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ets
to
b
e
o
f
v
ital
im
p
o
r
tan
ce
.
R
o
ad
m
is
ch
an
ce
s
,
b
ein
g
o
n
e
o
f
th
e
p
r
im
a
r
y
ca
u
s
es
o
f
p
ass
in
g
in
citi
es
[
2
]
,
r
eq
u
ir
e
th
e
estab
lis
h
m
en
t
o
f
m
o
d
er
n
m
is
ch
an
ce
lo
ca
tio
n
an
d
an
ticip
atio
n
f
r
am
ew
o
r
k
s
.
I
o
T
s
en
s
o
r
s
in
t
r
o
d
u
ce
d
in
i
n
clin
e
d
r
an
g
es
ca
n
tr
ac
k
ac
tiv
ity
p
at
ter
n
s
,
d
is
tin
g
u
is
h
p
ec
u
liar
ities
,
an
d
co
m
m
u
n
icate
with
v
e
h
icle
-
m
o
u
n
te
d
I
o
T
g
ad
g
e
ts
to
ca
u
tio
n
d
r
iv
er
s
ap
p
r
o
x
im
ately
u
p
an
d
c
o
m
in
g
r
is
k
s
.
I
n
ca
s
e
o
f
a
m
is
h
ap
,
th
e
f
r
am
ewo
r
k
m
ay
s
en
d
alar
m
s
to
cr
is
is
ad
m
in
is
tr
atio
n
s
f
o
r
q
u
ick
o
f
f
er
ass
is
tan
ce
,
s
u
b
s
eq
u
en
tly
im
p
r
ess
iv
ely
less
en
in
g
th
e
r
ea
ctio
n
tim
e
an
d
s
p
ar
in
g
liv
es.
Mo
r
eo
v
er
,
I
o
T
-
d
r
iv
e
n
ar
r
a
n
g
e
m
en
ts
f
o
r
E
V
b
atter
y
ch
ec
k
in
g
h
av
e
c
o
m
e
in
to
co
n
s
p
icu
o
u
s
n
ess
s
in
ce
E
Vs
h
av
e
e
n
d
ed
u
p
a
n
b
io
l
o
g
ical
s
u
b
s
titu
te
f
o
r
cu
s
to
m
a
r
y
f
u
el
-
r
u
n
v
eh
icles
[
3
]
.
L
ith
iu
m
-
io
n
b
atter
ies,
co
m
m
o
n
l
y
u
tili
ze
d
i
n
E
Vs,
o
f
f
er
p
o
i
n
ts
o
f
in
ter
est
lik
e
v
itality
p
r
o
f
icien
c
y
an
d
n
atu
r
al
b
e
n
ef
its
b
u
t
co
n
f
r
o
n
t
ch
allen
g
es
s
u
ch
as
ch
ea
tin
g
,
p
r
o
f
o
u
n
d
r
elea
s
es,
an
d
r
estricte
d
r
u
n
d
u
e
to
b
atter
y
esti
m
a
te.
E
x
is
tin
g
b
atter
y
o
b
s
er
v
in
g
f
r
am
ewo
r
k
s
f
u
n
d
a
m
en
tally
in
f
o
r
m
clien
ts
th
r
o
u
g
h
in
-
v
eh
icle
m
ar
k
er
s
[
4
]
,
b
u
t
I
o
T
in
n
o
v
atio
n
p
r
esen
tly
em
p
o
we
r
s
r
ea
l
-
tim
e
in
f
o
r
m
atio
n
s
h
ar
in
g
with
clien
ts
an
d
p
r
o
d
u
ce
r
s
,
im
p
r
o
v
in
g
s
ec
u
r
ity
,
ex
ec
u
tio
n
,
an
d
m
ain
ten
a
n
ce
.
T
h
is
p
ap
e
r
p
r
o
p
o
s
es
an
co
o
r
d
in
ates
I
o
T
-
b
ased
ar
r
an
g
e
m
en
t
to
ad
d
r
ess
b
asic
ch
allen
g
es
in
b
o
th
v
e
h
icle
s
ec
u
r
ity
f
r
am
ewo
r
k
s
an
d
b
atter
y
a
d
m
in
is
tr
atio
n
[
5
]
.
T
h
e
f
r
am
ewo
r
k
wo
u
l
d
m
in
im
ize
th
e
r
ate
o
f
s
tr
ee
t
m
is
ch
an
ce
s
b
y
p
r
o
ac
tiv
e
lo
ca
tio
n
a
n
d
ca
u
tio
n
c
o
m
p
o
n
en
ts
,
wh
er
ea
s
k
ee
p
in
g
u
p
b
a
tter
y
w
ellb
ein
g
a
n
d
s
ec
u
r
ity
in
E
Vs
th
r
o
u
g
h
r
ea
l
-
tim
e
ch
ec
k
in
g
a
n
d
n
o
tices.
B
y
lev
er
ag
in
g
I
o
T
'
s
tr
em
en
d
o
u
s
p
o
te
n
tial,
th
is
ap
p
r
o
ac
h
ad
v
a
n
ce
s
m
o
r
e
s
ec
u
r
e
tr
an
s
p
o
r
tatio
n
a
n
d
f
ea
s
ib
le
v
itality
ad
m
in
is
tr
atio
n
[
6
]
.
T
h
e
g
r
o
win
g
ad
o
p
tio
n
o
f
E
Vs
an
d
th
e
n
ee
d
f
o
r
en
h
a
n
ce
d
r
o
ad
s
a
f
ety
h
a
v
e
in
tr
o
d
u
ce
d
n
ew
ch
allen
g
es
in
th
e
d
o
m
ai
n
o
f
i
n
tellig
en
t
tr
an
s
p
o
r
tatio
n
s
y
s
tem
s
(
I
T
S)
.
Desp
ite
ad
v
a
n
ce
s
i
n
v
e
h
icle
d
esig
n
an
d
s
af
ety
m
ec
h
an
is
m
s
[
7
]
,
r
o
a
d
ac
cid
en
ts
r
em
ain
a
s
ig
n
i
f
ic
an
t
ca
u
s
e
o
f
f
atalities
g
lo
b
a
lly
.
Mo
r
eo
v
er
,
th
e
p
er
f
o
r
m
an
ce
o
f
lith
iu
m
-
io
n
b
atter
ies
—
co
m
m
o
n
ly
u
s
ed
in
E
Vs
—
ca
n
d
eg
r
ad
e
o
v
er
tim
e
d
u
e
to
f
ac
to
r
s
lik
e
o
v
er
ch
a
r
g
in
g
,
ex
ce
s
s
iv
e
d
is
ch
ar
g
e,
an
d
th
er
m
al
s
tr
ess
.
T
h
e
s
e
is
s
u
es
n
o
t
o
n
ly
co
m
p
r
o
m
is
e
th
e
r
eliab
ilit
y
o
f
E
Vs b
u
t a
ls
o
p
o
s
e
r
is
k
s
to
d
r
iv
er
s
af
ety
an
d
s
y
s
tem
p
e
r
f
o
r
m
a
n
ce
.
I
o
T
tech
n
o
lo
g
y
h
as
e
m
er
g
e
d
as
a
tr
an
s
f
o
r
m
ativ
e
to
o
l
in
ad
d
r
ess
in
g
s
u
ch
p
r
o
b
lem
s
b
y
en
ab
lin
g
r
ea
l
-
tim
e
co
m
m
u
n
icatio
n
,
d
at
a
ac
q
u
is
itio
n
,
an
d
d
ec
is
io
n
-
m
a
k
in
g
.
Pre
v
io
u
s
s
tu
d
ies
h
av
e
d
e
m
o
n
s
tr
at
ed
th
e
u
s
e
o
f
I
o
T
f
o
r
ac
cid
e
n
t
d
etec
tio
n
th
r
o
u
g
h
g
lo
b
al
p
o
s
itio
n
in
g
s
y
s
tem
(
GPS
)
an
d
g
lo
b
al
s
y
s
tem
f
o
r
m
o
b
ile
co
m
m
u
n
icatio
n
(
GSM
)
m
o
d
u
les,
as
well
as
f
o
r
E
V
b
atter
y
m
o
n
ito
r
in
g
th
r
o
u
g
h
s
en
s
o
r
-
b
ased
d
iag
n
o
s
tics
.
Ho
wev
er
,
m
o
s
t
ex
is
tin
g
s
o
lu
t
io
n
s
tr
ea
t
v
eh
icle
s
af
ety
s
y
s
tem
s
an
d
b
atter
y
m
a
n
ag
em
e
n
t
as
s
ep
ar
ate
en
titi
es.
T
h
is
lac
k
o
f
in
teg
r
atio
n
ca
n
lim
it
th
e
ef
f
ec
tiv
en
ess
o
f
em
er
g
en
cy
r
esp
o
n
s
e
an
d
p
r
ed
ictiv
e
m
ain
ten
an
ce
s
tr
ateg
ies
[
8
]
.
T
h
is
s
tu
d
y
ad
d
r
ess
es
th
is
g
ap
b
y
p
r
o
p
o
s
in
g
a
s
m
ar
t
I
o
T
-
d
r
iv
e
n
v
e
h
icle
s
af
ety
an
d
b
atter
y
m
an
ag
em
en
t
s
y
s
tem
th
at
co
m
b
in
es
ac
cid
en
t
d
etec
tio
n
a
n
d
b
atter
y
h
ea
lth
m
o
n
ito
r
i
n
g
in
to
a
u
n
if
ied
ar
ch
itectu
r
e.
