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K
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CC B
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C
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s
p
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A
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:
Vijay
ar
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g
an
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Dep
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tm
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E
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Sri
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d
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m
ail: v
ijay
ar
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ee
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s
air
am
it.e
d
u
.
in
1.
I
NT
RO
D
UCT
I
O
N
E
f
f
o
r
ts
to
m
o
n
ito
r
m
i
n
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ar
e
ess
en
tial
f
o
r
im
p
r
o
v
in
g
s
af
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ty
,
m
ain
ten
an
ce
,
an
d
s
u
r
v
eillan
ce
.
T
h
e
s
y
s
tem
s
[
1
]
im
p
lem
en
t
ef
f
icien
t
m
o
n
ito
r
in
g
a
n
d
aler
t
m
ec
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a
n
is
m
s
f
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r
wo
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k
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s
in
u
n
d
er
g
r
o
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d
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m
en
ts
.
T
h
is
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tu
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y
f
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s
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d
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m
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s
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T
o
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th
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co
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tr
o
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ter
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m
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a
p
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STM
3
2
m
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p
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m
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ltip
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to
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u
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m
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n
t
an
d
t
h
e
h
ea
lth
o
f
w
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[
2
]
.
An
o
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h
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s
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s
tem
in
v
o
lv
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th
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cr
ea
tio
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co
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s
m
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n
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in
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d
ev
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to
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m
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’
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s
ab
o
v
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2
,
0
0
0
m
eter
s
ab
o
v
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s
ea
lev
el
[
3
]
.
On
e
s
tu
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y
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s
es
co
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s
ea
m
,
r
o
ck
s
tr
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m
,
a
n
d
c
o
al
-
r
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c
k
m
ix
ed
-
lay
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im
a
g
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f
r
o
m
a
co
al
m
in
in
g
a
r
ea
as
r
esear
ch
o
b
jec
ts
.
Her
e
th
e
n
eu
r
al
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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I
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6
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n
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is
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[
4
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.
An
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in
co
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p
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ates
a
d
ig
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co
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cted
d
ata
[
5
]
,
[
6
]
s
h
o
ws tex
t m
in
in
g
m
eth
o
d
u
s
in
g
ar
tific
ial
in
tellig
en
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(
AI
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t
o
ex
tr
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in
s
ig
h
ts
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d
p
atter
n
s
f
r
o
m
m
in
in
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ac
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r
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ts
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to
m
atica
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f
o
r
im
p
r
o
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d
r
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k
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s
is
.
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wea
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ab
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r
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em
p
lo
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a
d
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[
7
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Sm
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o
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co
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wo
r
k
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co
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h
ea
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m
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an
d
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f
f
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[
8
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.
An
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m
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r
in
g
s
o
lu
tio
n
f
o
r
c
o
al
m
in
es
u
s
in
g
a
r
ea
l
-
tim
e
o
p
er
ati
n
g
s
y
s
tem
(
R
T
OS)
r
o
b
o
t
m
o
d
u
le
to
im
p
r
o
v
e
s
af
ety
a
n
d
r
ed
u
ce
ac
cid
e
n
ts
[
9
]
.
T
h
e
s
tu
d
y
f
o
c
u
s
es
o
n
au
to
n
o
m
o
u
s
r
o
b
o
ts
,
ca
p
ab
le
o
f
d
etec
tin
g
an
d
p
r
ed
ictin
g
d
a
n
g
er
o
u
s
g
ases
(
m
eth
an
e
an
d
c
ar
b
o
n
m
o
n
o
x
id
e)
[
1
0
]
.
T
h
e
in
f
er
en
ce
o
f
v
ar
io
u
s
ad
v
an
ce
d
tech
n
o
lo
g
ies
f
o
r
co
al
m
in
e
s
af
ety
th
at
in
clu
d
es
wea
r
ab
le
aler
t
s
y
s
tem
s
,
I
n
ter
n
et
o
f
T
h
in
g
s
(
I
o
T
)
-
en
ab
led
d
ev
ices,
AI
-
b
ased
h
el
m
ets
an
d
p
h
y
s
io
lo
g
ical
m
o
n
it
o
r
s
ar
e
d
is
cu
s
s
ed
in
T
ab
le
1
.
T
h
e
in
v
en
tio
n
s
wer
e
f
o
cu
s
ed
o
n
i
m
p
r
o
v
in
g
m
o
n
ito
r
in
g
,
co
m
m
u
n
icatio
n
an
d
s
af
e
ty
o
f
th
e
wo
r
k
er
with
f
ew
ch
a
llen
g
es
lik
e
p
o
wer
lim
itatio
n
s
,
h
ar
s
h
en
v
ir
o
n
m
en
t
s
an
d
co
s
t.
T
ab
le
1
.
C
o
m
p
a
r
is
o
n
o
f
ad
v
a
n
ce
d
tech
n
o
l
o
g
ies f
o
r
s
af
ety
an
d
m
o
n
ito
r
in
g
in
co
al
m
in
es
R
e
f
e
r
e
n
c
e
s
W
o
r
k
d
e
scr
i
p
t
i
o
n
T
r
e
n
d
s
C
h
a
l
l
e
n
g
e
s
[
1
]
–
[
3
]
,
[
7
]
,
[
8
]
W
e
a
r
a
b
l
e
-
b
a
se
d
m
i
n
e
r
safe
t
y
a
n
d
h
e
a
l
t
h
mo
n
i
t
o
r
i
n
g
u
si
n
g
I
o
T
se
n
s
o
r
s,
e
m
b
e
d
d
e
d
sy
st
e
ms
a
n
d
sm
a
r
t
p
e
r
so
n
a
l
p
r
o
t
e
c
t
i
v
e
e
q
u
i
p
me
n
t
(
P
P
E)
.
I
n
t
e
g
r
a
t
i
o
n
o
f
smar
t
w
e
a
r
a
b
l
e
s
,
r
e
a
l
-
t
i
me
p
h
y
s
i
o
l
o
g
i
c
a
l
a
n
d
e
n
v
i
r
o
n
me
n
t
a
l
mo
n
i
t
o
r
i
n
g
,
e
m
b
e
d
d
e
d
se
n
si
n
g
i
n
c
l
o
t
h
i
n
g
a
n
d
h
e
l
met
s.
H
a
r
sh
e
n
v
i
r
o
n
me
n
t
a
l
c
o
n
d
i
t
i
o
n
s,
b
a
t
t
e
r
y
l
i
m
i
t
a
t
i
o
n
s,
c
a
l
i
b
r
a
t
i
o
n
i
ssu
e
s,
h
i
g
h
c
o
s
t
a
n
d
m
a
i
n
t
e
n
a
n
c
e
.
[
1
1
]
[
1
2
]
A
I
/
M
L
-
b
a
se
d
a
n
a
l
y
s
i
s i
n
c
l
u
d
i
n
g
n
a
t
u
r
a
l
l
a
n
g
u
a
g
e
p
r
o
c
e
ssi
n
g
(
N
LP
)
,
a
r
t
i
f
i
c
i
a
l
n
e
u
r
a
l
n
e
t
w
o
r
k
(
A
N
N
)
a
n
d
d
e
e
p
l
e
a
r
n
i
n
g
f
o
r
c
l
a
ss
i
f
i
c
a
t
i
o
n
,
d
e
t
e
c
t
i
o
n
a
n
d
saf
e
t
y
i
n
s
i
g
h
t
s
.
