
s
et
up
T
ests
w
er
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ca
r
r
ied
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u
t
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n
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f
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tr
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s
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icles
w
ith
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p
ac
it
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f
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0
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cc
.
T
h
e
test
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ite
w
a
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e
lecte
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a
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it
h
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d
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til
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te
m
p
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at
u
r
e
28
–
32
°
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u
m
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6
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ess
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i
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ize
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ase
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h
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test
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to
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Min
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f
2
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2
3
f
o
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teg
o
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N
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id
le
co
n
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itio
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s
[
2
4
]
.
T
est
s
tag
es:
(
i
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th
e
s
e
n
s
o
r
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ea
ted
f
o
r
2
m
i
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u
te
s
f
o
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th
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m
al
s
tab
ilizati
o
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,
(
ii
)
th
e
v
eh
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l
e
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s
tar
ted
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d
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ated
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i
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i
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m
p
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is
n
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(
iii
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th
e
s
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o
r
p
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in
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ted
in
to
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ip
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Me
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T
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s
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u
p
is
s
h
o
w
n
in
F
ig
u
r
e
5
.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
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1389
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h
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u
s
t
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ce
n
tr
ati
o
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.
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h
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alid
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s
s
is
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r
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o
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t
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y
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m
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ar
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h
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r
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t
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h
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a
ce
r
tif
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as
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al
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ze
r
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m
m
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n
l
y
u
s
ed
in
m
o
to
r
v
e
h
icle
e
m
i
s
s
i
o
n
test
in
g
[
2
5
]
.
Fig
u
r
e
6
s
h
o
w
s
t
h
e
s
ta
n
d
ar
d
em
i
s
s
io
n
test
eq
u
ip
m
en
t
a
n
d
th
e
d
ev
elo
p
ed
m
ea
s
u
r
e
m
en
t d
ev
ic
e
e
m
p
lo
y
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t
h
is
co
m
p
ar
i
s
o
n
.
T
ests
ar
e
ca
r
r
ied
o
u
t
o
n
s
ev
er
al
ty
p
e
s
o
f
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icles
w
it
h
d
if
f
e
r
en
t
en
g
in
e
ca
p
ac
ities
.
T
h
r
ee
test
s
w
er
e
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r
r
ied
o
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t
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ch
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icle
(
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est
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est
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,
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est
3
)
to
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b
tain
a
m
o
r
e
r
ep
r
esen
tativ
e
s
co
r
e
[
2
6
]
.
T
h
e
v
alu
es
o
f
th
e
th
r
ee
test
s
ar
e
th
en
ca
lc
u
lated
o
n
av
er
ag
e
to
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b
tain
th
e
m
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r
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m
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t
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e
d
ev
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h
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er
ag
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e
is
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co
m
p
ar
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d
w
it
h
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ea
s
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r
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m
en
t
v
al
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e
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f
th
e
s
ta
n
d
ar
d
to
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l to
d
eter
m
i
n
e
t
h
e
er
r
o
r
r
ate
o
f
th
e
m
ea
s
u
r
e
m
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n
t s
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te
m
u
s
i
n
g
th
e
m
at
h
e
m
atica
l
(
5
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.
Fig
u
r
e
6
.
Stan
d
ar
d
e
m
is
s
io
n
te
s
t e
q
u
ip
m
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n
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d
d
esig
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=
−
100%
(
5
)
3.
RE
SU
L
T
S
3
.
1
.
T
esting
o
f
M
Q
-
7
a
nd
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Q
-
2
s
ens
o
rs
a
f
t
er
2
4
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urs
o
f
bu
rn
-
in
Fig
u
r
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7
s
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o
w
s
th
e
MQ
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7
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e
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o
r
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g
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lcu
lated
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r
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eth
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ased
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(
1
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(
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A
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r
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n
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alig
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es,
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u
s
d
e
m
o
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s
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atin
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g
o
o
d
s
u
itab
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y
in
r
ep
r
esen
ti
n
g
t
h
e
s
e
n
s
o
r
r
esp
o
n
s
e.