T
h
is
in
teg
r
ated
s
y
s
tem
n
o
t
o
n
ly
id
e
n
tifie
s
co
llis
io
n
s
u
s
in
g
ac
ce
ler
o
m
eter
s
an
d
GPS
m
o
d
u
les
b
u
t
also
m
o
n
ito
r
s
k
ey
b
atter
y
p
ar
am
eter
s
s
u
ch
as
v
o
ltag
e,
tem
p
er
atu
r
e,
cu
r
r
en
t,
an
d
s
tate
o
f
ch
ar
g
e
(
So
C
)
.
B
y
u
tili
zin
g
m
icr
o
co
n
tr
o
ller
s
(
Ar
d
u
in
o
U
n
o
)
a
n
d
c
o
m
m
u
n
icatio
n
m
o
d
u
les
(
E
SP
8
2
6
6
an
d
GSM)
,
th
e
s
y
s
tem
p
r
o
v
id
es r
ea
l
-
tim
e
aler
ts
an
d
p
er
f
o
r
m
a
n
ce
d
ata
th
r
o
u
g
h
clo
u
d
p
latf
o
r
m
s
lik
e
T
h
in
g
Sp
ea
k
[
9
]
.
T
h
is
wo
r
k
im
p
r
o
v
es
u
p
o
n
ea
r
lier
ap
p
r
o
ac
h
es
b
y
o
f
f
e
r
in
g
d
u
al
f
u
n
ctio
n
ality
in
a
s
in
g
le
em
b
ed
d
ed
f
r
am
ewo
r
k
,
m
in
im
izin
g
s
y
s
tem
co
m
p
lex
ity
wh
ile
m
ax
im
izi
n
g
o
p
er
atio
n
al
r
elia
b
ilit
y
.
C
o
m
p
ar
ed
t
o
tr
ad
itio
n
a
l
v
eh
icle
s
af
ety
s
y
s
tem
s
an
d
s
tan
d
alo
n
e
b
atter
y
m
o
n
ito
r
in
g
p
l
atf
o
r
m
s
,
th
is
s
tu
d
y
's
in
teg
r
ate
d
s
o
lu
tio
n
s
u
p
p
o
r
ts
b
o
th
p
r
e
v
en
tiv
e
an
d
r
ea
ctiv
e
m
ea
s
u
r
es,
en
h
an
cin
g
th
e
s
af
et
y
an
d
s
u
s
tain
ab
ilit
y
o
f
E
Vs
[
1
0
]
.
T
h
e
co
n
tr
i
b
u
tio
n
s
o
f
th
is
p
ap
er
ar
e
d
e
m
o
n
s
tr
ate
d
th
r
o
u
g
h
h
ar
d
war
e
im
p
lem
e
n
tatio
n
,
s
en
s
o
r
ca
lib
r
atio
n
,
cl
o
u
d
in
te
g
r
atio
n
,
a
n
d
v
is
u
al
an
aly
tics
,
all
o
f
wh
ich
a
r
e
d
is
cu
s
s
ed
in
s
u
b
s
eq
u
en
t sec
tio
n
s
.
T
h
e
s
u
b
s
eq
u
e
n
t
s
ec
tio
n
s
o
f
t
h
is
m
an
u
s
cr
ip
t
ar
e
o
r
g
a
n
ized
t
o
clea
r
ly
d
em
o
n
s
tr
ate
th
e
d
ev
elo
p
m
en
t,
im
p
lem
en
tatio
n
,
an
d
r
elev
an
c
e
o
f
t
h
e
p
r
o
p
o
s
ed
s
m
a
r
t
I
o
T
-
d
r
iv
en
v
eh
icle
s
af
ety
an
d
b
atter
y
m
an
a
g
em
en
t
s
y
s
tem
.
T
h
e
liter
atu
r
e
r
ev
iew
s
ec
tio
n
d
is
cu
s
s
es
ex
is
tin
g
s
t
u
d
ies
an
d
h
ig
h
lig
h
ts
th
e
lim
itatio
n
s
o
f
cu
r
r
e
n
t
s
o
lu
tio
n
s
,
th
er
e
b
y
ju
s
tify
in
g
th
e
n
ee
d
f
o
r
a
n
in
teg
r
ated
ap
p
r
o
ac
h
.
T
h
e
s
y
s
tem
im
p
lem
en
tatio
n
s
ec
tio
n
p
r
o
v
id
es
a
d
etailed
d
escr
ip
tio
n
o
f
th
e
h
ar
d
wa
r
e
an
d
s
o
f
twar
e
co
m
p
o
n
en
ts
u
s
ed
,
alo
n
g
wit
h
th
e
d
ata
f
l
o
w
an
d
s
y
s
tem
ar
ch
itectu
r
e.
T
h
is
is
f
o
llo
wed
b
y
th
e
h
a
r
d
war
e
an
d
s
o
f
twar
e
r
eq
u
ir
e
m
en
ts
an
d
ca
li
b
r
atio
n
tech
n
i
q
u
es,
wh
ich
v
alid
ate
th
e
tech
n
ical
f
ea
s
ib
ilit
y
an
d
ac
cu
r
ac
y
o
f
t
h
e
s
y
s
t
em
.
I
n
th
e
v
is
u
aliza
tio
n
an
d
an
aly
s
is
s
ec
tio
n
,
th
is
s
tu
d
y
p
r
esen
t
r
ea
l
-
tim
e
m
o
n
ito
r
in
g
r
esu
lts
u
s
in
g
d
ash
b
o
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AI
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in
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to
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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Ap
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N:
2252
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8
8
1
4
S
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B
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1087
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[
1
1
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r
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m
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t
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n
[
1
2
]
I
TS +
I
o
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+
5
G
i
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1
3
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G
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1
3
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C
l
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se
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mo
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1
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[
1
5
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,
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1
6
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D
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[
1
7
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,
[
1
8
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O
p
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s fo
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n
.
[
1
9
]
A
I
a
n
d
I
o
T
i
n
b
a
t
t
e
r
y
t
h
e
r
m
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man
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R
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v
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A
I
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b
a
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b
a
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y
man
a
g
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me
n
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t
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r
a
t
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o
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p
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.
AI
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b
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th
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ch
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am
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s
s
en
tially
,
L
ee
an
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W
u
[
2
0
]
em
p
h
asized
th
e
u
tili
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GSM
an
d
GPS
m
o
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Das
et
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l.
[
2
1
]
in
v
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th
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[
2
2
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ad
v
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[
2
3
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.
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ig
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ca
n
d
im
i
n
is
h
v
itality
s
q
u
an
d
er
an
d
k
ee
p
u
p
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atter
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wellb
ein
g
.
C
o
llectiv
ely
,
th
ese
co
n
s
id
er
s
em
p
h
asize
th
e
tr
an
s
f
o
r
m
ativ
e
p
o
ten
tial
o
f
I
o
T
in
m
o
v
in
g
f
o
r
war
d
E
V
b
atter
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m
in
is
tr
atio
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b
y
u
p
g
r
ad
in
g
s
ec
u
r
ity
,
p
r
o
f
icien
cy
,
an
d
clien
t
en
co
u
n
ter
[
2
4
]
.
T
o
ad
d
r
ess
th
e
lim
itatio
n
s
in
ex
is
tin
g
s
y
s
tem
s
,
th
i
s
s
tu
d
y
i
n
tr
o
d
u
ce
s
a
n
o
v
el,
in
teg
r
ated
I
o
T
-
d
r
i
v
en
f
r
am
ewo
r
k
th
at
s
im
u
ltan
eo
u
s
l
y
m
an
a
g
es
v
e
h
icle
s
af
ety
a
n
d
E
V
b
atter
y
h
ea
lth
—
an
ar
ea
n
o
t
co
m
p
r
eh
e
n
s
iv
ely
ad
d
r
ess
ed
in
p
r
io
r
r
esear
ch
.
U
n
lik
e
p
r
e
v
io
u
s
s
o
lu
tio
n
s
th
at
t
r
ea
t
ac
cid
en
t
d
etec
tio
n
an
d
b
a
tter
y
m
o
n
ito
r
in
g
a
s
s
ep
ar
ate
s
y
s
tem
s
,
o
u
r
ap
p
r
o
a
ch
m
er
g
es
b
o
th
f
u
n
ctio
n
alitie
s
in
to
a
u
n
if
ied
ar
ch
itectu
r
e
[
2
5
]
.
T
h
e
p
r
o
p
o
s
ed
s
y
s
tem
in
co
r
p
o
r
ates
an
ac
ce
ler
o
m
eter
-
b
ased
cr
ash
d
etec
tio
n
m
ec
h
a
n
is
m
,
r
ea
l
-
tim
e
GPS
tr
ac
k
in
g
,
a
n
d
au
to
m
ated
e
m
er
g
e
n
cy
ale
r
ts
v
ia
GSM,
en
h
a
n
cin
g
p
o
s
t
-
ac
cid
en
t
r
esp
o
n
s
e
tim
e.