A
d
o
p
t
i
o
n
o
f
A
I
f
o
r
a
u
t
o
m
a
t
i
o
n
,
r
e
a
l
-
t
i
m
e
o
b
j
e
c
t
s
d
e
t
e
c
t
i
o
n
,
p
r
e
d
i
c
t
i
v
e
a
n
a
l
y
t
i
c
s
a
n
d
i
n
t
e
l
l
i
g
e
n
t
d
e
c
i
s
i
o
n
-
mak
i
n
g
.
D
a
t
a
v
a
r
i
a
b
i
l
i
t
y
,
n
e
e
d
f
o
r
l
a
r
g
e
d
a
t
a
se
t
s,
c
o
mp
u
t
a
t
i
o
n
a
l
c
o
m
p
l
e
x
i
t
y
,
l
o
w
-
l
i
g
h
t
,
p
r
i
v
a
c
y
c
o
n
c
e
r
n
s.
[
5
]
,
[
1
3
]
W
i
r
e
l
e
ss
s
e
n
s
o
r
n
e
t
w
o
r
k
s
(
W
S
N
)
a
n
d
c
o
mm
u
n
i
c
a
t
i
o
n
sy
s
t
e
ms
f
o
r
u
n
d
e
r
g
r
o
u
n
d
mo
n
i
t
o
r
i
n
g
a
n
d
d
a
t
a
t
r
a
n
smis
si
o
n
.
Zi
g
B
e
e
a
n
d
o
p
t
i
mi
z
e
d
W
S
N
s,
s
e
l
f
-
h
e
a
l
i
n
g
n
e
t
w
o
r
k
s,
e
n
e
r
g
y
-
e
f
f
i
c
i
e
n
t
c
o
mm
u
n
i
c
a
t
i
o
n
.
Li
mi
t
e
d
c
o
m
mu
n
i
c
a
t
i
o
n
r
a
n
g
e
,
e
n
e
r
g
y
i
mb
a
l
a
n
c
e
,
u
n
s
t
a
b
l
e
c
o
n
n
e
c
t
i
v
i
t
y
,
r
e
a
l
-
t
i
m
e
r
e
p
a
i
r
c
o
m
p
l
e
x
i
t
y
.
[
9
]
,
[
1
0
]
,
[
1
4
]
,
[
1
5
]
R
o
b
o
t
i
c
s
a
n
d
a
u
t
o
n
o
m
o
u
s
sy
st
e
ms f
o
r
su
r
v
e
i
l
l
a
n
c
e
,
r
e
sc
u
e
a
n
d
h
a
z
a
r
d
o
u
s
e
n
v
i
r
o
n
m
e
n
t
e
x
p
l
o
r
a
t
i
o
n
.
A
u
t
o
n
o
m
o
u
s a
n
d
se
mi
-
a
u
t
o
n
o
m
o
u
s
r
o
b
o
t
s
,
I
o
T
-
e
n
a
b
l
e
d
r
e
sc
u
e
sy
s
t
e
ms
,
r
o
b
o
t
i
c
e
x
p
l
o
r
a
t
i
o
n
i
n
e
x
t
r
e
me
c
o
n
d
i
t
i
o
n
s
.
N
a
v
i
g
a
t
i
o
n
i
n
G
P
S
-
d
e
n
i
e
d
e
n
v
i
r
o
n
m
e
n
t
s,
r
e
l
i
a
b
i
l
i
t
y
,
w
o
r
k
e
r
a
d
o
p
t
i
o
n
,
u
n
d
e
r
w
a
t
e
r
c
o
n
d
i
t
i
o
n
c
o
n
st
r
a
i
n
t
s.
[
1
6
]
,
[
1
7
]
,
[
1
8
]
S
i
mu
l
t
a
n
e
o
u
s
l
o
c
a
l
i
z
a
t
i
o
n
a
n
d
ma
p
p
i
n
g
(
S
LA
M
)
a
n
d
l
o
c
a
l
i
z
a
t
i
o
n
t
e
c
h
n
i
q
u
e
s f
o
r
u
n
d
e
r
g
r
o
u
n
d
n
a
v
i
g
a
t
i
o
n
u
s
i
n
g
Li
D
A
R
a
n
d
sen
s
o
r
f
u
s
i
o
n
.
A
d
v
a
n
c
e
d
S
LA
M
a
l
g
o
r
i
t
h
ms,
mu
l
t
i
-
sen
s
o
r
f
u
s
i
o
n
,
i
mp
r
o
v
e
d
ma
p
p
i
n
g
a
c
c
u
r
a
c
y
.
D
u
st
,
p
o
o
r
v
i
s
i
b
i
l
i
t
y
,
s
c
e
n
e
d
e
g
e
n
e
r
a
t
i
o
n
,
h
i
g
h
c
o
m
p
u
t
a
t
i
o
n
a
l
r
e
q
u
i
r
e
m
e
n
t
s.
[
1
9
]
En
v
i
r
o
n
m
e
n
t
a
l
a
n
d
e
l
e
c
t
r
o
ma
g
n
e
t
i
c
s
a
f
e
t
y
mo
d
e
l
i
n
g
i
n
m
i
n
i
n
g
s
t
r
u
c
t
u
r
e
s
.
EM
w
a
v
e
a
n
a
l
y
si
s
f
o
r
s
a
f
e
t
y
i
n
u
n
d
e
r
g
r
o
u
n
d
e
n
e
r
g
y
sy
s
t
e
ms
.
C
o
m
p
l
e
x
m
o
d
e
l
i
n
g
,
e
n
su
r
i
n
g
safet
y
c
o
m
p
l
i
a
n
c
e
,
a
c
c
u
r
a
t
e
p
r
e
d
i
c
t
i
o
n
s.
A
s
tr
o
n
g
lo
ca
lizatio
n
f
r
am
ew
o
r
k
was
estab
lis
h
ed
b
ased
o
n
h
y
b
r
i
d
3
D
lig
h
t
d
etec
tio
n
a
n
d
r
an
g
i
n
g
(
L
iDAR
)
an
d
s
im
u
ltan
eo
u
s
lo
ca
lizatio
n
an
d
m
ap
p
in
g
(
SL
AM
)
m
eth
o
d
s
t
o
im
p
r
o
v
e
v
e
h
icle
p
o
s
itio
n
in
g
in
r
o
o
m
-
a
n
d
-
p
illar
u
n
d
er
g
r
o
u
n
d
m
in
es,
s
o
lv
in
g
th
e
p
r
o
b
lem
o
f
2
D
L
iDAR
in
ir
r
eg
u
lar
ter
r
ain
s
[
2
0
]
.
A
p
atr
o
l
r
o
b
o
t
f
o
r
u
n
d
er
g
r
o
u
n
d
m
i
n
e
s
af
ety
was
d
esig
n
ed
with
L
iDAR
,
in
er
tial
m
ea
s
u
r
em
en
t
u
n
it
(
I
MU
)
,
an
d
en
v
ir
o
n
m
en
tal
s
en
s
o
r
s
f
o
r
ac
cu
r
ate
n
a
v
ig
atio
n
,
g
as
an
d
d
u
s
t
d
etec
tio
n
,
an
d
au
to
n
o
m
o
u
s
h
az
ar
d
m
ap
p
in
g
i
n
r
ea
l
m
in
e
t
u
n
n
els
[
2
1
]
,
[
2
2
]
s
h
o
ws
m
o
d
er
n
tar
g
et
lo
ca
liza
tio
n
tech
n
o
lo
g
ies
in
u
n
d
er
g
r
o
u
n
d
m
in
es
wh
ich
f
o
cu
s
es
o
n
p
o
s
itio
n
in
g
ac
c
u
r
a
cy
,
s
ig
n
al
p
r
o
ce
s
s
in
g
m
eth
o
d
s
f
o
r
ac
c
u
r
ate
t
r
ac
k
in
g
.