Fi
g
u
r
e
7
s
h
o
w
s
t
h
at
th
e
MQ
-
7
s
e
n
s
o
r
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ea
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in
g
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i
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t
s
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b
et
w
ee
n
6
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d
3
0
0
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ec
o
n
d
s
.
T
h
is
v
ar
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w
as
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s
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n
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t
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e,
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ce
r
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C
O
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tr
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l
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ct
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ates
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e
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r
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te
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Fig
u
r
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8
s
h
o
w
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t
h
e
r
ea
d
in
g
o
f
th
e
MQ
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2
s
e
n
s
o
r
.
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h
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test
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p
er
f
o
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to
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s
er
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e
th
e
s
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ilit
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u
r
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ata
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ically
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n
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ti
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g
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r
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ce
s
s
.
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I
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en
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ir
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atin
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er
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u
r
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r
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en
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n
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r
e
m
e
n
t
er
r
o
r
to
ler
an
ce
o
f
less
t
h
an
5
%.
T
h
is
f
in
d
i
n
g
is
i
n
lin
e
w
i
th
p
r
ev
io
u
s
s
t
u
d
ies
s
h
o
w
in
g
t
h
at
m
o
d
er
n
g
as
e
m
is
s
io
n
s
e
n
s
o
r
s
y
s
te
m
s
ca
n
p
r
o
v
id
e
p
r
ec
is
e
an
d
r
eliab
le
m
ea
s
u
r
e
m
e
n
t
s
,
esp
ec
iall
y
w
h
e
n
p
er
io
d
ic
ca
lib
r
atio
n
an
d
v
al
i
d
atio
n
ar
e
p
er
f
o
r
m
ed
to
m
ai
n
tai
n
m
ea
s
u
r
e
m
e
n
t
ac
c
u
r
ac
y
an
d
co
n
s
is
te
n
c
y
i
n
en
v
ir
o
n
m
e
n
tal
e
m
i
s
s
io
n
m
o
n
it
o
r
in
g
[
2
7
]
.
T
ab
le
1
.
C
o
m
p
ar
is
o
n
o
f
C
O
g
as c
o
n
ce
n
tr
atio
n
m
ea
s
u
r
e
m
e
n
t
r
esu
lts
b
et
w
ee
n
d
ev
elo
p
ed
to
o
ls
an
d
s
ta
n
d
ar
d
to
o
ls
V
e
h
i
c
l
e
s
Te
st
1
(
%)
T
e
st
2
(
%)
T
e
st
3
(
%)
A
v
e
r
a
g
e
t
o
o
l
(
%)
S
t
a
n
d
a
r
d
t
o
o
l
s (%)
Er
r
o
r
(
%)
G
r
a
n
d
M
a
x
1
.
5
(
2
0
2
3
)
0
.
0
5
8
0
.
0
5
5
0
.
0
5
2
0
.
0
5
5
0
.
0
5
6
1
.
79
G
r
a
n
d
M
a
x
1
.
5
(
2
0
1
2
)
0
.
2
2
0
0
.
2
1
9
0
.
2
1
9
0
.
2
1
9
0
.
2
1
8
0
.
46
C
a
r
r
y
1
.
6
(
2
0
0
9
)
0
.
2
9
4
0
.
2
9
6
0
.
2
9
6
0
.
2
9
5
0
.
2
9
6
0
.
34
C
a
r
r
y
1
.
6
(
2
0
1
3
)
0
.
1
0
5
0
.
1
0
3
0
.
1
0
5
0
.
1
0
4
0
.
1
0
4
0
.
29
G
r
a
n
M
a
x
1
.
5
(
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0
2
0
)
0
.
2
2
9
0
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2
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0
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2
2
9
0
.
2
2
6
0
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2
2
5
0
.
44
3
.
3
.
M
ea
s
ure
m
e
nt
o
f
H
C
co
nte
nt
w
it
h sta
nd
a
rd
t
o
o
l c
o
m
pa
r
is
o
n da
t
a
HC
co
n
ten
t
test
in
g
w
a
s
al
s
o
co
m
p
ar
ed
w
ith
s
ta
n
d
ar
d
m
ea
s
u
r
i
n
g
in
s
tr
u
m
e
n
t
s
to
d
ete
r
m
in
e
t
h
e
s
u
itab
il
it
y
o
f
t
h
e
d
esig
n
s
e
n
s
o
r
r
ea
d
in
g
s
ag
ai
n
s
t
r
ef
er
e
n
ce
in
s
tr
u
m
en
t
s
.
g
a
s
lai
n
.