I
n
p
ar
a
llel,
it
co
n
tin
u
o
u
s
l
y
m
o
n
ito
r
s
k
e
y
b
atter
y
p
a
r
am
et
er
s
s
u
ch
as
v
o
ltag
e,
cu
r
r
en
t,
t
em
p
er
atu
r
e,
an
d
So
C
,
an
d
u
p
l
o
ad
s
d
ata
to
a
clo
u
d
p
latf
o
r
m
(
T
h
in
g
Sp
ea
k
)
u
s
in
g
an
E
SP
8
2
6
6
.
W
h
at
s
ets
th
is
s
y
s
t
em
ap
ar
t
is
its
p
r
ed
ictiv
e
ca
p
ab
ilit
y
—
u
s
in
g
d
ata
an
aly
tics
to
d
etec
t
p
o
ten
tial
b
atter
y
f
a
u
lts
b
ef
o
r
e
f
ailu
r
e
o
cc
u
r
s
—
an
d
its
ab
ilit
y
to
n
o
t
if
y
u
s
er
s
th
r
o
u
g
h
a
m
o
b
ile
in
ter
f
ac
e
[
2
5
]
.
T
h
is
d
u
al
-
p
u
r
p
o
s
e
s
y
s
tem
r
ep
r
esen
t
s
a
n
ew
co
n
tr
ib
u
tio
n
t
o
th
e
f
ield
b
y
o
f
f
e
r
in
g
a
h
o
lis
tic,
r
ea
l
-
tim
e,
an
d
u
s
er
-
f
r
i
en
d
ly
s
o
lu
tio
n
f
o
r
b
o
th
v
eh
icle
s
af
ety
an
d
E
V
b
atter
y
r
eliab
il
ity
.
T
h
is
co
m
p
ar
ativ
e
d
is
cu
s
s
io
n
h
ig
h
lig
h
ts
th
e
p
r
o
p
o
s
ed
s
y
s
tem
im
p
r
o
v
es
u
p
o
n
cu
r
r
en
t
ap
p
r
o
ac
h
es
i
n
ter
m
s
o
f
r
esp
o
n
s
iv
en
ess
,
f
au
lt
d
etec
tio
n
,
an
d
en
er
g
y
ef
f
i
cien
cy
.
Un
lik
e
co
n
v
en
tio
n
al
ac
cid
en
t
d
etec
tio
n
s
y
s
tem
s
th
at
r
ely
o
n
m
an
u
al
r
ep
o
r
tin
g
o
r
d
ela
y
ed
o
n
b
o
a
r
d
d
iag
n
o
s
tics
,
o
u
r
in
te
g
r
ated
ar
c
h
itectu
r
e
au
to
m
ates
cr
ash
id
en
tific
atio
n
u
s
in
g
an
ADXL
3
4
5
ac
ce
ler
o
m
eter
an
d
im
m
ed
iately
tr
an
s
m
its
lo
ca
tio
n
-
s
p
ec
if
ic
aler
ts
v
ia
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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2
2
5
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8
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I
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t J Ad
v
Ap
p
l Sci
,
Vo
l.
1
5
,
No
.
3
,
Sep
tem
b
er
2
0
2
6
:
1
0
8
5
-
1
0
9
7
1088
GSM
an
d
GPS,
th
er
e
b
y
s
ig
n
if
ican
tly
r
e
d
u
cin
g
em
e
r
g
en
cy
r
esp
o
n
s
e
tim
e.
Fu
r
th
er
m
o
r
e,
c
o
m
p
ar
e
d
wit
h
tr
ad
itio
n
al
b
atter
y
m
an
a
g
em
en
t
s
y
s
tem
s
p
latf
o
r
m
s
th
at
ty
p
ically
o
f
f
er
o
n
ly
lo
ca
li
ze
d
in
d
icato
r
s
,
th
e
I
o
T
-
en
a
b
led
b
atter
y
m
o
n
ito
r
in
g
p
r
o
v
id
es
co
n
tin
u
o
u
s
clo
u
d
-
b
ased
d
ata
an
aly
tics
,
allo
win
g
ea
r
ly
id
en
tific
ati
o
n
o
f
ab
n
o
r
m
al
v
o
ltag
e,
tem
p
er
at
u
r
e,
o
r
c
u
r
r
e
n
t
d
e
v
iatio
n
s
—
im
p
r
o
v
in
g
p
r
ed
ictiv
e
f
au
lt
d
etec
t
io
n
an
d
p
r
ev
e
n
tin
g
th
er
m
al
o
r
elec
tr
ical
f
ailu
r
es
.
I
n
ter
m
s
o
f
en
e
r
g
y
ef
f
icie
n
cy
,
ex
is
tin
g
s
y
s
tem
s
o
f
ten
o
p
er
ate
as
is
o
lated
m
o
d
u
les
with
r
ed
u
n
d
a
n
t
s
e
n
s
in
g
an
d
p
r
o
c
ess
in
g
,
wh
ile
th
e
u
n
if
ied
I
o
T
-
d
r
i
v
en
f
r
a
m
ewo
r
k
m
in
im
izes
h
ar
d
war
e
d
u
p
licatio
n
,
o
p
tim
i
ze
s
d
ata
tr
an
s
m
is
s
io
n
,
an
d
s
u
p
p
o
r
ts
ad
ap
tiv
e
co
n
tr
o
l
s
tr
ateg
ies
th
at
en
h
an
ce
b
atter
y
p
er
f
o
r
m
an
ce
an
d
r
e
d
u
ce
u
n
n
ec
ess
ar
y
p
o
wer
co
n
s
u
m
p
tio
n
.
T
h
ese
co
m
p
a
r
ativ
e
in
s
ig
h
ts
clea
r
l
y
estab
lis
h
th
at
th
e
p
r
o
p
o
s
ed
s
y
s
tem
o
f
f
er
s
m
ea
s
u
r
ab
le
ad
v
a
n
c
em
en
ts
b
ey
o
n
d
p
r
io
r
s
tan
d
alo
n
e
v
eh
icle
s
af
ety
o
r
b
atter
y
m
an
a
g
em
en
t sy
s
tem
s
s
o
lu
tio
n
s
.
3.
I
M
P
L
E
M
E
NT
A
T
I
O
N
O
F
T
H
E
SYS
T
E
M
3
.
1
.
Sy
s
t
e
m
ha
rdwa
re
a
nd
f
un
ct
io
nin
g
A
k
ee
n
I
o
T
-
d
r
iv
e
n
v
eh
icle
s
ec
u
r
ity
an
d
b
atter
y
ad
m
in
is
tr
atio
n
f
r
am
ewo
r
k
co
m
b
in
es
c
u
ttin
g
-
ed
g
e
in
n
o
v
atio
n
to
g
u
ar
an
tee
a
m
o
r
e
s
ec
u
r
e,
m
o
r
e
e
f
f
ec
tiv
e,
an
d
ec
o
lo
g
ically
n
eig
h
b
o
r
ly
d
r
iv
in
g
en
co
u
n
ter
.
T
h
e
f
r
am
ewo
r
k
jo
in
s
p
r
o
g
r
ess
ed
s
en
s
o
r
s
s
u
ch
as
lig
h
t
d
etec
tio
n
an
d
r
an
g
in
g
(
L
iDAR
)
,
r
a
d
ar
,
u
ltra
s
o
n
ic,
an
d
ca
m
er
as
f
o
r
co
m
p
r
eh
en
s
iv
e
co
llis
io
n
lo
ca
tio
n
an
d
av
o
id
a
n
ce
,
n
ea
r
b
y
r
ea
l
-
tim
e
ca
u
tio
n
s
an
d
in
d
ep
en
d
en
t
cr
is
is
b
r
ak
in
g
f
o
r
u
p
g
r
a
d
ed
s
ec
u
r
ity
.
Dr
iv
er
b
eh
a
v
io
r
is
ch
ec
k
ed
th
r
o
u
g
h
AI
-
p
o
we
r
ed
f
r
am
ewo
r
k
s
th
at
id
en
tify
wea
k
n
ess
,
d
iv
er
s
io
n
s
,
o
r
ab
n
o
r
m
alities
,
ac
tiv
atin
g
alar
m
s
to
av
o
id
m
is
h
ap
s
.
Natu
r
al
s
en
s
o
r
s
an
d
GPS
-
en
ab
led
I
o
T
in
teg
r
atio
n
g
iv
e
r
ea
l
-
tim
e
o
v
er
h
au
ls
o
n
s
tr
ee
t c
o
n
d
itio
n
s
,
ac
tiv
ity
,
an
d
cl
im
ate,
g
u
ar
an
teein
g
ed
u
ca
ted
d
ec
is
io
n
-
m
ak
in
g
am
i
d
v
en
tu
r
es.
Desp
ite
n
o
tab
le
ad
v
a
n
ce
m
en
t
s
in
v
eh
icle
s
af
ety
tech
n
o
lo
g
ies
an
d
b
atter
y
m
an
a
g
em
en
t
s
y
s
tem
s
,
s
ev
er
al
ch
allen
g
es
r
e
m
ain
u
n
r
eso
lv
ed
.
E
x
is
tin
g
ac
cid
e
n
t
d
etec
tio
n
s
y
s
tem
s
o
f
te
n
la
ck
in
teg
r
atio
n
with
em
er
g
en
cy
r
esp
o
n
s
e
m
ec
h
a
n
is
m
s
an
d
r
ely
o
n
m
an
u
al
in
ter
v
e
n
tio
n
,
wh
ich
d
ela
y
s
tim
ely
ass
is
tan
ce
.