A
s
y
s
tem
atic
r
ev
iew
o
f
au
to
n
o
m
o
u
s
m
o
b
ile
in
s
p
ec
tio
n
r
o
b
o
ts
in
d
ee
p
m
in
in
g
f
o
u
n
d
f
ew
d
ev
elo
p
m
en
ts
[
2
3
]
.
A
v
ar
iab
le
wh
ee
l
d
iam
eter
co
al
-
m
in
e
r
o
b
o
t
was
also
p
r
o
p
o
s
ed
,
e
n
h
an
cin
g
th
e
ab
ilit
y
to
cr
o
s
s
o
b
s
tacle
s
b
y
m
o
r
e
th
an
6
0
%
an
d
en
h
an
cin
g
ad
ap
tab
ilit
y
to
u
n
e
v
en
u
n
d
er
g
r
o
u
n
d
g
r
o
u
n
d
s
u
r
f
a
ce
s
[
2
4
]
.
A
m
eth
o
d
o
f
3
D
p
o
i
n
t
clo
u
d
r
e
g
is
tr
atio
n
was d
ev
elo
p
ed
f
o
r
m
i
n
e
r
am
p
way
s
tu
n
n
el
[
2
5
]
.
Fro
m
all
th
e
r
ef
er
en
ce
s
[
1
]
–
[
2
5
]
,
th
e
s
tu
d
y
talk
s
ab
o
u
t
th
e
v
ar
io
u
s
ty
p
es
o
f
v
ar
io
u
s
s
af
ety
d
ev
ices,
m
in
in
g
r
o
b
o
ts
wh
ich
f
o
cu
s
es
o
n
th
e
s
af
ety
o
f
th
e
m
in
e
wo
r
k
er
s
.
Pre
s
en
t
co
al
m
in
e
m
o
n
ito
r
in
g
s
y
s
tem
s
in
clu
d
e
wea
r
a
b
le
c
o
n
tr
o
l,
s
m
a
r
t
h
elm
ets,
p
h
y
s
io
lo
g
ical
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en
s
o
r
s
,
Z
ig
B
ee
d
ev
ices,
r
eso
n
ato
r
s
,
AI
-
b
ased
im
ag
e
an
aly
s
is
,
r
o
b
o
tic
p
latf
o
r
m
s
an
d
s
m
ar
t
clo
th
in
g
.
T
ak
i
n
g
th
ese
ad
v
an
ce
s
in
th
e
f
ield
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s
till
f
ew
lim
itatio
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p
er
s
is
t
in
p
o
wer
c
o
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tr
ain
ts
,
co
m
m
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n
icatio
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s
tab
ilit
y
,
au
to
n
o
m
o
u
s
n
av
ig
atio
n
,
s
en
s
o
r
ac
cu
r
ac
y
,
h
ar
s
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en
v
ir
o
n
m
en
tal
ef
f
ec
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d
n
etwo
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ilit
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m
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lex
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al
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av
ig
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o
n
s
atellite
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SS
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n
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er
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r
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d
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ty
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o
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e
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itatio
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o
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th
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u
r
th
er
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esear
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th
is
a
r
ea
.
T
h
er
ef
o
r
e,
b
elo
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c
o
n
tr
ib
u
tio
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s
ar
e
p
er
f
o
r
m
ed
in
th
is
ar
ti
cle
to
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u
p
p
o
r
t
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o
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t
h
e
f
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th
e
r
r
esear
ch
:
i
)
T
h
e
p
r
o
p
o
s
ed
p
o
r
tab
le
m
in
e
m
o
n
i
to
r
in
g
s
y
s
tem
in
te
g
r
ates
ad
v
a
n
ce
d
s
en
s
o
r
s
(
MQ
-
1
3
5
,
DHT
1
1
,
HC
-
SR
0
4
)
with
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S I
n
t J Ro
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&
Au
to
m
I
SS
N:
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-
2
5
8
6
Desig
n
o
f a
p
o
r
ta
b
le
I
o
T ro
b
o
t wi
th
a
z
u
r
e
ma
ch
in
e
lea
r
n
in
g
fo
r
mo
n
ito
r
in
g
…
(
S
h
a
n
th
i N.
)
579
I
o
T
tech
n
o
lo
g
y
to
c
o
n
tin
u
o
u
s
ly
m
o
n
ito
r
cr
itical
en
v
ir
o
n
m
e
n
tal
p
ar
am
eter
s
s
u
ch
as
h
a
r
m
f
u
l
g
ases
(
C
O,
NH
4
,
NO
2
)
,
tem
p
er
atu
r
e,
a
n
d
h
u
m
id
ity
,
en
s
u
r
in
g
r
ea
l
-
tim
e
d
etec
tio
n
an
d
p
r
ev
en
tio
n
o
f
h
az
ar
d
s
in
m
in
i
n
g
en
v
ir
o
n
m
en
ts
.
ii
)
T
h
e
p
r
ese
n
ce
o
f
G
PS
,
G
SM
m
o
d
u
les
,
h
ig
h
-
in
te
n
s
it
y
ala
r
m
s
,
a
n
d
v
is
u
al
i
n
d
ic
at
o
r
s
i
n
th
e
p
o
r
t
a
b
le
m
o
n
it
o
r
i
n
g
s
y
s
te
m
e
n
s
u
r
es
r
a
p
i
d
co
m
m
u
n
i
ca
t
io
n
o
f
h
az
ar
d
o
u
s
c
o
n
d
it
io
n
s
to
r
e
s
cu
e
t
ea
m
s
.
iii
)
T
h
e
p
o
r
t
a
b
le
I
o
T
r
o
b
o
t
i
n
c
o
r
p
o
r
at
e
s
Az
u
r
e
m
a
ch
in
e
l
ea
r
n
i
n
g
(
A
ML
)
t
h
a
t
i
m
p
r
o
v
es
th
e
ac
cu
r
a
cy
a
n
d
r
eli
a
b
ili
ty
o
f
en
v
i
r
o
n
m
e
n
t
al
m
o
n
it
o
r
i
n
g
s
y
s
tem
s
.
iv
)
T
h
e
i
m
p
le
m
e
n
t
ati
o
n
o
f
t
h
e
X
GB
o
o
s
t
al
g
o
r
it
h
m
p
r
o
v
i
d
es
r
o
b
u
s
t
class
i
f
i
ca
t
io
n
a
n
d
f
o
r
ec
asti
n
g
o
f
m
i
n
e
s
a
f
et
y
c
o
n
d
iti
o
n
s
b
as
e
d
o
n
h
is
to
r
i
ca
l
d
at
a
a
v
ail
a
b
le
.
v
)
Als
o
,
th
e
p
r
o
te
u
s
s
im
u
la
ti
o
n
v
al
id
at
ed
t
h
e
s
y
s
t
em
’
s
f
u
n
ct
io
n
a
lit
y
,
in
cl
u
d
i
n
g
t
r
a
n
s
c
ei
v
e
r
c
o
n
n
ec
t
iv
it
y
,
o
b
s
tacl
e
d
ete
cti
o
n
,
an
d
m
o
b
i
lit
y
co
n
t
r
o
ls
.
vi
)
Fi
n
all
y
,
th
e
co
m
p
a
r
at
iv
e
an
al
y
s
is
o
f
e
n
v
ir
o
n
m
e
n
ta
l
p
a
r
a
m
e
te
r
s
w
it
h
a
n
d
wit
h
o
u
t
AM
L
in
t
eg
r
ati
o
n
f
r
o
m
t
h
e
r
e
al
ti
m
e
d
e
v
el
o
p
m
e
n
t
o
f
p
o
r
ta
b
l
e
r
o
b
o
t
h
ig
h
l
ig
h
ts
AM
L
’
s
e
f
f
ec
ti
v
e
n
ess
i
n
r
e
d
u
ci
n
g
m
ea
s
u
r
e
m
e
n
t
e
r
r
o
r
s
a
n
d
i
m
p
r
o
v
i
n
g
m
o
n
i
to
r
i
n
g
ac
cu
r
ac
y
b
y
7
.