Ho
w
ev
e
r
,
th
e
m
ea
s
u
r
e
m
en
t
r
esu
lt
s
s
h
o
w
a
co
n
s
i
s
ten
t
p
att
er
n
an
d
ar
e
co
m
p
ar
ab
le
to
s
ta
n
d
ar
d
eq
u
ip
m
e
n
t,
s
o
t
h
at
th
e
t
o
o
l
ca
n
b
e
d
ec
lar
ed
s
u
itab
le
f
o
r
u
s
e
as a
HC
e
m
is
s
io
n
d
etec
tio
n
s
y
s
te
m
f
o
r
f
r
eig
h
t v
eh
ic
les.
T
h
e
an
al
y
s
is
r
es
u
lt
s
s
h
o
w
n
i
n
T
ab
le
2
w
ith
m
ea
s
u
r
e
m
e
n
t
er
r
o
r
v
alu
es
f
r
o
m
co
m
p
ar
ati
v
e
test
in
g
r
an
g
ed
b
et
w
ee
n
1
.
8
5
%
–
3
.
8
4
%
in
v
eh
ic
le
te
s
t
r
esu
lt
s
,
a
r
el
ativ
el
y
s
m
a
ll
er
r
o
r
r
an
g
e
b
elo
w
5
%
in
d
icate
s
th
a
t
th
e
d
esig
n
to
o
l
s
h
o
w
s
a
h
ig
h
l
ev
el
o
f
ac
cu
r
ac
y
a
n
d
r
eliab
ilit
y
.
T
h
e
r
esu
lts
o
f
t
h
e
m
ea
s
u
r
e
m
en
t
an
al
y
s
i
s
s
h
o
w
s
tr
o
n
g
a
g
r
ee
m
en
t
w
it
h
t
h
e
r
esu
lt
s
o
b
tain
ed
f
r
o
m
t
h
e
a
u
to
m
o
tiv
e
g
a
s
r
ef
er
e
n
ce
in
s
tr
u
m
en
t
KE
G
-
2
0
0
.
T
h
is
f
i
n
d
in
g
in
d
icate
s
t
h
at
th
e
d
esi
g
n
o
f
th
e
to
o
l
ca
n
f
u
n
ctio
n
to
m
ea
s
u
r
e
HC
g
as
co
n
ce
n
tr
atio
n
s
ac
cu
r
atel
y
.
T
h
is
is
also
s
u
p
p
o
r
ted
b
y
p
r
ev
io
u
s
r
esear
ch
w
h
ich
s
h
o
w
s
th
a
t
m
ea
s
u
r
in
g
H
C
e
m
is
s
io
n
s
i
n
v
eh
ic
les
u
s
i
n
g
th
e
e
m
is
s
io
n
s
e
n
s
in
g
m
et
h
o
d
h
as
an
er
r
o
r
r
ate
th
at
ca
n
r
ea
ch
ar
o
u
n
d
5
%
d
ep
en
d
in
g
o
n
test
co
n
d
itio
n
s
,
b
u
t
is
s
till
co
n
s
id
er
ed
r
eliab
le
f
o
r
v
eh
icle
e
m
is
s
io
n
e
v
alu
a
tio
n
[
2
8
].
T
ab
le
2
.
C
o
m
p
ar
is
o
n
o
f
HC
c
o
n
ce
n
tr
atio
n
m
ea
s
u
r
e
m
e
n
t r
es
u
lts
b
et
w
ee
n
d
ev
elo
p
ed
to
o
ls
an
d
s
tan
d
ar
d
to
o
ls
V
e
h
i
c
l
e
s
T
e
st
1
(
p
p
m)
T
e
st
2
(
p
p
m)
T
e
st
3
(
p
p
m)
A
v
e
r
a
g
e
t
o
o
l
(
p
p
m)
S
t
a
n
d
a
r
d
t
o
o
l
s (p
p
m)
Er
r
o
r
(
%)
G
r
a
n
d
M
a
x
1
.