Similar
ly
,
m
an
y
E
V
b
atter
y
m
o
n
ito
r
in
g
s
y
s
tem
s
o
p
er
ate
in
is
o
latio
n
,
p
r
o
v
id
in
g
lim
ited
r
ea
l
-
tim
e
d
ata
an
d
lack
in
g
p
r
ed
ictiv
e
ca
p
ab
ilit
ies
f
o
r
p
er
f
o
r
m
an
ce
d
eg
r
a
d
atio
n
.
T
h
ese
f
r
ag
m
en
ted
s
o
l
u
tio
n
s
f
ail
t
o
o
f
f
e
r
a
c
o
m
p
r
e
h
en
s
iv
e
an
d
p
r
o
ac
tiv
e
s
af
ety
n
et
f
o
r
d
r
iv
er
s
an
d
v
e
h
icle
h
ea
lth
.
Fu
r
th
er
m
o
r
e
,
in
ter
o
p
er
ab
ilit
y
b
etwe
en
d
if
f
er
e
n
t
I
o
T
c
o
m
p
o
n
en
ts
an
d
th
e
s
ea
m
less
tr
an
s
m
is
s
io
n
o
f
d
ata
to
clo
u
d
p
latf
o
r
m
s
ar
e
o
f
ten
in
co
n
s
is
ten
t,
lead
in
g
to
r
eliab
ilit
y
co
n
ce
r
n
s
.
T
h
e
cu
r
r
e
n
t
s
tu
d
y
ad
d
r
ess
es
th
ese
g
ap
s
b
y
d
ev
e
lo
p
in
g
an
in
teg
r
ated
s
m
ar
t
I
o
T
-
d
r
iv
en
v
eh
icle
s
af
ety
an
d
b
atter
y
m
an
ag
em
en
t
s
y
s
tem
.
I
t
co
m
b
i
n
es
r
ea
l
-
tim
e
ac
cid
e
n
t
d
etec
tio
n
with
p
r
ed
ictiv
e
b
a
tter
y
h
ea
lth
m
o
n
ito
r
in
g
in
a
u
n
if
ied
f
r
am
ewo
r
k
,
u
tili
zin
g
clo
u
d
-
b
ased
an
aly
ti
cs
an
d
wir
eless
co
m
m
u
n
ica
tio
n
.
T
h
is
h
o
lis
tic
ap
p
r
o
ac
h
aim
s
to
im
p
r
o
v
e
em
er
g
en
cy
r
esp
o
n
s
iv
en
ess
,
en
h
an
ce
b
atter
y
p
er
f
o
r
m
an
ce
,
an
d
p
r
o
m
o
te
a
s
af
er
,
m
o
r
e
ef
f
icien
t
d
r
iv
in
g
ex
p
e
r
ien
ce
.
Fig
u
r
e
1
p
r
esen
ts
a
b
lo
c
k
d
ia
g
r
am
o
f
th
e
s
m
ar
t
I
o
T
-
d
r
i
v
en
v
eh
icle
s
af
ety
an
d
b
atter
y
m
an
ag
em
en
t sy
s
tem
.
On
th
e
b
a
tter
y
ad
m
i
n
is
tr
atio
n
s
id
e,
th
e
f
r
am
ewo
r
k
lev
e
r
ag
es
I
o
T
to
p
er
s
is
ten
tly
s
cr
ee
n
b
asic
p
ar
am
eter
s
lik
e
v
o
ltag
e
,
c
u
r
r
e
n
t,
tem
p
e
r
atu
r
e,
an
d
So
C
,
g
u
a
r
an
teein
g
th
e
b
atter
y
wo
r
k
s
in
s
id
e
s
ec
u
r
e
lim
its
.
Pre
s
cien
t
an
aly
tics
f
u
eled
b
y
I
o
T
clo
u
d
a
d
m
in
is
tr
atio
n
s
ev
a
lu
at
e
b
atter
y
wellb
ein
g
,
o
p
tim
izin
g
u
p
k
ee
p
p
lan
s
an
d
am
p
lify
in
g
life
ex
p
ec
tan
cy
.
Ver
s
atile
ch
ar
g
in
g
ca
lcu
l
atio
n
s
u
p
g
r
ad
e
ef
f
ec
tiv
en
ess
,
d
ec
r
ea
s
e
v
itality
wastag
e,
an
d
b
ac
k
i
n
teg
r
ati
o
n
with
r
en
ewa
b
le
v
itality
s
o
u
r
ce
s
.
B
esid
es,
th
e
f
r
am
ewo
r
k
en
c
o
u
r
a
g
es
o
v
er
-
th
e
-
air
u
p
g
r
ad
es
f
o
r
f
ir
m
war
e
an
d
in
f
o
r
m
atio
n
s
h
ar
i
n
g
,
ad
v
an
cin
g
n
o
n
s
to
p
en
h
a
n
ce
m
en
t
an
d
co
n
s
is
ten
t
clien
t
en
co
u
n
ter
s
.
T
o
g
eth
er
,
th
ese
h
ig
h
lig
h
ts
m
a
k
e
a
s
tr
o
n
g
,
clev
e
r
ly
v
eh
icle
ad
m
i
n
is
tr
atio
n
s
y
s
tem
th
at
p
r
io
r
itizes s
ec
u
r
ity
,
ex
ec
u
ti
o
n
,
an
d
s
u
p
p
o
r
tab
ilit
y
.
3
.
2
.
H
a
rdwa
re
a
nd
s
o
f
t
wa
re
re
qu
irem
ent
s
T
h
e
co
m
p
lete
h
ar
d
war
e
an
d
s
o
f
twar
e
r
eq
u
ir
em
en
ts
ca
n
b
e
d
is
cu
s
s
ed
in
th
is
ch
ap
ter
.
Fig
u
r
e
1
s
h
o
ws
th
e
b
lo
ck
d
iag
r
am
.
I
t illu
s
tr
ates th
e
s
m
ar
t I
o
T
-
d
r
iv
en
v
eh
icle
s
af
ety
an
d
b
atter
y
m
an
a
g
em
e
n
t sy
s
tem
.
3
.
2
.
1
.
H
a
rdwa
re
re
qu
irem
en
t
s
T
h
e
h
ar
d
war
e
r
eq
u
ir
em
en
ts
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
tem
ar
e
d
escr
ib
ed
as
f
o
llo
ws
:
i)
B
atter
y
(
1
1
.
2
V)
:
p
o
wer
s
th
e
wh
o
le
f
r
am
ewo
r
k
an
d
t
h
e
v
eh
icle's
elec
tr
o
n
ic
co
m
p
o
n
e
n
ts
.
T
h
e
v
o
ltag
e
i
s
r
ea
s
o
n
ab
le
f
o
r
s
m
all
-
s
ca
le
I
o
T
ap
p
licatio
n
s
.
ii)
Switch
:
co
n
tr
o
ls
th
e
s
y
s
tem
'
s
co
n
tr
o
l state,
g
u
a
r
an
teein
g
m
a
n
u
al
s
u
p
er
s
ed
e
ca
p
ab
ilit
ies
.
iii)
Sen
s
o
r
s
−
Vo
ltag
e
s
en
s
o
r
: scr
ee
n
s
th
e
b
a
tter
y
v
o
ltag
e
to
an
ticip
ate
ch
ea
tin
g
o
r
p
r
o
f
o
u
n
d
d
is
ch
ar
g
e.
−
T
em
p
er
atu
r
e
s
en
s
o
r
: tr
ac
k
s
b
a
tter
y
an
d
n
atu
r
al
tem
p
e
r
atu
r
e
f
o
r
s
ec
u
r
e
o
p
er
atio
n
s
.
−
C
u
r
r
en
t
s
en
s
o
r
: m
ea
s
u
r
es th
e
c
u
r
r
en
t
s
tr
ea
m
to
o
p
tim
ize
co
n
t
r
o
l u
tili
za
tio
n
an
d
av
o
i
d
o
v
e
r
lo
ad
in
g
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ad
v
Ap
p
l Sci
I
SS
N:
2252
-
8
8
1
4
S
ma
r
t in
tern
et
o
f th
in
g
s
d
r
iven
ve
h
icle
s
a
fety
a
n
d
b
a
tter
y
ma
n
a
g
eme
n
t sys
tem
(
B
a
tch
a
l
a
ku
r
i J
yo
th
i
)
1089
−
ADXL
3
4
5
(
ac
ce
ler
o
m
eter
)
:
id
en
tifie
s
s
u
d
d
en
v
eh
icle
d
ev
elo
p
m
en
ts
,
cr
ash
es,
o
r
tilt
s
f
o
r
m
i
s
ch
an
ce
d
etec
tio
n
.
iv
)
Dir
ec
t
cu
r
r
e
n
t
(
DC
)
e
n
g
in
e
(
as
v
eh
icle)
:
s
im
u
lates
th
e
v
eh
icle'
s
im
p
etu
s
f
r
am
ewo
r
k
i
n
s
m
all
-
s
ca
le
p
r
o
to
ty
p
es.