2
5
%
t
o
1
8
%
ac
r
o
s
s
d
i
f
f
e
r
e
n
t
p
ar
am
ete
r
s
.
I
n
th
is
ar
ticle,
s
ec
tio
n
2
d
escr
ib
es
th
e
m
o
d
ellin
g
o
f
s
ec
u
r
e
d
ev
ice
f
o
r
m
in
e
wo
r
k
e
r
s
.
Sectio
n
3
d
em
o
n
s
tr
ates
th
e
p
r
ed
ictio
n
o
f
m
in
e
s
af
ety
co
n
d
itio
n
s
u
s
in
g
XGBo
o
s
t,
p
r
ed
ictio
n
o
f
m
in
e
s
af
ety
co
n
d
itio
n
s
u
s
in
g
XGBo
o
s
t
i
s
il
lu
s
tr
ated
i
n
s
ec
tio
n
4
,
r
ea
l
tim
e
im
p
lem
en
tatio
n
o
f
en
v
ir
o
n
m
en
tal
m
o
n
ito
r
in
g
an
d
h
az
a
r
d
d
etec
tio
n
in
m
in
es a
r
e
d
is
cu
s
s
ed
in
s
ec
tio
n
5
a
n
d
f
in
ally
th
e
co
n
clu
s
io
n
o
f
th
e
wo
r
k
is
p
r
es
en
ted
.
2.
M
E
T
H
O
DO
L
G
Y
AND
M
O
DE
L
L
I
NG
O
F
SE
CUR
E
DE
VICE
F
O
R
M
I
N
E
WO
RK
E
RS
I
n
th
is
s
ec
tio
n
th
e
m
o
d
ellin
g
o
f
s
ec
u
r
e
d
e
v
ice
f
o
r
m
i
n
e
wo
r
k
er
s
ar
e
d
is
cu
s
s
ed
.
Ad
d
itio
n
ally
,
th
e
d
ata
an
aly
s
is
an
d
tr
an
s
m
is
s
io
n
n
et
wo
r
k
with
s
im
u
latio
n
wo
r
k
o
f
th
e
p
o
r
ta
b
le
I
o
T
m
in
e
s
af
ety
r
o
b
o
t
ar
e
d
is
cu
s
s
ed
h
er
e.
T
h
e
p
r
o
p
o
s
ed
m
i
n
e
wo
r
k
er
s
’
r
escu
e
s
y
s
tem
is
s
h
o
wn
in
Fig
u
r
e
1
.
T
h
e
p
o
wer
s
u
p
p
l
y
is
p
r
o
v
id
e
d
to
th
e
Ar
d
u
in
o
UNO,
wh
ich
ac
ts
as
th
e
co
n
tr
o
ller
.
T
h
e
MQ
-
1
3
5
s
en
s
o
r
d
etec
ts
h
ar
m
f
u
l
g
ases
s
u
ch
as
am
m
o
n
ia
,
s
u
lf
u
r
,
b
en
ze
n
e,
ca
r
b
o
n
d
io
x
i
d
e,
an
d
s
m
o
k
e,
an
d
tr
an
s
m
its
t
h
e
d
ata
to
th
e
Ar
d
u
in
o
UNO.
T
h
e
DHT
1
1
s
en
s
o
r
m
ea
s
u
r
es
h
u
m
id
ity
in
th
e
r
a
n
g
e
o
f
2
0
%
–
8
0
%
with
5
%
ac
cu
r
ac
y
,
a
n
d
its
o
p
er
atin
g
tem
p
er
atu
r
e
r
an
g
e
is
-
40
°C
to
1
2
0
°C
with
a
±
2
°C
m
ar
g
in
o
f
er
r
o
r
.
I
t
o
p
er
ates
b
etwe
en
3
.
3
–
5
V
with
a
m
ax
im
u
m
cu
r
r
e
n
t
co
n
s
u
m
p
tio
n
o
f
2
.
5
m
A.
I
n
a
f
u
n
ctio
n
i
n
g
co
al
m
i
n
e,
th
e
t
y
p
ical
tem
p
er
atu
r
e
r
an
g
e
is
1
5
°C
to
45
°C
.
T
h
e
HC
-
SR
0
4
s
en
s
o
r
m
ea
s
u
r
es
th
e
d
is
tan
ce
to
o
b
jects
b
y
em
itt
in
g
u
ltra
s
o
n
ic
wav
es
an
d
d
etec
tin
g
th
eir
ec
h
o
es,
m
ak
in
g
it u
s
ef
u
l f
o
r
o
b
s
tacle
d
etec
tio
n
.
T
h
e
Ar
d
u
i
n
o
UNO
r
ec
eiv
es
i
n
p
u
t
d
ata
f
r
o
m
th
e
s
en
s
o
r
s
an
d
ex
ec
u
tes
lo
g
ic
t
o
co
n
t
r
o
l
o
u
tp
u
ts
b
ased
o
n
p
r
o
g
r
am
m
e
d
co
n
d
itio
n
s
.
A
m
o
to
r
d
r
iv
e
r
cir
cu
it
an
d
DC
m
o
to
r
ar
e
u
s
ed
f
o
r
p
o
we
r
in
g
v
en
tilatio
n
s
y
s
tem
s
th
at
en
s
u
r
es
a
d
eq
u
ate
air
f
lo
w
wh
ich
s
u
p
p
o
r
ts
m
ec
h
a
n
ized
s
af
ety
in
ter
v
e
n
tio
n
s
.
T
h
e
NE
O
-
6
M
GPS,
GSM
SIM
9
0
0
m
o
d
u
le
p
lay
s
a
v
ital
r
o
le
in
tr
an
s
m
itti
n
g
lo
ca
tio
n
d
ata,
em
er
g
en
c
y
aler
ts
v
ia
th
e
GSM
n
etwo
r
k
,
en
ab
lin
g
s
wif
t
r
esp
o
n
s
es
to
p
o
ten
tial
h
az
ar
d
s
.
An
alar
m
p
r
o
v
id
es
lo
u
d
,
h
ig
h
-
in
ten
s
ity
n
o
tific
atio
n
s
to
war
n
m
in
er
s
an
d
co
n
t
r
o
l
ce
n
ter
s
o
f
s
er
io
u
s
d
an
g
er
s
,
th
e
b
u
zz
er
o
f
f
er
s
lo
wer
-
in
ten
s
ity
au
d
i
b
le
war
n
in
g
s
f
o
r
ea
r
ly
-
s
tag
e
d
etec
tio
n
s
,
less
cr
itical
is
s
u
es.