5
(
2
0
2
3
)
2
1
0
2
0
5
2
0
8
2
0
7
.
67
2
0
0
3
.
84
G
r
a
n
d
M
a
x
1
.
5
(
2
0
1
2
)
3
1
5
3
2
0
3
1
8
3
1
7
.
67
3
1
0
2
.
47
C
a
r
r
y
1
.
6
(
2
0
0
9
)
4
2
0
4
2
5
4
2
3
4
2
2
.
67
4
1
5
1
.
85
C
a
r
r
y
1
.
6
(
2
0
1
3
)
2
5
5
2
4
8
2
5
2
2
5
1
.
67
2
4
5
2
.
72
G
r
a
n
M
a
x
1
.
5
(
2
0
2
0
)
3
3
0
3
3
5
3
3
2
3
3
2
.
33
3
2
5
2
.
25
4.
DIS
CU
SS
I
O
N
T
est
r
esu
lts
in
d
icate
th
at
th
e
MQ
-
7
a
n
d
MQ
-
2
s
en
s
o
r
s
r
eq
u
ir
e
a
w
ar
m
-
u
p
p
er
io
d
b
ef
o
r
e
r
ea
ch
in
g
s
tab
le
o
p
er
atin
g
co
n
d
itio
n
s
.
Du
r
in
g
t
h
e
i
n
it
ial
m
ea
s
u
r
e
m
en
t
p
h
a
s
e,
t
h
er
e
w
er
e
f
l
u
ct
u
atio
n
s
i
n
t
h
e
o
u
tp
u
t
v
o
ltag
e
an
d
s
en
s
o
r
r
esis
ta
n
c
e
r
atio
d
u
e
to
t
h
e
s
tab
ilizat
i
o
n
p
r
o
ce
s
s
o
f
th
e
S
n
O₂
s
e
m
ico
n
d
u
cto
r
m
a
ter
ial
s
u
r
f
ac
e
ag
ai
n
s
t
o
x
y
g
e
n
m
o
lec
u
les
i
n
th
e
air
.
R
ea
d
in
g
s
tab
ili
t
y
b
eg
an
to
b
e
ac
h
iev
ed
af
ter
ap
p
r
o
x
im
a
tel
y
3
6
0
s
ec
o
n
d
s
,
in
d
icat
in
g
t
h
at
th
e
p
r
eh
ea
tin
g
an
d
p
r
eh
ea
ti
n
g
p
r
o
ce
s
s
es
p
la
y
a
cr
u
cial
r
o
le
in
estab
lis
h
i
n
g
eq
u
ilib
r
iu
m
co
n
d
itio
n
s
f
o
r
ad
s
o
r
p
tio
n
an
d
d
eso
r
p
tio
n
r
ea
ctio
n
s
o
n
th
e
s
en
s
o
r
s
u
r
f
ac
e
[
2
9
]
.
T
h
is
co
n
d
itio
n
alig
n
s
w
i
th
t
h
e
ch
ar
ac
ter
i
s
tics
o
f
MO
S
s
e
m
ico
n
d
u
cto
r
-
b
ase
d
g
as
s
en
s
o
r
s
,
w
h
ich
r
eq
u
ir
e
an
ac
ti
v
atio
n
p
er
io
d
to
ac
h
iev
e
o
p
ti
m
a
l sen
s
iti
v
it
y
an
d
r
esp
o
n
s
e
[
30
].
Valid
atio
n
o
f
a
s
ta
n
d
ar
d
g
as
an
al
y
ze
r
d
e
m
o
n
s
tr
ated
th
at
th
e
d
esig
n
ed
s
y
s
te
m
h
as
a
h
i
g
h
le
v
el
o
f
ac
cu
r
ac
y
.
T
h
e
er
r
o
r
v
alu
e
f
o
r
C
O
m
ea
s
u
r
e
m
e
n
t
s
w
as
in
th
e
r
an
g
e
o
f
0
.
2
9
%
–
1
.
