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As
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Szab
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d
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[
1
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,
th
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au
to
m
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p
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m
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a
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jects;
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R
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Kh
an
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l.
[
1
5
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p
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co
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s
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s
o
r
o
r
its
f
r
eq
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n
cy
m
ap
p
in
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—
is
wh
at
t
r
u
ly
m
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s
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s
tem
r
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in
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b
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Per
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SME
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tech
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to
m
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ce
r
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v
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f
o
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g
ian
ts
[
1
6
]
.
As
we
lo
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k
ah
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,
m
aster
in
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ca
lib
r
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n
tech
n
iq
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s
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way
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s
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tay
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tal
co
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d
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s
c
h
an
g
e
[
1
7
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
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I
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3.
RE
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aim
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3
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Serv
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ltip
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f
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in
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to
Evaluation Warning : The document was created with Spire.PDF for Python.
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&
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N:
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4
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A
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ased
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r
m
a
n
ce
in
ter
m
s
o
f
s
p
ee
d
an
d
ac
cu
r
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y
.
An
attem
p
t
was
m
ad
e
to
f
u
r
th
er
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ed
u
ce
th
e
to
t
al
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tim
e
b
y
elim
i
n
atin
g
ce
r
tain
r
o
b
o
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ar
m
m
o
v
em
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b
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en
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p
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g
an
d
d
r
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p
p
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b
u
t
th
is
led
to
co
llis
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s
with
th
e
co
n
v
ey
o
r
,
m
ak
in
g
t
h
e
ad
ju
s
tm
en
t u
n
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ib
le.
T
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le
2
.
E
x
p
er
im
en
t
o
n
c
y
cle
o
f
s
er
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m
o
to
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s
D
e
l
a
y
t
i
m
e
(
se
c
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v
e
r
a
g
e
c
y
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l
e
t
i
m
e
(
se
c
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R
e
mar
k
s
2
.
0
1
5
.
2
2
C
o
m
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l
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m
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v
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o
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y
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e
1
.
5
1
1
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8
I
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l
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c
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r
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y
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N
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c
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l
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t
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e
n
t
s
;
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e
d
u
c
e
d
p
r
e
c
i
si
o
n
3
.
2
.
Co
l
o
ur
s
ens
o
r
t
esting
a
nd
re
s
ult
s
I
n
th
is
s
ec
tio
n
,
a
co
lo
u
r
s
en
s
o
r
is
em
p
lo
y
e
d
to
d
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t
th
e
co
lo
u
r
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f
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b
jects
m
o
v
i
n
g
o
n
a
co
n
v
ey
o
r
b
elt,
en
ab
lin
g
s
o
r
tin
g
in
to
d
es
ig
n
ated
co
n
tain
er
s
u
s
in
g
a
r
o
b
o
tic
ar
m
.
T
h
e
s
y
s
tem
is
co
n
f
i
g
u
r
ed
to
r
ec
o
g
n
ize
th
r
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p
r
im
a
r
y
co
l
o
u
r
s
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ed
,
g
r
ee
n
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an
d
b
lu
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h
e
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en
s
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r
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et
er
m
in
es
th
e
d
o
m
in
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t
r
e
d
,
g
r
e
en
,
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lu
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(
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v
alu
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c
o
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Ar
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Un
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ic
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3
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2
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1
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Co
lo
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n
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f
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d
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r
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m
th
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ata
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iatio
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r
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ased
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n
p
r
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ity
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h
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illu
s
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ated
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Fig
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u
r
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5
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aw
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eq
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ata
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c
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r
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lace
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at
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if
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er
en
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d
is
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I
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if
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r
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ig
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class
if
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lu
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r
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f
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u
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m
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m
an
d
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cm
is
u
s
ed
as
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ax
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u
m
.
Fig
u
r
e
6
s
h
o
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th
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r
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d
if
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r
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em
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atin
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r
e
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in
Fig
u
r
e
6
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a
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,
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lu
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Fig
u
r
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6
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b
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,
an
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6
(
c)
c
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r
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(
a)
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b
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(
c)
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u
r
e
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.
Setu
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o
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r
s
en
s
o
r
f
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er
e
n
t c
o
lo
u
r
ed
o
b
jects
:
(
a)
r
e
d
co
lo
u
r
d
etec
tio
n
,
(
b
)
b
l
u
e
co
lo
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r
d
etec
tio
n
,
an
d
(
c)
g
r
ee
n
co
lo
u
r
d
etec
tio
n
3
.
2
.
2
.