Fu
r
th
er
an
L
E
D
s
er
v
es
as
a
v
is
u
al
in
d
icato
r
th
at
d
is
p
lay
s
s
y
s
tem
’
s
o
p
er
atio
n
al
s
tatu
s
wh
ich
aler
t
th
e
wo
r
k
e
r
s
b
ased
o
n
r
ea
l
-
tim
e
s
en
s
o
r
d
ata.
T
h
is
en
h
a
n
ce
s
th
e
o
v
e
r
all
s
af
ety
i
n
th
e
h
az
ar
d
o
u
s
u
n
d
e
r
g
r
o
u
n
d
e
n
v
ir
o
n
m
e
n
t.
T
ab
le
2
s
h
o
ws
th
e
p
ar
am
eter
s
(
T
em
p
e
r
atu
r
e,
C
O,
NH4
an
d
NO2
as
°C
an
d
p
p
m
)
m
ea
s
u
r
ed
f
r
o
m
th
e
m
in
e
en
v
ir
o
n
m
en
t
m
o
n
ito
r
i
n
g
s
y
s
tem
.
T
h
e
n
o
r
m
al
tem
p
e
r
atu
r
e
is
0
–
29
°
C
,
C
O
is
0
–
1
4
,
NH
4
is
0
–
1
5
,
NO
2
is
0
–
1
3
.
Fig
u
r
e
2
illu
s
tr
ates
a
s
af
ety
m
ec
h
a
n
is
m
in
a
m
in
in
g
e
n
v
ir
o
n
m
en
t
wh
er
e
th
e
h
ea
lth
o
f
th
e
wo
r
k
er
s
is
co
n
tin
u
o
u
s
ly
m
o
n
ito
r
ed
u
s
in
g
a
s
m
ar
t
d
ev
ice.
I
n
itially
,
th
e
wo
r
k
er
is
en
g
ag
ed
in
r
o
u
tin
e
m
in
in
g
ac
tiv
ities
;
h
o
wev
er
,
u
p
o
n
ex
p
er
ie
n
cin
g
d
is
co
m
f
o
r
t,
th
e
s
m
ar
t
d
ev
ice
d
etec
ts
a
d
r
o
p
in
o
x
y
g
en
lev
els
wh
ich
ale
r
ts
th
e
r
o
b
o
tic
s
y
s
tem
.
T
h
e
r
o
b
o
t
eq
u
ip
p
e
d
with
s
en
s
o
r
s
(
p
ass
iv
e
in
f
r
a
r
ed
(
PIR))
wh
ich
id
en
tifie
s
h
u
m
an
p
r
es
en
ce
an
d
s
en
d
s
an
e
m
er
g
en
cy
s
ig
n
al
to
th
e
r
escu
e
tea
m
.
T
h
e
r
escu
e
team
r
esp
o
n
d
s
in
s
tan
tly
wh
ich
en
s
u
r
es
th
e
wo
r
k
e
r
is
tr
ea
ted
,
r
et
r
iev
ed
an
d
ev
en
t
u
ally
p
r
e
p
ar
e
d
to
r
esu
m
e
w
o
r
k
.
T
h
e
p
r
o
p
o
s
ed
s
y
s
tem
s
with
in
teg
r
ated
wea
r
ab
le
tec
h
n
o
lo
g
y
an
d
r
o
b
o
tics
en
h
a
n
ce
s
af
ety
,
im
p
r
o
v
e
r
esp
o
n
s
e
tim
e
in
h
az
ar
d
o
u
s
m
in
in
g
co
n
d
itio
n
s
.
T
h
e
p
r
o
p
o
s
ed
d
ev
ice
with
t
h
e
m
en
tio
n
ed
s
en
s
o
r
s
r
eg
u
l
ar
ly
ex
tr
ac
ts
th
e
d
ata
f
r
o
m
th
e
m
in
e
en
v
ir
o
n
m
en
ts
.
T
h
e
v
alu
es
ex
tr
ac
ted
ar
e
tr
an
s
m
itted
to
Ar
d
u
i
n
o
UNO
,
wh
ich
d
o
th
e
in
itial
p
r
ep
r
o
ce
s
s
in
g
an
d
v
alid
atin
g
th
e
s
en
s
o
r
v
alu
es
b
ased
o
n
th
e
p
ar
am
ete
r
s
o
u
tlin
e
d
in
T
ab
le
2
.
T
h
e
GSM
an
d
GPS
co
m
m
u
n
icatio
n
p
r
o
to
co
ls
f
o
r
lo
n
g
-
r
an
g
e
a
n
d
th
e
d
ata
tr
an
s
f
e
r
in
u
n
d
er
g
r
o
u
n
d
en
v
ir
o
n
m
e
n
ts
ar
e
p
er
f
o
r
m
ed
b
y
W
i
-
Fi
an
d
Z
ig
B
ee
n
etwo
r
k
.
T
h
e
GSM
en
s
u
r
es
r
eliab
le
tr
a
n
s
f
er
o
f
s
en
s
o
r
d
ata
to
th
e
cl
o
u
d
;
t
h
er
ef
o
r
e,
GPS
p
r
o
v
id
es
r
ea
l
-
tim
e
wo
r
k
er
an
d
r
o
b
o
t
lo
ca
lizatio
n
.
Af
ter
th
e
ex
tr
a
cted
d
ata
r
ea
ch
es
AM
L
clo
u
d
m
o
d
u
le
,
t
h
e
p
r
ed
ictio
n
e
n
g
in
e
b
ased
o
n
XGBo
o
s
t
an
aly
ze
s
t
h
e
p
atter
n
s
,
f
ilter
s
n
o
is
e
a
n
d
co
r
r
ec
ts
s
en
s
o
r
d
r
if
ts
.
T
h
e
A
ML
m
o
d
el
r
eg
u
lar
ly
id
en
tifie
s
f
r
o
m
i
n
co
m
in
g
d
a
ta
an
d
th
u
s
e
n
ab
les
ad
ap
tiv
e
th
r
esh
o
ld
s
wh
ich
r
ed
u
ce
f
alse
aler
ts
d
u
r
in
g
f
lu
ctu
atin
g
m
in
e
c
o
n
d
itio
n
s
.
Fu
r
th
er
,
t
h
e
clo
u
d
tr
an
s
f
er
s
t
h
e
h
az
a
r
d
p
r
ed
ictio
n
s
to
t
h
e
I
o
T
r
o
b
o
t
v
ia
GSM
wh
ich
en
ab
les
th
e
r
ea
l
-
tim
e
a
ler
ts
,
p
ath
p
lan
n
in
g
in
s
tan
tly
f
o
r
r
escu
e
in
itiatio
n
.
T
h
is
2
-
way
co
m
m
u
n
icatio
n
lo
o
p
—
s
en
s
o
r
→
Ar
d
u
in
o
→
GSM/GP
S
→
AM
L
clo
u
d
→
I
o
T
r
o
b
o
t,
en
s
u
r
es
c
o
n
tin
u
o
u
s
m
o
n
ito
r
in
g
an
d
in
s
tan
t
r
esp
o
n
s
e.