7
9
%,
w
h
i
le
th
e
er
r
o
r
f
o
r
H
C
m
ea
s
u
r
e
m
e
n
t
s
w
as
in
t
h
e
r
an
g
e
o
f
1
.
8
5
%
–
3
.
8
4
%.
T
h
is
r
elativ
el
y
s
m
a
ll
er
r
o
r
r
an
g
e
in
d
icate
s
th
at
t
h
e
s
en
s
o
r
’
s
an
alo
g
s
i
g
n
al
co
n
v
er
s
io
n
p
r
o
ce
s
s
v
ia
t
h
e
m
icr
o
co
n
tr
o
ller
’
s
A
D
C
m
o
d
u
le
a
n
d
th
e
ca
lib
r
ati
o
n
alg
o
r
it
h
m
ar
e
ca
p
ab
le
o
f
r
ep
r
esen
tin
g
g
as
c
o
n
ce
n
tr
atio
n
s
clo
s
e
to
th
e
KE
G
-
2
0
0
au
to
m
o
ti
v
e
g
a
s
r
ef
er
en
ce
v
alu
e.
T
h
u
s
,
th
i
s
m
icr
o
co
n
tr
o
ller
-
b
ased
m
ea
s
u
r
e
m
en
t
s
y
s
te
m
d
e
m
o
n
s
tr
ates
g
o
o
d
c
o
n
s
is
te
n
c
y
i
n
r
ea
d
in
g
v
ar
iatio
n
s
in
v
eh
icle
ex
h
a
u
s
t g
a
s
co
n
ce
n
tr
at
io
n
s
.
Dif
f
er
en
ce
s
i
n
m
ea
s
u
r
ed
e
m
i
s
s
io
n
co
n
ce
n
tr
atio
n
s
f
o
r
ea
c
h
v
e
h
icle
al
s
o
in
d
icate
th
at
th
e
d
ev
ice
i
s
ca
p
ab
le
o
f
d
etec
tin
g
v
ar
iat
io
n
s
in
e
n
g
i
n
e
co
m
b
u
s
tio
n
ch
ar
a
cter
is
tics
.
Ve
h
icles
w
i
th
lo
n
g
er
o
p
er
atio
n
al
liv
es
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
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3
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6930
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m
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24
,
No
.
4
,
A
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t
20
26
:
1
385
-
1
39
5
1392
ten
d
to
p
r
o
d
u
ce
h
ig
h
er
C
O
an
d
HC
e
m
i
s
s
io
n
co
n
ce
n
t
r
atio
n
s
t
h
an
n
e
w
er
v
eh
ic
les
[
3
1
]
.
T
h
e
r
esu
lts
o
f
th
i
s
s
tu
d
y
ali
g
n
w
it
h
t
h
e
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tu
d
y
[
3
2
]
,
w
h
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h
s
h
o
w
ed
t
h
at
i
n
cr
ea
s
in
g
v
eh
icle
a
g
e
co
n
tr
ib
u
t
es
s
i
g
n
if
ican
t
l
y
to
in
cr
ea
s
ed
e
m
is
s
io
n
s
d
u
e
to
d
e
cr
ea
s
ed
co
m
b
u
s
tio
n
e
f
f
icien
c
y
an
d
d
eg
r
ad
atio
n
o
f
th
e
e
m
i
s
s
i
o
n
co
n
tr
o
l
s
y
s
te
m
.
T
h
is
is
r
elate
d
to
d
ec
r
ea
s
ed
c
o
m
b
u
s
tio
n
e
f
f
icien
c
y
,
t
h
e
co
n
d
itio
n
o
f
th
e
f
u
el
in
j
ec
tio
n
s
y
s
te
m
,
an
d
th
e
q
u
a
lit
y
o
f
en
g
i
n
e
m
a
in
te
n
a
n
ce
.
T
h
er
ef
o
r
e,
m
ea
s
u
r
ed
e
m
i
s
s
io
n
p
ar
am
eter
s
n
o
t
o
n
l
y
d
escr
ib
e
th
e
lev
el
o
f
p
o
ll
u
ta
n
ts
p
r
o
d
u
ce
d
b
u
t
ca
n
also
b
e
u
s
ed
a
s
in
d
icato
r
s
o
f
v
eh
icle
o
p
er
a
tio
n
al
co
n
d
itio
n
s
[
3
2
]
.