v)
GPS
m
o
d
u
le:
tr
ac
k
s
th
e
v
e
h
icle'
s
r
ea
l
-
tim
e
ar
ea
,
s
u
p
p
o
r
tin
g
i
n
-
r
o
u
te
an
d
m
is
h
ap
alar
m
s
y
s
t
em
s
.
v
i)
L
M2
5
9
6
v
o
ltag
e
r
eg
u
lato
r
:
en
s
u
r
es
a
s
tead
y
co
n
t
r
o
l
s
u
p
p
ly
f
o
r
d
elica
te
co
m
p
o
n
en
ts
lik
e
m
icr
o
co
n
tr
o
ller
s
an
d
c
o
m
m
u
n
icatio
n
m
o
d
u
les.
v
ii)
Ar
d
u
in
o
Un
o
:
s
er
v
es
as
th
e
ess
en
tial
m
icr
o
co
n
tr
o
ller
f
o
r
h
an
d
lin
g
in
f
o
r
m
atio
n
f
r
o
m
s
en
s
o
r
s
an
d
co
n
tr
o
llin
g
o
u
tp
u
ts
.
v
iii)
L
iq
u
id
cr
y
s
tal
d
is
p
lay
(
L
C
D
)
with
d
r
iv
er
−
Dis
p
lay
s
f
r
am
ewo
r
k
s
tatu
s
,
co
u
n
tin
g
b
atter
y
lev
els,
alar
m
s
,
a
n
d
ar
ea
d
ata
v
ia
GSM
m
o
d
u
l
e
.
−
Facilitate
s
SMS
co
m
m
u
n
icatio
n
f
o
r
aler
ts
,
s
u
c
h
as
s
en
d
in
g
cr
ash
n
o
tific
atio
n
s
o
r
b
atte
r
y
h
ea
lt
h
u
p
d
ates.
ix
)
E
SP
8
2
6
6
W
i
-
Fi
m
o
d
u
le:
en
ab
les
wir
eless
co
n
n
ec
tiv
ity
to
u
p
lo
a
d
d
ata
to
clo
u
d
p
l
atf
o
r
m
s
lik
e
T
h
in
g
Sp
ea
k
.
x)
L
E
D
in
d
icato
r
s
: p
r
o
v
id
e
v
is
u
a
l c
u
es f
o
r
s
y
s
tem
s
tatu
s
,
s
u
ch
as c
h
ar
g
in
g
,
d
is
ch
ar
g
in
g
,
o
r
f
a
u
lt c
o
n
d
itio
n
s
.
x
i)
Sm
ar
tp
h
o
n
e
:
a
cts
as
a
u
s
er
i
n
ter
f
ac
e
to
r
ec
eiv
e
n
o
tific
atio
n
s
,
m
o
n
ito
r
s
y
s
tem
p
ar
am
ete
r
s
,
an
d
co
n
tr
o
l
f
u
n
cti
o
n
s
r
em
o
tely
.
Fig
u
r
e
1.
B
lo
ck
d
iag
r
am
o
f
th
e
s
m
ar
t I
o
T
-
d
r
iv
en
v
eh
icle
s
af
ety
an
d
b
atter
y
m
an
a
g
em
en
t s
y
s
tem
3
.
2
.
2
.
So
f
t
wa
re
re
qu
irem
ent
s
T
h
e
s
o
f
twar
e
r
eq
u
i
r
em
en
ts
e
s
s
en
tial
f
o
r
im
p
lem
e
n
tin
g
t
h
e
s
m
ar
t
I
o
T
-
d
r
i
v
en
v
eh
icle
s
a
f
ety
an
d
b
atter
y
m
an
a
g
em
en
t sy
s
tem
ar
e
o
u
tlin
ed
as f
o
llo
ws:
i)
Ar
d
u
in
o
I
DE
:
u
s
ed
f
o
r
p
r
o
g
r
a
m
m
in
g
t
h
e
Ar
d
u
in
o
Un
o
to
o
v
er
s
ee
s
en
s
o
r
i
n
p
u
ts
,
y
ield
s
,
a
n
d
f
r
am
ewo
r
k
lo
g
ic.
ii)
T
h
in
g
Sp
ea
k
p
latf
o
r
m
:
clo
u
d
-
b
ased
I
o
T
s
tag
e
f
o
r
r
ea
l
-
tim
e
in
f
o
r
m
atio
n
v
is
u
aliza
tio
n
,
ca
p
ac
ity
,
an
d
an
aly
tics
.
iii)
E
m
b
ed
d
e
d
co
d
e
f
o
r
s
en
s
o
r
s
:
s
p
ec
if
ic
lib
r
ar
ies
an
d
ca
lcu
latio
n
s
f
o
r
m
e
d
d
le
with
c
o
m
p
o
n
e
n
ts
lik
e
ADXL
3
4
5
,
GPS,
an
d
GSM.
iv
)
I
o
T
co
m
m
u
n
icatio
n
p
r
o
to
c
o
ls
:
m
ess
ag
e
q
u
eu
in
g
telem
etr
y
tr
an
s
p
o
r
t
(
MQ
T
T
)
o
r
h
y
p
er
tex
t
tr
an
s
f
e
r
p
r
o
to
co
l
(
HT
T
P
)
f
o
r
s
en
d
in
g
in
f
o
r
m
atio
n
f
r
o
m
th
e
E
SP
8
2
6
6
to
T
h
in
g
Sp
ea
k
o
r
o
th
er
clo
u
d
s
er
v
er
s
.
v)
Mo
b
ile
Ap
p
o
r
d
ash
b
o
a
r
d
:
a
s
m
ar
tp
h
o
n
e
a
p
p
o
r
web
in
ter
f
ac
e
to
s
h
o
w
ca
u
tio
n
s
,
f
r
am
ewo
r
k
m
ea
s
u
r
em
en
ts
,
an
d
c
o
n
tr
o
l f
u
n
ctio
n
alities
.
v
i)
Data
an
aly
tics
s
cr
ip
ts
:
a
lg
o
r
ith
m
s
f
o
r
h
an
d
lin
g
s
en
s
o
r
in
f
o
r
m
atio
n
o
n
T
h
in
g
Sp
ea
k
to
p
r
o
d
u
ce
b
its
o
f
k
n
o
wled
g
e
s
u
c
h
as a
cc
id
en
t
d
etec
tio
n
o
r
b
atter
y
h
ea
lth
p
r
ed
i
ctio
n
s
.
3
.
3
.
I
nte
g
ra
t
io
n
wo
r
k
f
lo
w
T
h
e
in
teg
r
atio
n
wo
r
k
f
lo
w
o
f
th
e
s
y
s
tem
in
clu
d
es:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
8
1
4
I
n
t J Ad
v
Ap
p
l Sci
,
Vo
l.
1
5
,
No
.
3
,
Sep
tem
b
er
2
0
2
6
:
1
0
8
5
-
1
0
9
7
1090
i)
Sen
s
o
r
s
co
llect
r
ea
l
-
tim
e
in
f
o
r
m
atio
n
o
n
b
atter
y
wellb
ein
g
,
a
r
ea
,
an
d
n
atu
r
al
c
o
n
d
itio
n
s
.
ii)
Ar
d
u
in
o
Un
o
f
o
r
m
s
th
is
in
f
o
r
m
atio
n
,
s
h
o
win
g
it
o
n
th
e
L
C
D
an
d
ac
tiv
atin
g
alar
m
s
b
y
m
ea
n
s
o
f
L
E
Ds
o
r
GSM.
iii)
E
SP
8
2
6
6
s
en
d
s
in
f
o
r
m
atio
n
to
T
h
in
g
Sp
ea
k
f
o
r
r
ea
l
-
tim
e
ch
e
ck
in
g
an
d
an
aly
tics
.
iv
)
Aler
ts
(
e.
g
.
,
m
o
o
b
atter
y
an
d
m
is
h
ap
s
)
ar
e
p
u
s
h
e
d
to
th
e
cli
en
t th
r
o
u
g
h
GSM
o
r
a
v
er
s
atile
ap
p
.
v)
User
s
ca
n
s
ee
n
itty
-
g
r
itty
in
f
o
r
m
atio
n
an
d
p
atter
n
s
o
n
T
h
i
n
g
Sp
ea
k
o
r
c
o
n
tr
o
l
th
e
f
r
am
e
wo
r
k
r
em
o
tely
th
r
o
u
g
h
W
i
-
Fi.
v
i)
T
h
is
co
m
b
in
atio
n
o
f
e
q
u
ip
m
e
n
t
an
d
co
m
p
u
ter
p
r
o
g
r
am
g
u
ar
an
tees
a
d
ep
en
d
ab
le,
v
er
s
atile,
an
d
u
s
er
-
f
r
ien
d
ly
a
r
r
an
g
em
en
t f
o
r
v
e
h
ic
le
s
ec
u
r
ity
an
d
b
atter
y
ad
m
in
is
tr
atio
n
.
3
.
4
.
Ca
lib
ra
t
i
o
n
t
ec
hn
iqu
es
T
h
e
ca
lib
r
atio
n
tech
n
iq
u
es
ap
p
lied
in
th
e
s
m
ar
t
I
o
T
-
d
r
iv
e
n
v
eh
icle
s
af
ety
an
d
b
atter
y
m
a
n
ag
em
en
t
s
y
s
tem
ar
e
o
u
tlin
ed
as f
o
llo
ws
:
i)
Sen
s
o
r
ca
lib
r
atio
n
:
ADXL
3
4
5
ac
ce
ler
o
m
eter
:
p
o
s
itio
n
th
e
s
en
s
o
r
in
a
s
tatio
n
ar
y
p
o
s
itio
n
to
d
eg
r
ee
ze
r
o
ac
ce
ler
atio
n
.