T
h
u
s
,
allo
win
g
AM
L
to
d
y
n
am
ically
en
h
a
n
ce
th
e
d
ec
is
io
n
ac
cu
r
ac
y
,
wh
er
e
th
e
I
o
T
d
e
v
ice
ex
ec
u
tes tim
ely
o
n
s
ite
ac
tio
n
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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2
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I
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No
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3
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Fig
u
r
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a
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m
in
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r
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n
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en
t
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o
n
ito
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g
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y
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le
2
.
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asu
r
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o
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e
n
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ir
o
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tal
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ar
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eter
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e
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n
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t
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mal
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r
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t
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r
e
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o
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e
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a
b
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v
e
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ppm
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15
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b
o
v
e
1
5
NO
2
ppm
0
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13
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b
o
v
e
1
3
Fig
u
r
e
2
.
W
o
r
k
f
lo
w
o
f
th
e
p
r
o
p
o
s
ed
m
in
in
g
s
y
s
tem
2
.
1
.
Sim
ula
t
i
o
n wo
rk
o
f
t
he
po
rt
a
ble Io
T
m
ine sa
f
et
y
ro
b
o
t
As
s
h
o
wn
in
Fig
u
r
e
3
,
th
e
p
r
o
teu
s
s
im
u
latio
n
f
o
r
t
h
e
p
o
r
tab
l
e
I
o
T
r
o
b
o
t
with
AM
L
clo
u
d
co
m
p
u
tin
g
to
m
o
n
ito
r
m
i
n
e
wo
r
k
e
r
s
h
ea
lth
an
d
s
en
d
o
u
t
aler
ts
co
n
f
ir
m
ed
f
lawless
f
u
n
ctio
n
ality
.
I
t
v
alid
ated
tr
an
s
ce
iv
er
co
n
n
ec
tiv
ity
,
p
r
ec
is
e
m
o
b
ilit
y
co
n
tr
o
ls
,
o
b
s
tacle
d
etec
tio
n
,
an
d
ef
f
icien
t
m
o
n
ito
r
in
g
.
T
h
e
s
im
u
latio
n
ass
u
r
es
th
at
th
e
r
o
b
o
t
is
o
p
er
ativ
e,
s
h
o
wca
s
in
g
its
p
o
te
n
tial
f
o
r
r
ea
l
-
wo
r
l
d
a
p
p
licatio
n
s
.
T
h
e
s
im
u
latio
n
o
f
th
e
p
r
o
p
o
s
ed
m
in
e
s
af
ety
r
o
b
o
t
i
s
s
h
o
wn
in
Fig
u
r
e
1
.
T
h
e
m
in
e
s
af
ety
r
o
b
o
t
p
r
o
v
id
es
th
e
r
eq
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ir
ed
aler
t
in
th
e
f
o
r
m
o
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u
zz
er
an
d
L
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is
s
h
o
wn
in
Fig
u
r
e
4
.
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I
AE
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&
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to
m
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N:
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Desig
n
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p
o
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(
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n
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Fig
u
r
e
3
.
Simu
latio
n
o
f
p
o
r
tab
le
I
o
T
m
in
e
s
af
ety
r
o
b
o
t
Fig
u
r
e
4
.
R
esu
lt f
r
o
m
p
o
r
ta
b
le
I
o
T
m
in
e
s
af
ety
r
o
b
o
t
2
.
2
.
M
ine sa
f
et
y
c
o
nd
it
io
ns
us
ing
XG
B
o
o
s
t
T
h
e
p
r
o
p
o
s
ed
s
y
s
tem
u
s
es
X
GB
o
o
s
t
(
ad
v
an
ce
d
m
ac
h
in
e
l
ea
r
n
in
g
alg
o
r
ith
m
)
wh
ich
cla
s
s
if
y
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d
f
o
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ec
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en
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ir
o
n
m
en
tal
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n
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itio
n
s
in
m
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ased
o
n
tem
p
er
atu
r
e
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d
ca
r
b
o
n
m
o
n
o
x
id
e
lev
els.
T
h
e
d
ataset
co
n
tain
s
h
is
to
r
ical
d
ata
r
elate
d
to
th
ese
v
ar
iab
les
wh
ich
u
n
d
er
g
o
es
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r
ep
r
o
ce
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s
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g
to
a
d
d
r
ess
m
is
s
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g
v
alu
es
an
d
is
d
iv
id
ed
in
to
in
p
u
t
f
ea
t
u
r
es
(
tem
p
er
atu
r
e
an
d
ca
r
b
o
n
m
o
n
o
x
id
e
)
an
d
tar
g
et
lab
els
(
n
o
r
m
al,
m
o
d
er
ate
ab
n
o
r
m
al
an
d
f
u
ll a
b
n
o
r
m
al)
.
T
h
e
tar
g
et
lab
els ar
e
co
n
v
er
te
d
in
to
n
u
m
er
ical
v
alu
es u
s
in
g
lab
el
en
co
d
er
wh
ich
en
ab
les
th
e
m
o
d
el
to
p
r
o
ce
s
s
th
em
.
T
h
e
d
ata
is
d
iv
id
ed
in
t
o
8
0
%
tr
ain
in
g
s
et
with
a
2
0
%
test
in
g
s
et
to
tr
ain
th
e
XGBo
o
s
t
class
if
ier
.
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h
e
tr
ain
ed
m
o
d
el
is
s
av
ed
u
s
in
g
J
o
b
lib
f
o
r
f
u
r
th
er
u
s
e.
T
h
e
m
o
d
e
l
’
s
p
er
f
o
r
m
an
ce
is
an
aly
ze
d
b
y
g
en
er
atin
g
p
r
e
d
ic
tio
n
s
o
n
th
e
test
s
et
to
ca
lcu
la
te
its
ac
cu
r
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y
to
g
en
e
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ate
a
c
o
n
f
u
s
io
n
m
atr
ix
t
o
co
m
p
ar
e
th
e
t
r
u
e
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d
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r
e
d
icted
v
alu
es.
A
class
if
icatio
n
r
ep
o
r
t
is
also
g
en
er
ated
to
ass
ess
p
r
ec
is
io
n
,
r
ec
all
an
d
F1
-
s
co
r
e
f
o
r
ea
ch
co
n
d
itio
n
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.
T
h
ese
r
e
s
u
lts
h
ig
h
lig
h
t
h
o
w
well
th
e
en
v
ir
o
n
m
en
tal
f
ac
to
r
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r
ed
ict
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in
e
co
n
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itio
n
s
,
o
f
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er
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g
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alu
a
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le
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o
r
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atio
n
f
o
r
im
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o
v
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g
s
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ety
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d
m
a
n
ag
in
g
r
is
k
s
in
m
in
in
g
o
p
er
atio
n
s
.
Fig
u
r
e
5
,
d
is
p
lay
s
th
e
r
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lts
o
f
a
m
ac
h
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e
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g
m
o
d
el
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s
ed
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n
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itio
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s
(
f
u
ll
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al
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o
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er
ate
a
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n
o
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n
d
n
o
r
m
al)
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ased
o
n
tem
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er
atu
r
e
a
n
d
ca
r
b
o
n
m
o
n
o
x
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e
lev
els.
T
h
e
d
ataset
is
d
iv
i
d
ed
in
to
a
tr
ain
in
g
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et
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2
4
8
s
am
p
les)
an
d
a
test
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g
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et
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6
2
s
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p
les)
wh
ich
ac
h
iev
es
an
ac
cu
r
ac
y
o
f
9
6
.
7
7
%.