P
o
llu
tan
ts
g
en
er
ated
f
r
o
m
tr
an
s
p
o
r
tatio
n
ac
ti
v
it
ies
n
o
t
o
n
l
y
d
eg
r
ad
e
air
q
u
a
lit
y
b
u
t
al
s
o
co
n
tr
ib
u
te
to
en
v
ir
o
n
m
e
n
t
al
d
is
t
u
r
b
an
ce
s
th
at
ca
n
af
f
ec
t
p
u
b
lic
h
ea
lt
h
.
E
x
p
o
s
u
r
e
to
p
o
llu
tan
t
s
an
d
en
v
ir
o
n
m
e
n
tal
s
tr
e
s
s
o
r
s
f
r
o
m
tr
an
s
p
o
r
tatio
n
s
y
s
te
m
s
,
s
u
c
h
as
tr
a
f
f
ic
-
r
elate
d
e
m
i
s
s
io
n
s
a
n
d
d
is
t
u
r
b
an
ce
s
,
h
as
b
ee
n
r
ep
o
r
ted
to
in
cr
ea
s
e
th
e
r
is
k
o
f
p
h
y
s
io
lo
g
ical
a
n
d
p
s
y
ch
o
lo
g
ical
h
ea
lth
p
r
o
b
le
m
s
in
co
m
m
u
n
it
ies li
v
i
n
g
n
ea
r
tr
an
s
p
o
r
tatio
n
co
r
r
id
o
r
s
[
3
3
]
.
C
o
m
p
ar
ed
w
it
h
p
r
e
v
io
u
s
s
tu
d
ies
t
h
at
u
s
ed
m
icr
o
co
n
tr
o
ller
-
b
ased
g
as
s
en
s
o
r
s
f
o
r
v
e
h
icle
e
m
i
s
s
io
n
m
o
n
ito
r
i
n
g
,
th
e
s
y
s
te
m
d
e
v
elo
p
ed
in
th
i
s
s
tu
d
y
o
f
f
er
s
ad
v
an
ta
g
es
i
n
ter
m
s
o
f
s
i
m
p
le
d
esi
g
n
,
lo
w
i
m
p
le
m
en
ta
tio
n
co
s
ts
,
an
d
h
i
g
h
p
o
r
tab
ilit
y
.
T
h
e
in
teg
r
atio
n
o
f
th
e
MQ
s
en
s
o
r
w
it
h
a
m
icr
o
co
n
tr
o
ller
allo
w
s
f
o
r
d
ir
ec
t
d
ata
p
r
o
ce
s
s
in
g
a
n
d
r
ea
l
-
ti
m
e
p
r
ese
n
tatio
n
o
f
m
ea
s
u
r
e
m
en
t
r
e
s
u
l
ts
v
ia
an
L
C
D
in
ter
f
ac
e.
T
h
ese
ch
ar
ac
ter
is
tic
s
m
a
k
e
th
e
d
ev
i
ce
p
o
ten
tiall
y
s
u
itab
le
f
o
r
f
u
r
th
er
d
ev
elo
p
m
e
n
t
as
a
p
r
ac
tical
v
eh
icle
e
m
is
s
io
n
m
o
n
ito
r
i
n
g
i
n
s
tr
u
m
e
n
t
f
o
r
u
s
e
in
w
o
r
k
s
h
o
p
s
,
v
e
h
icle
i
n
s
p
e
ctio
n
s
,
a
n
d
I
o
T
-
b
ased
en
v
ir
o
n
m
e
n
tal
m
o
n
ito
r
i
n
g
s
y
s
te
m
s
.