Ma
k
e
th
e
c
r
u
c
ial
ch
an
g
es
f
o
r
o
f
f
s
ets
an
d
s
ca
le
u
tili
zin
g
ca
lib
r
atio
n
s
o
f
twar
e.
T
r
y
s
u
b
jectin
g
k
n
o
wn
p
o
wer
s
o
r
e
x
p
an
d
i
n
g
s
p
ee
d
s
,
if
c
o
n
ce
iv
a
b
le,
an
d
co
m
p
ar
e
th
e
r
esu
lt f
o
r
v
er
if
icatio
n
.
ii)
Vo
ltag
e,
tem
p
er
atu
r
e
,
an
d
cu
r
r
en
t
s
en
s
o
r
s
:
g
et
th
e
r
ef
er
en
ce
v
alu
es
f
r
o
m
a
m
u
ltime
ter
o
r
an
y
o
t
h
e
r
s
tan
d
ar
d
esti
m
atio
n
co
n
t
r
ap
tio
n
.
Pro
g
r
a
m
ch
an
g
es f
o
r
g
en
u
in
e
s
en
s
o
r
r
ea
d
in
g
s
.
iii)
GPS
ca
lib
r
a
tio
n
:
af
f
ir
m
th
e
G
PS
m
o
d
u
le
u
tili
zin
g
th
e
zo
n
e
d
ata
o
f
an
y
k
n
o
wn
r
ef
er
e
n
ce
p
o
in
t.
Up
d
ate
th
e
f
ir
m
war
e
o
r
ad
j.
s
etu
p
s
,
if
f
u
n
d
am
e
n
tal,
f
o
r
ex
ac
t f
o
llo
win
g
.
iv
)
B
atter
y
ch
ec
k
in
g
ca
lib
r
atio
n
:
ch
ar
g
e
th
e
b
atter
y
t
o
its
f
u
ll
c
ap
ac
ity
an
d
tak
e
th
e
esti
m
atio
n
o
f
v
o
ltag
e
a
s
th
e
h
ig
h
er
o
b
lig
e.
E
x
h
au
s
t th
e
b
atter
y
co
m
p
letely
to
d
e
g
r
ee
t
h
e
lo
wer
lim
it.
C
r
o
s
s
-
ch
ec
k
liv
e
esti
m
atio
n
s
ag
ain
s
t stan
d
ar
d
eq
u
ip
m
en
t.
v)
C
o
m
m
u
n
icatio
n
m
o
d
u
les ca
lib
r
atio
n
:
−
GSM
m
o
d
u
le:
tr
an
s
m
it
test
m
ess
ag
es
to
th
e
f
lex
ib
le
co
n
tr
ap
tio
n
th
r
o
u
g
h
SMS.
Ma
k
e
p
ast
an
y
q
u
esti
o
n
th
at
it p
er
s
is
ten
tly
s
h
o
ws u
p
ar
r
a
n
g
e
with
o
u
t a
n
y
b
u
g
s
in
co
m
m
u
n
icatio
n
.
−
E
SP
8
2
6
6
W
i
-
Fi
m
o
d
u
le:
af
f
i
r
m
d
ata
s
en
t
b
y
cr
o
s
s
-
ch
ec
k
i
n
g
s
en
t
d
ata
with
clo
u
d
-
s
to
r
ed
d
ata
.
C
h
ec
k
f
o
r
o
r
g
an
ize
ar
r
an
g
e
is
s
u
es a
n
d
o
p
tim
ize
af
f
iliatio
n
s
e
ttin
g
s
.
v
i)
L
ig
h
t
em
itti
n
g
d
io
d
e
(
LED
)
p
o
in
ter
ca
lib
r
atio
n
:
p
r
o
g
r
am
th
e
m
icr
o
co
n
tr
o
ller
to
test
ea
ch
d
r
iv
en
s
tate,
s
u
ch
as o
n
,
o
f
f
,
a
n
d
s
q
u
i
n
tin
g
,
f
o
r
al
er
t
f
ee
d
b
ac
k
.
4.
VIS
UA
L
I
SAT
I
O
N
AND
A
N
AL
YS
I
S
T
h
e
d
ash
b
o
ar
d
s
h
o
w
s
th
e
v
eh
icle's
ex
ec
u
tio
n
,
with
th
e
clie
n
t
ch
o
o
s
in
g
an
alter
n
ativ
e,
w
h
ich
m
ak
es
th
e
f
r
am
ewo
r
k
p
r
ac
tical
in
a
n
y
g
iv
en
d
r
i
v
in
g
c
o
n
d
itio
n
.
Ve
h
icle
in
g
e
n
u
in
e
tim
e,
s
u
ch
as
s
p
ee
d
,
b
atter
y
r
ate,
tem
p
er
atu
r
e,
a
n
d
s
ec
u
r
ity
n
o
tices.
Pre
p
ar
ed
with
p
r
o
g
r
ess
ed
h
ig
h
lig
h
ts
s
u
ch
as
p
o
th
o
le
n
o
tices,
b
atter
y
s
tate
-
of
-
h
ea
lth
(
S
o
H
)
ch
ec
k
in
g
,
an
d
s
av
e
o
u
r
s
o
u
ls
(
S
o
S
)
n
o
tices.
T
h
e
f
i
n
d
in
g
s
f
r
o
m
th
e
im
p
lem
en
tatio
n
o
f
th
e
s
m
ar
t
I
o
T
-
d
r
i
v
en
v
eh
icle
s
af
ety
an
d
b
atter
y
m
an
a
g
em
e
n
t
s
y
s
tem
r
ev
ea
l
s
ig
n
if
ican
t
a
d
v
an
ce
m
e
n
ts
o
v
er
co
n
v
en
tio
n
al,
s
in
g
le
-
pu
r
p
o
s
e
s
o
lu
tio
n
s
.
Un
lik
e
ex
is
tin
g
ac
cid
en
t
d
et
ec
tio
n
s
y
s
tem
s
th
at
d
ep
en
d
o
n
m
an
u
al
aler
ts
o
r
lim
ited
o
n
b
o
ar
d
d
iag
n
o
s
tics
,
th
e
s
y
s
tem
au
to
m
ates
cr
ash
id
en
tific
atio
n
an
d
im
m
ed
iately
d
is
p
atch
es
em
er
g
en
cy
n
o
tific
atio
n
s
u
s
in
g
GSM
an
d
GPS
m
o
d
u
les,
p
o
ten
tially
r
ed
u
cin
g
r
e
s
p
o
n
s
e
tim
e
an
d
im
p
r
o
v
in
g
s
u
r
v
iv
al
r
ates.
I
n
co
m
p
ar
is
o
n
to
tr
ad
itio
n
al
b
atter
y
m
o
n
ito
r
in
g
s
y
s
tem
s
th
at
o
n
ly
p
r
o
v
id
e
v
is
u
al
aler
ts
,
th
is
f
r
am
ewo
r
k
o
f
f
e
r
s
r
ea
l
-
tim
e
d
ata
tr
an
s
m
is
s
io
n
to
th
e
cl
o
u
d
an
d
p
r
ed
ictiv
e
an
al
y
tics
,
allo
win
g
u
s
er
s
to
id
en
ti
f
y
p
o
ten
tial
b
atter
y
f
ailu
r
es
b
ef
o
r
e
th
ey
ca
u
s
e
b
r
e
ak
d
o
wn
s
.
T
h
is
d
u
al
f
u
n
ctio
n
al
ity
n
o
t
o
n
l
y
s
im
p
lifie
s
s
y
s
tem
in
teg
r
atio
n
b
u
t
also
im
p
r
o
v
es u
s
er
s
af
ety
,
s
y
s
tem
r
eliab
ilit
y
,
an
d
en
e
r
g
y
e
f
f
icien
c
y
.
T
h
e
r
am
if
icatio
n
s
o
f
th
is
r
esear
ch
ex
ten
d
b
e
y
o
n
d
tech
n
ical
im
p
r
o
v
em
e
n
ts
.
I
n
th
e
lo
n
g
ter
m
,
s
u
ch
an
in
teg
r
ated
s
y
s
tem
co
u
ld
b
e
s
tan
d
ar
d
ized
ac
r
o
s
s
E
V
p
latf
o
r
m
s
to
en
h
an
ce
r
o
ad
s
af
ety
in
f
r
astru
ctu
r
e
an
d
co
n
tr
ib
u
te
to
s
m
ar
t c
ity
in
itiati
v
es.
Fu
tu
r
e
ad
v
an
ce
m
en
ts
co
u
ld
in
clu
d
e
th
e
in
teg
r
atio
n
o
f
ar
tific
ial
in
tellig
en
ce
f
o
r
d
r
iv
er
b
e
h
av
io
r
p
r
ed
ictio
n
,
ex
p
an
s
io
n
to
V2
X
co
m
m
u
n
icatio
n
f
o
r
co
llab
o
r
ativ
e
t
r
af
f
ic
s
af
ety
,
an
d
d
ep
lo
y
m
e
n
t
in
au
to
n
o
m
o
u
s
r
escu
e
o
p
er
atio
n
s
v
ia
d
r
o
n
es.