T
h
e
class
if
icatio
n
r
ep
o
r
t
s
h
o
ws
a
d
etailed
p
er
f
o
r
m
an
ce
m
etr
ics
th
at
in
clu
d
es
p
r
ec
is
io
n
,
r
ec
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d
F1
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s
co
r
e
f
o
r
ea
ch
class
wh
ich
ex
ce
e
d
s
9
4
%.
T
h
e
m
o
d
el
d
em
o
n
s
tr
ates
ex
ce
llen
t
p
er
f
o
r
m
a
n
ce
ac
r
o
s
s
all
class
e
s
,
with
p
er
f
ec
t
r
ec
all,
p
r
ec
is
io
n
an
d
F1
-
s
co
r
e
f
o
r
th
e
“
No
r
m
al
”
cl
ass
es.
Fig
u
r
e
6
s
h
o
ws
a
co
n
f
u
s
io
n
m
atr
ix
with
p
er
f
o
r
m
an
ce
o
f
a
class
if
icatio
n
m
o
d
el
ac
r
o
s
s
th
r
ee
class
es
(
f
u
ll
ab
n
o
r
m
al,
m
o
d
er
ate
ab
n
o
r
m
al,
an
d
n
o
r
m
al)
.
T
h
e
d
iag
o
n
al
v
alu
es
(
3
7
,
1
6
an
d
7
)
r
e
p
r
esen
t
co
r
r
ec
tly
p
r
ed
icted
s
am
p
les,
wh
ile
th
e
o
f
f
-
d
ia
g
o
n
al
v
alu
es
in
d
icate
m
is
class
if
icatio
n
s
.
Fo
r
in
s
tan
ce
,
o
n
e
s
am
p
le
o
f
m
o
d
er
ate
ab
n
o
r
m
al
was
m
is
tak
en
l
y
class
if
ied
as
f
u
ll
ab
n
o
r
m
al.
T
h
e
in
te
n
s
ity
o
f
th
e
co
lo
r
r
e
f
lects
th
e
f
r
eq
u
en
cy
o
f
p
r
ed
ictio
n
s
,
with
d
a
r
k
er
s
h
ad
es
r
ep
r
esen
tin
g
h
ig
h
er
v
alu
es.
Ov
er
all,
th
e
m
o
d
el
p
er
f
o
r
m
s
well
f
o
r
th
e
f
u
ll
ab
n
o
r
m
al
a
n
d
n
o
r
m
al
class
es
b
u
t
f
ac
es
s
lig
h
t
d
if
f
icu
lty
with
m
o
d
er
ate
a
b
n
o
r
m
al.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S I
n
t J Ro
b
&
Au
to
m
,
Vo
l
.
1
5
,
No
.
3
,
Sep
tem
b
er
20
2
6
:
5
7
7
-
5
8
8
582
Fig
u
r
e
5
.
Valu
es c
o
llected
u
s
in
g
p
r
o
p
o
s
ed
al
g
o
r
ith
m
Fig
u
r
e
6
.
C
o
n
f
u
s
io
n
m
atr
i
x
3.
RE
A
L
T
I
M
E
I
M
P
L
E
M
E
N
T
AT
I
O
N
W
I
T
H
R
E
SU
L
T
S A
ND
DIS
C
USS
I
O
N
I
n
th
e
d
ev
elo
p
ed
p
o
r
tab
le
I
o
T
r
o
b
o
t,
co
m
p
o
n
e
n
ts
s
u
ch
as
th
e
MQ
-
1
3
5
g
as
s
en
s
o
r
,
DHT
-
1
1
tem
p
er
atu
r
e
s
en
s
o
r
,
HC
-
SR
0
4
u
ltra
s
o
n
ic
s
en
s
o
r
,
Ar
d
u
in
o
UNO,
Neo
-
6
M
GPS
an
d
G
SM
SIM
-
9
0
0
m
o
d
u
le,
b
u
zz
er
,
DC
m
o
to
r
,
m
o
to
r
d
r
iv
er
,
1
2
V
b
atter
y
,
an
d
L
E
D
lig
h
ts
ar
e
u
s
ed
.
Gases
lik
e
C
O,
s
m
o
k
e,
alco
h
o
l,
C
O
2
,
NO
2
,
an
d
NH4
ar
e
d
etec
ted
u
s
in
g
th
e
MQ
-
1
3
5
g
as
s
en
s
o
r
.
T
h
e
tem
p
er
atu
r
e
lev
els
ar
e
m
o
n
ito
r
ed
to
en
s
u
r
e
en
v
ir
o
n
m
en
tal
s
af
ety
b
y
id
en
t
if
y
in
g
h
ea
t
-
r
elate
d
ir
r
eg
u
lar
ities
with
th
e
DHT
-
1
1
tem
p
er
at
u
r
e
s
en
s
o
r
.
T
ab
le
3
s
h
o
ws
th
e
im
p
ac
t
o
f
AM
L
o
n
en
v
ir
o
n
m
en
tal
p
ar
a
m
eter
s
,
with
n
o
ticea
b
le
in
c
r
ea
s
es
in
tem
p
er
atu
r
e,
C
O,
NH
4
,
an
d
NO
2
lev
els.
T
h
e
ch
a
n
g
es r
an
g
e
f
r
o
m
7
.
2
5
% f
o
r
tem
p
e
r
atu
r
e
to
1
8
% f
o
r
NO
2
a
n
d
it is
s
h
o
wn
in
Fig
u
r
e
7.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S I
n
t J Ro
b
&
Au
to
m
I
SS
N:
2722
-
2
5
8
6
Desig
n
o
f a
p
o
r
ta
b
le
I
o
T ro
b
o
t wi
th
a
z
u
r
e
ma
ch
in
e
lea
r
n
in
g
fo
r
mo
n
ito
r
in
g
…
(
S
h
a
n
th
i N.
)
583
T
ab
le
3
.
Qu
a
n
tific
atio
n
o
f
v
ar
i
o
u
s
en
v
ir
o
n
m
en
tal
p
ar
am
eter
s
with
an
d
with
o
u
t
AM
L
M
e
a
su
r
e
me
n
t
P
a
r
a
m
e
t
e
r
s
W
i
t
h
o
u
t
A
M
L
W
i
t
h
A
M
L
C
h
a
n
g
e
i
n
v
a
l
u
e
T
e
mp
e
r
a
t
u
r
e
30
32
7
.
2
5
%
CO
12
14
1
5
%
NH
4
15
18
1
7
%
NO
2
14
17
1
8
%
Fig
u
r
e
7
.
Me
asu
r
em
e
n
t o
f
v
ar
i
o
u
s
en
v
ir
o
n
m
en
tal
p
ar
am
eter
s
with
an
d
with
o
u
t
AM
L
T
o
ev
alu
ate
th
e
im
p
ac
t
o
f
ad
a
p
tiv
e
m
ac
h
in
e
lear
n
in
g
(
AM
L
)
o
n
en
v
ir
o
n
m
en
tal
m
o
n
ito
r
in
g
ac
cu
r
ac
y
,
th
e
s
y
s
tem
was
test
ed
u
n
d
er
t
wo
co
n
f
i
g
u
r
atio
n
s
;
with
o
u
t
A
ML
(
b
aselin
e)
an
d
with
AM
L
(
p
r
o
p
o
s
ed
m
o
d
el)
.