E
v
a
lua
t
io
n a
nd
t
esting
o
f
co
lo
ur
det
ec
t
i
o
n a
cc
ura
cy
T
o
ass
ess
s
en
s
o
r
ac
cu
r
ac
y
,
a
to
tal
o
f
f
o
u
r
test
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wer
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co
n
d
u
cted
u
s
in
g
n
in
e
o
b
jects,
th
r
ee
ea
ch
o
f
r
ed
,
g
r
ee
n
,
an
d
b
lu
e.
T
h
e
r
esu
lts
o
f
ea
ch
test
wer
e
r
ec
o
r
d
e
d
a
n
d
tab
u
lated
in
T
a
b
le
3
.
T
ab
l
e
3
s
u
m
m
ar
izes
th
e
d
etec
tio
n
r
esu
lts
f
o
r
ea
ch
test
cy
cle.
I
n
T
est
1
,
th
e
s
y
s
tem
was
p
o
o
r
ly
ca
lib
r
ated
,
lea
d
in
g
to
o
n
ly
4
co
r
r
ec
t
id
en
tific
atio
n
s
.
Su
b
s
eq
u
e
n
t
test
s
s
aw
im
p
r
o
v
ed
p
er
f
o
r
m
a
n
c
e
th
r
o
u
g
h
m
a
n
u
al
R
GB
m
ap
p
in
g
.
B
y
T
est
4
,
all
co
lo
u
r
s
wer
e
co
r
r
ec
tly
id
e
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tifie
d
,
ac
h
iev
in
g
1
0
0
% a
cc
u
r
ac
y
.
Fig
u
r
e
7
illu
s
tr
ates th
e
tr
en
d
in
ac
cu
r
ac
y
im
p
r
o
v
e
m
en
t o
v
e
r
f
o
u
r
test
in
g
p
h
ases
.
T
h
e
g
r
ap
h
h
ig
h
lig
h
ts
th
e
ef
f
ec
tiv
e
n
ess
o
f
ca
lib
r
ati
o
n
u
s
in
g
t
h
e
m
a
p
(
)
f
u
n
ctio
n
in
t
h
e
Ar
d
u
in
o
co
d
e.
T
h
is
s
tack
ed
b
ar
c
h
ar
t
i
n
F
ig
u
r
e
8
v
is
u
alize
s
h
o
w
m
an
y
o
b
jects
o
f
ea
ch
co
lo
u
r
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e
co
r
r
ec
tly
d
etec
ted
in
ev
er
y
test
.
I
t
r
ev
ea
ls
th
e
p
r
o
g
r
ess
io
n
a
n
d
ch
alle
n
g
es in
ca
lib
r
atin
g
f
o
r
r
ed
d
etec
tio
n
,
wh
ich
was r
eso
lv
ed
b
y
T
est 4
.
T
ab
le
3.
E
x
p
er
im
en
t
o
n
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r
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en
s
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r
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etec
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Te
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m
b
e
r
D
e
t
e
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C
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r
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c
t
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t
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e
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C
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t
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e
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t
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l
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t
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r
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u
r
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r
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p
r
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g
r
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g
r
ap
h
f
o
r
ea
ch
test
cy
cle
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Reco
n
f
ig
u
r
a
b
le
&
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Stack
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k
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d
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test
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3
.
I
nfr
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d
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o
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m
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ly
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en
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o
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s
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lay
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cial
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to
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ially
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o
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n
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en
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g
r
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t th
e
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e
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itiatin
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n
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r
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ased
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4
,
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e
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R
s
en
s
o
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ed
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r
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l
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ates
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o
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ased
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Desp
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ied
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r
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o
ad
d
r
ess
th
e
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elay
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etwe
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d
m
o
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e,
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p
h
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ical
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R
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u
lly
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ated
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o
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ch
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ess
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ately
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n
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e
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y
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em
o
n
s
tr
ated
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eliab
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th
r
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a
p
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u
tto
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n
ter
f
ac
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ile
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ativ
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test
in
g
en
ab
led
s
m
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th
an
d
co
n
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is
ten
t
r
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tic
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r
m
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o
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em
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s
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er
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itially
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ican
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im
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al
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e
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en
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tific
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o
f
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lu
e,
g
r
ee
n
,
an
d
r
e
d
o
b
jects.
Alth
o
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g
h
th
e
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R
s
en
s
o
r
p
er
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o
r
m
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etec
tio
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n
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ey
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s
to
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p
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itio
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p
h
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ical
s
to
p
p
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to
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e
alig
n
m
en
t
f
o
r
co
lo
u
r
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ea
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in
g
.
Ov
er
all,
th
e
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ty
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e
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ates
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n
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em
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ed
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ic
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ac
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au
to
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ated
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ased
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as im
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ased
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atin
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m
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Evaluation Warning : The document was created with Spire.PDF for Python.