O
v
er
all,
th
e
r
es
u
lt
s
o
f
th
i
s
s
t
u
d
y
i
n
d
icate
t
h
at
th
e
d
ev
elo
p
ed
m
icr
o
co
n
tr
o
l
ler
-
b
ased
e
m
i
s
s
io
n
m
ea
s
u
r
e
m
e
n
t
s
y
s
te
m
is
ca
p
ab
le
o
f
p
r
o
v
id
in
g
ac
c
u
r
ate
an
d
s
tab
le
r
e
s
u
lts
a
n
d
h
as
t
h
e
p
o
ten
tial
to
b
ec
o
m
e
a
n
ec
o
n
o
m
ical
a
n
d
p
o
r
tab
le
alter
n
ati
v
e
f
o
r
v
e
h
icle
e
m
is
s
io
n
m
o
n
ito
r
in
g
.
5.
CO
NCLU
SI
O
N
T
h
i
s
r
es
e
a
r
ch
s
u
c
c
es
s
f
u
lly
d
ev
e
l
o
p
e
d
a
n
A
r
d
u
in
o
Un
o
m
ic
r
o
c
o
n
t
r
o
ll
e
r
-
b
a
s
e
d
v
eh
i
c
l
e
e
x
h
au
s
t
em
is
s
i
o
n
m
e
asu
r
em
en
t
s
y
s
t
em
w
i
th
MQ
-
7
an
d
M
Q
-
2
s
e
n
s
o
r
s
t
o
d
e
te
c
t
C
O
a
n
d
HC
g
as
e
s
i
n
r
e
al
-
t
im
e
.
T
h
e
t
es
t
r
e
s
u
l
ts
s
h
o
w
e
d
th
a
t
th
e
s
y
s
t
em
h
a
d
a
g
o
o
d
a
c
c
u
r
ac
y
r
at
e
w
it
h
a
C
O
m
e
asu
r
em
en
t
e
r
r
o
r
v
alu
e
o
f
0
.
2
9
%
–
1
.
7
9
%
a
n
d
HC
o
f
1
.
8
5
%
–
3
.
8
4
%
c
o
m
p
a
r
e
d
t
o
s
t
an
d
a
r
d
t
o
o
ls
.
T
h
e
s
en
s
o
r
ac
h
i
ev
es
a
s
tab
le
r
ea
d
in
g
s
tate
a
f
te
r
a
h
ea
tin
g
p
r
o
ce
s
s
o
f
ab
o
u
t
3
6
0
s
ec
o
n
d
s
,
r
esu
ltin
g
in
co
n
s
i
s
te
n
t
m
ea
s
u
r
e
m
en
ts
.
W
ith
a
s
i
m
p
le,
p
o
r
tab
le,
an
d
l
o
w
-
co
s
t
d
esig
n
,
th
e
s
y
s
te
m
d
e
v
elo
p
ed
h
as
th
e
p
o
t
en
tial
to
b
ec
o
m
e
a
p
r
ac
tical
alter
n
ati
v
e
v
e
h
icle
e
m
is
s
io
n
m
o
n
ito
r
in
g
d
ev
ice
f
o
r
f
ield
in
s
p
ec
tio
n
ac
ti
v
itie
s
an
d
u
s
e
i
n
v
e
h
icle
r
ep
air
s
h
o
p
s
.
Fu
r
t
h
er
r
esear
ch
is
r
ec
o
m
m
e
n
d
ed
to
ca
lib
r
ate
th
e
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y
s
te
m
u
s
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g
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ta
n
d
ar
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g
as
an
al
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ze
r
s
s
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ch
as
n
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n
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d
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p
er
s
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in
f
r
ar
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(
NDI
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a
n
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y
ze
r
s
to
im
p
r
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v
e
m
ea
s
u
r
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ac
cu
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.
I
n
ad
d
itio
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,
s
y
s
te
m
d
ev
elo
p
m
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n
t
c
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also
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e
d
ir
ec
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th
e
in
teg
r
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o
f
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T
tech
n
o
lo
g
y
s
o
th
at
v
e
h
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e
m
is
s
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d
ata
ca
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b
e
m
o
n
ito
r
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ti
m
e
an
d
s
to
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in
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clo
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ased
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ase.
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r
t
h
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test
in
g
o
n
d
i
f
f
er
e
n
t
t
y
p
e
s
o
f
v
e
h
icles
a
n
d
d
if
f
er
en
t
o
p
er
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al
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n
d
itio
n
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al
s
o
r
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Evaluation Warning : The document was created with Spire.PDF for Python.