T
h
ese
en
h
an
ce
m
en
ts
wo
u
ld
c
o
l
lectiv
ely
s
u
p
p
o
r
t
a
s
af
er
,
s
m
ar
ter
,
an
d
m
o
r
e
s
u
s
tain
ab
le
tr
an
s
p
o
r
tatio
n
ec
o
s
y
s
te
m
.
Fig
u
r
e
2
p
r
esen
ts
a
n
o
v
er
all
s
y
s
tem
ar
ch
itectu
r
e
illu
s
tr
atin
g
th
e
i
n
teg
r
atio
n
o
f
I
o
T
c
o
m
p
o
n
en
ts
u
s
ed
f
o
r
v
e
h
icle
s
af
ety
an
d
b
atter
y
m
an
ag
em
e
n
t.
I
t
lik
el
y
in
clu
d
es
s
en
s
o
r
s
,
m
icr
o
co
n
tr
o
ller
s
,
an
d
co
m
m
u
n
icatio
n
m
o
d
u
les.
Fig
u
r
e
3
s
h
o
ws
th
e
L
C
D
u
s
ed
in
th
e
s
y
s
tem
t
o
d
is
p
lay
v
ar
io
u
s
r
ea
l
-
tim
e
p
ar
am
eter
s
s
u
ch
as
tem
p
er
atu
r
e,
v
o
ltag
e,
cu
r
r
e
n
t,
o
r
aler
ts
.
Fig
u
r
e
4
d
ep
icts
t
h
e
Ar
d
u
in
o
m
icr
o
co
n
tr
o
ller
,
wh
ich
s
er
v
es
as
th
e
ce
n
tr
al
p
r
o
ce
s
s
in
g
u
n
it
f
o
r
m
a
n
ag
in
g
s
en
s
o
r
d
ata
a
n
d
c
o
n
tr
o
llin
g
s
y
s
tem
o
p
er
atio
n
s
.
Fig
u
r
e
5
illu
s
tr
ates
h
o
w
th
e
m
o
to
r
s
ar
e
a
r
r
an
g
ed
an
d
c
o
n
n
ec
ted
i
n
th
e
s
y
s
tem
,
lik
ely
s
h
o
win
g
th
eir
r
o
le
in
v
e
h
icle
a
ctu
atio
n
o
r
m
o
tio
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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t J Ad
v
Ap
p
l Sci
I
SS
N:
2252
-
8
8
1
4
S
ma
r
t in
tern
et
o
f th
in
g
s
d
r
iven
ve
h
icle
s
a
fety
a
n
d
b
a
tter
y
ma
n
a
g
eme
n
t sys
tem
(
B
a
tch
a
l
a
ku
r
i J
yo
th
i
)
1091
Fig
u
r
e
2
.
Sch
em
atic
d
iag
r
am
o
f
s
m
ar
t
I
o
T
-
d
r
iv
e
n
v
e
h
icle
s
af
ety
an
d
b
atter
y
m
a
n
ag
em
e
n
t sy
s
tem
Fig
u
r
e
3
.
L
C
D
u
s
ed
in
t
h
e
s
y
s
tem
Fig
u
r
e
4
.
Ar
d
u
in
o
m
icr
o
c
o
n
tr
o
ller
Fig
u
r
e
5
.
Mo
t
o
r
ar
r
an
g
em
e
n
t
Fig
u
r
e
6
v
is
u
alize
s
th
e
ac
cid
e
n
t
d
etec
tio
n
a
n
d
aler
ti
n
g
m
ec
h
an
is
m
,
p
o
s
s
ib
ly
s
h
o
win
g
h
o
w
th
e
s
y
s
tem
n
o
tifie
s
a
r
em
o
te
s
er
v
er
o
r
u
s
e
r
u
p
o
n
d
etec
tin
g
a
cr
ash
.
Fig
u
r
e
7
p
r
o
v
id
es
a
tab
u
lated
o
r
g
r
ap
h
ical
v
iew
o
f
th
e
m
ea
s
u
r
ed
v
alu
es
o
f
tem
p
er
atu
r
e,
cu
r
r
en
t,
an
d
v
o
ltag
e
f
r
o
m
th
e
s
y
s
tem
u
n
d
er
d
if
f
er
en
t
co
n
d
itio
n
s
.
Fig
u
r
e
8
is
a
g
r
ap
h
o
r
d
ata
ch
ar
t
s
h
o
win
g
th
e
tem
p
er
atu
r
e
r
ea
d
in
g
s
o
v
er
tim
e,
d
e
m
o
n
s
tr
atin
g
h
o
w
t
h
e
s
y
s
tem
m
o
n
ito
r
s
th
er
m
al
co
n
d
itio
n
s
.
Fig
u
r
e
9
s
h
o
ws
th
e
v
o
ltag
e
o
u
tp
u
t
f
r
o
m
th
e
b
atter
y
o
r
s
y
s
tem
,
h
elp
in
g
an
aly
ze
v
o
ltag
e
s
tab
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4
S
ma
r
t in
tern
et
o
f th
in
g
s
d
r
iven
ve
h
icle
s
a
fety
a
n
d
b
a
tter
y
ma
n
a
g
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n
t sys
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(
B
a
tch
a
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a
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i J
yo
th
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1093
A
s
av
v
y
I
o
T
v
e
h
icle
s
ec
u
r
ity
an
d
b
atter
y
a
d
m
in
is
tr
atio
n
f
r
am
ewo
r
k
co
m
b
i
n
es
I
o
T
i
n
n
o
v
atio
n
t
o
u
p
g
r
a
d
e
s
ec
u
r
ity
an
d
o
p
tim
ize
b
atter
y
ex
ec
u
tio
n
.
B
y
co
o
r
d
in
atin
g
r
ea
l
-
tim
e
ch
ec
k
in
g
,
th
e
f
r
am
ewo
r
k
id
en
tifie
s
v
eh
icle
ir
r
eg
u
lar
ities
,
ca
u
tio
n
s
d
r
iv
er
s
to
h
az
ar
d
o
u
s
co
n
d
itio
n
s
,
an
d
an
ticip
ates
co
llis
io
n
s
u
tili
zin
g
s
en
s
o
r
s
,
ca
m
er
as,
a
n
d
m
ec
h
an
ized
r
ea
ctio
n
s
.
I
t
m
o
r
e
o
v
er
u
n
d
er
p
in
s
c
r
is
is
ad
m
in
is
tr
atio
n
s
b
y
g
iv
in
g
m
o
m
en
t
n
o
tices
an
d
lo
ca
tio
n
d
etails
in
ca
s
e
o
f
m
is
h
ap
s
.
On
th
e
b
atter
y
f
r
o
n
t,
it
s
cr
ee
n
s
k
e
y
m
ea
s
u
r
em
en
ts
lik
e
So
C
an
d
So
H,
g
u
ar
an
teein
g
p
r
o
d
u
c
tiv
e
v
itality
u
tili
ze
an
d
am
p
lif
y
in
g
b
atter
y
life
ex
p
ec
tan
c
y
.
Pro
g
r
ess
ed
an
aly
tics
o
p
tim
ize
ch
ar
g
in
g
p
lan
s
an
d
em
p
o
wer
f
u
r
th
er
d
iag
n
o
s
t
ics
f
o
r
p
r
ev
en
tiv
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s
u
p
p
o
r
t,
ad
v
an
cin
g
v
itality
ef
f
ec
tiv
en
ess
an
d
u
n
wav
er
in
g
q
u
ality
.
5.
NO
VE
L
T
Y
O
F
T
H
E
SYS
T
E
M
T
h
e
p
r
im
ar
y
n
o
v
elty
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
tem
lies
in
th
e
in
teg
r
atio
n
o
f
v
eh
icle
s
af
ety
m
ec
h
an
is
m
s
an
d
E
V
b
atter
y
m
an
a
g
em
en
t
i
n
to
a
s
in
g
le,
u
n
if
ied
I
o
T
-
d
r
iv
en
ar
ch
itectu
r
e,
wh
ich
is
n
o
t
co
m
p
r
eh
en
s
iv
ely
ad
d
r
ess
ed
in
e
x
is
tin
g
liter
atu
r
e.
W
h
ile
p
r
io
r
s
tu
d
ies
ty
p
ically
h
an
d
le
ac
cid
en
t
d
et
ec
tio
n
an
d
b
atter
y
m
o
n
ito
r
in
g
as
in
d
ep
e
n
d
en
t
m
o
d
u
les,
o
u
r
s
y
s
tem
u
n
iq
u
ely
f
u
s
es
th
ese
two
cr
itical
f
u
n
ctio
n
alities
,
en
ab
lin
g
s
im
u
ltan
eo
u
s
r
ea
l
-
tim
e
cr
ash
d
etec
tio
n
,
em
e
r
g
en
c
y
aler
tin
g
,
an
d
b
atter
y
h
ea
lth
a
n
aly
tics
with
in
o
n
e
f
r
am
ewo
r
k
.