T
h
e
b
aselin
e
s
etu
p
d
i
r
ec
tly
u
s
ed
s
en
s
o
r
r
ea
d
in
g
s
f
r
o
m
th
e
DHT
1
,
MQ
-
1
3
5
a
n
d
o
th
er
m
o
d
u
les,
wh
e
r
ea
s
th
e
AM
L
-
en
h
an
ce
d
s
y
s
tem
with
XGBo
o
s
t
-
b
ased
p
r
ed
ictiv
e
m
o
d
elin
g
r
ef
in
es
an
d
class
if
y
th
e
r
ea
d
i
n
g
s
.
T
h
e
d
ataset
was
lab
eled
as
n
o
r
m
al
,
m
o
d
e
r
ate
ab
n
o
r
m
al
a
n
d
f
u
ll
ab
n
o
r
m
al
b
ased
o
n
th
r
esh
o
ld
v
alu
es
as
s
h
o
wn
i
n
T
ab
le
2
.
T
h
e
p
r
ep
r
o
ce
s
s
ed
d
a
taset
was
s
p
lited
in
to
8
0
%
tr
ain
in
g
an
d
2
0
%
test
in
g
s
u
b
s
ets
an
d
th
e
XGBo
o
s
t
class
if
ier
was
tr
ain
ed
u
s
in
g
in
p
u
t
f
ea
tu
r
es
(
tem
p
er
atu
r
e,
g
as
lev
els)
an
d
ta
r
g
et
class
es.
B
o
th
th
e
b
aselin
e
a
n
d
AM
L
-
b
ased
s
y
s
tem
s
wer
e
t
ested
o
n
i
d
en
tical
en
v
ir
o
n
m
en
tal
co
n
d
itio
n
s
.
T
h
e
AM
L
-
in
teg
r
ated
m
o
d
el
p
r
o
d
u
ce
d
f
ilter
e
d
,
p
r
ed
icted
,
an
d
c
o
r
r
ec
ted
v
alu
es
,
m
i
n
im
izin
g
f
alse
p
o
s
itiv
es
an
d
o
u
tlier
r
ea
d
in
g
s
th
at
af
f
ec
ted
ac
cu
r
a
cy
in
t
h
e
b
aselin
e
m
o
d
el.
T
h
e
p
e
r
ce
n
tag
e
im
p
r
o
v
em
en
t w
as c
o
m
p
u
ted
u
s
in
g
th
e
f
o
r
m
u
la:
(
%
)
=
(
ℎ
−
ℎ
)
ℎ
∗
100
T
h
e
o
b
s
er
v
e
d
in
cr
ea
s
es
-
7
.
2
5
%
f
o
r
tem
p
er
at
u
r
e
,
1
5
%
f
o
r
C
O
,
1
7
%
f
o
r
NH₄
,
an
d
1
8
%
f
o
r
NO₂
-
r
ep
r
esen
t
th
e
en
h
an
ce
d
p
r
ec
is
io
n
an
d
r
elia
b
ilit
y
ac
h
iev
ed
th
r
o
u
g
h
AM
L
’
s
ad
ap
tiv
e
lear
n
in
g
an
d
p
r
ed
ictiv
e
co
r
r
ec
tio
n
ca
p
ab
ilit
ies.
T
h
e
ex
p
er
im
e
n
tal
v
alid
atio
n
o
f
th
e
m
in
e
r
o
b
o
t
as
g
iv
en
in
T
ab
le
4
is
p
er
f
o
r
m
e
d
u
s
in
g
an
ap
p
r
o
x
im
ate
n
etwo
r
k
o
f
2
0
s
e
n
s
o
r
n
o
d
es
a
n
d
o
n
e
m
o
b
ile
I
o
T
r
escu
e
r
o
b
o
t.
T
h
e
s
etu
p
is
d
ep
lo
y
ed
in
a
m
i
n
e
lik
e
test
en
v
ir
o
n
m
en
t
o
f
ab
o
u
t
1
0
0
m
with
i
n
ter
co
n
n
ec
ted
tu
n
n
els,
co
n
tr
o
lled
g
as
r
elea
s
e
p
o
in
ts
with
tem
p
er
atu
r
e
an
d
h
u
m
id
ity
v
ar
iatio
n
s
.
T
h
e
s
y
s
tem
is
o
p
e
r
ated
f
o
r
th
r
ee
wee
k
s
co
n
tin
u
o
u
s
ly
with
n
o
d
e
s
am
p
lin
g
d
ata
f
o
r
e
v
er
y
10
-
6
0
s
ec
o
n
d
s
ea
c
h
w
h
ich
g
en
er
ate
s
en
o
u
g
h
v
ar
iab
ilit
y
f
o
r
AM
L
r
etr
ain
in
g
.
D
u
r
in
g
th
is
tim
e
ab
o
u
t
8
-
1
2
en
v
ir
o
n
m
en
tal
co
n
d
itio
n
(
n
o
r
m
al,
m
o
d
er
ate
a
b
n
o
r
m
al,
f
u
ll
ab
n
o
r
m
al,
s
en
s
o
r
d
r
if
t,
co
m
m
u
n
icatio
n
lo
s
s
,
tr
an
s
ien
t
s
p
ik
es)
ar
e
o
b
s
er
v
e
d
an
d
e
x
ec
u
ted
with
ea
ch
f
o
r
5
-
1
5
t
im
es
r
ep
ea
ted
.
T
h
e
d
ev
elo
p
e
d
m
in
e
r
o
b
o
t
is
p
er
f
o
r
m
ed
f
o
r
20
-
1
0
0
n
av
i
g
atio
n
r
u
n
s
f
o
r
c
o
m
m
u
n
icatio
n
s
tab
ilit
y
an
d
o
b
s
tacle
d
etec
tio
n
.
T
h
e
s
y
s
tem
p
r
o
v
id
es
d
etec
tio
n
ac
cu
r
ac
y
,
aler
t
laten
c
y
,
f
alse
aler
t
r
ate,
lo
ca
lizatio
n
p
er
f
o
r
m
an
ce
an
d
GSM/Z
ig
B
ee
tr
an
s
m
i
s
s
io
n
r
el
iab
ilit
y
.
T
h
e
d
u
r
atio
n
g
u
ar
an
t
ee
s
th
e
lo
n
g
-
ter
m
d
ata
to
co
m
p
ar
e
b
aselin
e.
T
h
e
p
er
f
o
r
m
an
ce
o
f
AM
L
s
h
o
ws
en
h
an
ce
m
en
t
i
n
p
r
ec
is
i
o
n
,
en
v
ir
o
n
m
en
tal
m
o
n
ito
r
i
n
g
an
d
p
r
e
d
ictio
n
co
n
s
is
ten
cy
.
T
h
e
r
eliab
ilit
y
o
f
th
e
m
o
d
el
’
s
class
if
icatio
n
ac
cu
r
ac
y
is
ev
alu
ated
f
o
r
9
5
%
co
n
f
id
en
ce
i
n
ter
v
al
(
C
I
)
an
d
it is
co
m
p
u
ted
u
s
in
g
(
1
)
:
=
±
√
(
1
−
)
(
1
)
wh
er
e
p
=
o
b
s
er
v
e
d
class
if
icatio
n
ac
cu
r
ac
y
=
0
.
9
6
7
7
,
n
=
n
u
m
b
er
o
f
test
s
am
p
les
=
6
2
an
d
Z
=
1
.
9
6
f
o
r
9
5
%
co
n
f
id
en
ce
.
T
h
e
r
ef
o
r
e
f
o
r
9
5
%
CI
is
co
m
p
u
ted
as
0
.
9
6
7
7
±
0
.
0
4
3
7
.
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SS
N
:
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2
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6
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l
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