Ad
d
itio
n
ally
,
th
e
n
o
v
elty
ex
ten
d
s
to
th
e
s
y
s
tem
wo
r
k
f
lo
w
an
d
d
ata
f
u
s
io
n
a
p
p
r
o
ac
h
,
wh
er
e
s
en
s
o
r
d
ata
f
r
o
m
ac
ce
ler
o
m
ete
r
s
,
GPS,
cu
r
r
en
t/v
o
ltag
e
s
en
s
o
r
s
,
a
n
d
th
er
m
al
s
en
s
o
r
s
ar
e
p
r
o
ce
s
s
ed
co
llectiv
ely
to
s
u
p
p
o
r
t b
o
th
p
r
o
ac
tiv
e
s
af
ety
r
esp
o
n
s
es a
n
d
p
r
e
d
ictiv
e
b
atter
y
f
au
lt d
iag
n
o
s
is
.
Alth
o
u
g
h
th
is
s
tu
d
y
u
tili
ze
s
s
tan
d
ar
d
I
o
T
p
r
o
to
c
o
ls
s
u
ch
as
MQ
T
T
/HT
T
P
an
d
wi
d
ely
u
s
e
d
co
m
p
o
n
en
ts
lik
e
t
h
e
E
SP
8
2
6
6
an
d
GSM
m
o
d
u
les,
th
e
in
n
o
v
atio
n
is
n
o
t
th
e
in
d
iv
i
d
u
al
tec
h
n
o
lo
g
ies
b
u
t
r
ath
er
th
eir
co
o
r
d
in
ated
in
teg
r
atio
n
,
en
ab
lin
g
d
u
al
-
p
u
r
p
o
s
e
o
p
er
atio
n
,
clo
u
d
-
b
ased
v
is
u
aliza
tio
n
,
an
d
au
to
m
ated
r
escu
e
s
u
p
p
o
r
t.
T
h
is
h
o
lis
tic
ar
ch
itectu
r
e
en
h
an
ce
s
s
y
s
tem
r
eliab
ilit
y
,
r
ed
u
ce
s
h
ar
d
wa
r
e
r
ed
u
n
d
an
c
y
,
an
d
d
em
o
n
s
tr
ates
p
r
ac
tical
v
alu
e
f
o
r
s
m
ar
t
tr
an
s
p
o
r
tatio
n
an
d
E
V
ec
o
s
y
s
tem
s
.
So
u
th
ea
s
t
Asi
a’
s
tr
o
p
ical
clim
ate
—
with
co
n
s
is
ten
tly
h
i
g
h
tem
p
er
atu
r
es
an
d
h
u
m
id
ity
—
s
ig
n
if
ic
an
tly
af
f
ec
ts
lith
iu
m
-
io
n
b
atter
y
p
er
f
o
r
m
an
ce
b
y
ac
ce
ler
atin
g
th
er
m
al
d
e
g
r
ad
at
io
n
,
in
cr
ea
s
in
g
in
ter
n
al
r
esis
tan
ce
,
an
d
elev
atin
g
th
e
r
i
s
k
o
f
o
v
er
h
ea
ti
n
g
.
T
h
is
s
y
s
tem
'
s
co
n
tin
u
o
u
s
m
o
n
ito
r
i
n
g
o
f
tem
p
e
r
atu
r
e,
v
o
ltag
e,
a
n
d
cu
r
r
en
t,
alo
n
g
with
its
clo
u
d
-
b
ased
p
r
ed
ictiv
e
an
aly
tics
,
p
r
o
v
id
es
ea
r
ly
d
ete
ctio
n
o
f
th
er
m
al
s
tr
ess
an
d
e
n
ab
les
p
r
o
ac
tiv
e
m
an
ag
em
en
t
o
f
b
atter
y
h
ea
lth
,
wh
ich
is
h
ig
h
ly
r
el
ev
an
t f
o
r
E
Vs o
p
er
atin
g
u
n
d
er
s
u
c
h
clim
a
tic
co
n
d
itio
n
s
.
Ad
d
itio
n
ally
,
th
e
r
e
g
io
n
f
ac
e
s
p
er
s
is
ten
t
r
o
ad
s
af
ety
is
s
u
es,
in
clu
d
in
g
d
e
n
s
e
tr
af
f
ic,
v
a
r
ied
r
o
ad
in
f
r
astru
ctu
r
e,
f
r
eq
u
e
n
t
two
-
w
h
ee
ler
in
ter
ac
tio
n
s
,
an
d
h
ig
h
ac
cid
en
t
r
ates.
T
h
e
in
teg
r
ate
d
ac
cid
en
t
d
etec
tio
n
m
ec
h
an
is
m
u
s
in
g
ac
ce
ler
o
m
eter
-
b
ased
cr
ash
s
en
s
in
g
an
d
GPS
-
lin
k
ed
em
er
g
en
cy
aler
ts
o
f
f
er
s
im
p
r
o
v
ed
r
esp
o
n
s
iv
en
ess
in
ar
ea
s
wh
er
e
em
er
g
en
cy
s
er
v
ices o
f
ten
ex
p
er
ien
ce
d
elay
s
.
Mo
r
e
o
v
er
,
t
h
e
s
y
s
tem
’
s
ca
p
ab
ilit
y
f
o
r
r
ea
l
-
tim
e
tr
ac
k
in
g
a
n
d
c
o
n
d
itio
n
m
o
n
ito
r
in
g
is
esp
ec
ially
v
alu
ab
le
f
o
r
p
u
b
lic
tr
a
n
s
p
o
r
t
f
leets,
r
id
e
-
h
ailin
g
s
er
v
ices,
an
d
lo
g
is
tics
v
eh
icles
th
at
o
p
er
ate
i
n
co
n
g
ested
u
r
b
an
co
r
r
i
d
o
r
s
co
m
m
o
n
ac
r
o
s
s
So
u
th
ea
s
t
Asi
an
cities.
B
y
s
u
p
p
o
r
tin
g
p
r
ed
ict
iv
e
m
ain
ten
a
n
ce
,
r
ap
id
em
er
g
en
cy
n
o
tific
atio
n
,
a
n
d
c
o
n
ti
n
u
o
u
s
o
p
er
atio
n
al
v
is
ib
ilit
y
,
th
e
p
r
o
p
o
s
ed
s
y
s
tem
alig
n
s
well
with
th
e
tr
an
s
p
o
r
tatio
n
n
ee
d
s
an
d
s
af
ety
p
r
i
o
r
ities
o
f
So
u
th
ea
s
t
Asi
a,
wh
ile
co
n
tr
ib
u
tin
g
t
o
r
eg
io
n
al
ef
f
o
r
ts
to
war
d
s
u
s
tain
ab
l
e,
r
eliab
le,
an
d
s
m
ar
t m
o
b
ilit
y
s
o
lu
tio
n
s
.
6.
CO
NCLU
SI
O
N
T
h
e
p
r
o
p
o
s
ed
s
m
ar
t
I
o
T
-
d
r
i
v
en
v
eh
i
cl
e
s
af
e
ty
an
d
b
at
t
er
y
m
an
ag
em
en
t
s
y
s
t
em
s
u
cc
e
s
s
f
u
lly
in
t
eg
r
a
te
s
r
e
al
-
ti
m
e
ac
cid
en
t
d
et
ec
ti
o
n
an
d
E
V
b
at
te
r
y
h
ea
lt
h
m
o
n
it
o
r
in
g
i
n
to
a
u
n
if
i
ed
f
r
am
ewo
r
k
.
B
y
co
m
b
in
in
g
s
en
s
o
r
s
,
m
i
cr
o
co
n
tr
o
l
ler
s
,
w
ir
el
es
s
co
m
m
u
n
ic
a
t
io
n
,
an
d
c
lo
u
d
p
l
atf
o
r
m
s
,
th
e
s
y
s
tem
o
f
f
er
s
au
to
m
at
ed
em
er
g
en
cy
al
er
ts
an
d
p
r
e
d
i
ct
iv
e
b
a
tt
er
y
m
a
i
n
ten
an
ce
.
Ha
r
d
w
ar
e
i
m
p
l
em
en
ta
t
io
n
an
d
d
a
ta
an
al
y
s
i
s
co
n
f
ir
m
th
e
s
y
s
tem
’
s
ab
i
li
ty
to
im
p
r
o
v
e
d
r
iv
er
s
af
ety
,
r
ed
u
ce
e
m
er
g
en
cy
r
esp
o
n
s
e
t
im
e
,
an
d
ex
te
n
d
b
a
t
ter
y
l
if
e.
T
h
i
s
d
u
al
-
p
u
r
p
o
s
e
s
o
lu
t
io
n
ad
d
r
es
s
e
s
ex
i
s
tin
g
g
ap
s
in
v
eh
i
cl
e
s
af
ety
an
d
en
e
r
g
y
m
an
ag
em
en
t,
d
e
m
o
n
s
tr
at
in
g
it
s
p
o
t
en
t
ia
l
f
o
r
en
h
an
c
in
g
s
m
ar
t
tr
an
s
p
o
r
ta
t
io
n
an
d
s
u
p
p
o
r
tin
g
s
u
s
tai
n
ab
le
m
o
b
i
li
ty
in
i
ti
at
iv
e
s
.
7.
F
UT
UR
E
SCO
P
E
T
h
e
f
u
tu
r
e
s
co
p
e
o
f
th
is
r
esear
ch
h
o
ld
s
im
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