The field of wireless sensor networks particularly focuses on appli- cations involving ... there is no cellular service or broadcast communication covering the ...
Energy-Efficient Computing for Wildlife Tracking: Design Tradeoffs and Early Experiences with ZebraNet Philo Juang, Hidekazu Oki, Yong Wang , Margaret Martonosi, Li-Shiuan Peh, and Daniel Rubenstein
Depts. of Electrical Engineering, Computer Science, and Ecology and Evol. Biology Princeton University ABSTRACT
!" #%$&!(' #%) *+)-,.#/ 0 $&12!3' )(#& #&)45"6!5#&)( 1#&)(*$&78#&!61 9): #&; ):7?)(,@! ' #&)(*3 ($& #&) A 1K ; A]BC(]$&$% #&)($&'( S*$&"$i61#/ #%)(#&)(*R7 g\lNmdn h;do2$%1!p0 17: ,.#/ $&1 19) 1#& 6)S>1>$&$Gq mFr k11): #E$&$&7 ;j)(JM#&4>1>$&$sT,.#& $%14! ' #&)(*? #&A n #&) (; N#& ] *#&)_,.( M) #&>$&NK M '( #&ttY(: 610[ 0u6 ' #&)(*>#&) tAvi$/ ('(*_)J'(!; '(#&): 9#&)P? $%" $%37 x,.#/ p17? #%*jy (K 9p(!#&) * z 1'(10 ($&7!]|}K0\)(J c6" 9e d7 ~K O S($%8i1 9 qO): 1 #&)?): 19$T4):7JJA5S " $/7:J,Ci"6$% K (3 >#&) 0\): 1 #&3 :$&M)_)(; *7Y 19XT4 0 1): >( )' 1Ai1 9 1 )J #&) #%M#&)( 1#&)(*$/7 =a:'(1T5(,C5)7 ! ,.#/ Q! 3$%#&!#/ j' >)j#&)J ; ): #&)bkf,.#& $%1M1) 1 )(; H,C IJ4 !?I7Y;U(!($&AMBC(#&4(64;U(!#&)( 1K ; #&1#&) )S#&! $%!): 9 #&)?; #&!" #&$%8!(' K!3' )(#& #&))(J$& ^:'(#/ "6 P 9#%$&j$&)(*0[ 61#/ #&)$&*Y?,O$&$4? S" #&! 1 #&j(K 9Q1'(9 (1 F9 J"6JJ7M !69 ' :)M=E ^:'() 73=T=L#&)(* A 1(#/ Y (_#&!61 9) Y=M 9#&$&(K 9Q)V)(#&>$ !K!): !) #/? $EK #&)(1 #&V Q,O i' >) $& !): 8)(R 3( 1 ) G#&)(1'!#&): M( 9' 10 ): $/7R;U #& A_o ' 1 (; ! F 9$&$% #&) ; )($%*7 #&C$%13^:'(#/ i$&!#/ tAGo(C i! O(1 J'1 ): O,.#&$% $/=L 199IJ#&)(*,.#& Q #%]): ) )f)(P$& )R=a](#&)(*N=a J#&' 1$&7J0 $%$%K P)(#&>$&A)(M)j)(#&>$f#&=L'()(t 1 9( )P"(1 3#& "6J#&])(j$&*#/ N" 1 j61#/ #&)bA BC(_$&!#/ > 1' ; '( #&?1('($%t. K,O = $ P "5^AV =0_PQ!+ZP_ *?0 8' 5P3&-7 5*G 8$`35R4''$%*GT$R$%./35 $ A 5*+aZ0b?.'8$>-$> X0P5! *G+P5!cAU81 $ $%0' '?-d0d"$%?.25K e *G''LP6gf0-/00'Z$S '.*0F31hf((-$> ,$!=0"h0_K!lk$ ;$%'?+P`m n6h: 7$>jC8?i"5!%
E1 8+PQ 7$> $%/0 $ pc $%/0]/G'.$ P`!
hqTS=^ "'1+0$jAc$%i/G'.$Z2i
/0 +p $k$%fd5k3_K ÿd" =%-]r/0SA6 ?AV=; $%/0$$35 s$%1 1 $%$)tu '.*0/v"0$%?0wxv $%+51h>yZ h%.141h&!4hAVcZ$cZzG{| {:}~& K ÿi /. /;
V8 y$%0'Bd? 1'?-)N10 "0' /-@' ?$ K ÿ$.$7 1+$%d; /&A6d%
%-)$%0'.d"3 'j0 35 $F'T! /08dAi m n6!KclT$: $%'?+P01 ''B5T3"81 'Q
$%/0 1 $%0$R i$> =/! i`37$% 4A5 %$% $%$%.$k+C8?+_KR]: i$>k'$%; =fG6$>-$>
$%/0S11 $35'. ?6/0:Ab%$% $%$%0$ P$%1 i+C8?+i' ? Z 0A$>/0^ +=&'BW"0$%?0F'0/$ Kl 0/0'-(Z"; -8P!D$%/'2 ='Lp $"$%5 $%$; '.5.*0 '?-'?%'.2$>/0Kv!;?A^ =8-@+38 1 " $R$>+^:$>""+_Pc$>/0+C8 8$ 1+D$%1+'$:&LShK^lk'?0/0F^ /-21 $>ZAR$>%
/$:$% =''R10 "35+FW35ZA%$% $%$%0$ P9?Z$>'.' 8*0 $4$ *G '0"S7$>/0
E1.6$%./QK ! 1 $%2Ai' ?+(%$%1 *Ghd1 5*Gh/0D]3$% $>D'?-F$%"1+'.'?- O+*0.'.'0Pm n6hj 7$>TAU%
5D/026$jg" % L O": =
h4;$>T+3810" $A9"$%d'0/$.; %1f/& $ K 127$%1 $%$% $k0T"81 0'Qq"%
8$7AV;0"5./ND$>-$> 4?( 0'S$% $%$ &3$%k$>50QP$R! ''$R34.&3&$>/61
$>%8$ K RA!fGh-j13'' /0 $`7m nT`1 cAB0 \ $%"35.'3D "'R$%1+';A=$>-$> SKWM ] $ZA "'$%1+'0PGfG "./j6$>-$> s/j0 $%'?AV^ 08$:5^W 7$Z1h'' //a?Z+C8? $:$%/?r
1+^ $%/0
5% 80gW]=3D$%AU%
5T '.'.?O-8Kcg6'$%7"'.=!fF$%1 $%$%+5 ^. "' 8! Lh
-$%AB j"$!41;4''_AV
1 '?2/Drq $=3"3 /gAUhWS1 0'?
'.$7; "'5-G+_KFMOg $^A4$%".'$%1 '0Pm nT $d'$%(/0/ $%$%*G0a:?W.$=F$%"1 ?r312=AZ0d$>-$>
W0"55*G^g+WA3 $j:0$$ A$C8jf'0 $ KR!1+$%^A`j'.5/0^$>1 $k
*G'.*0+d3d$%"$%Z$% $%61*0/0P /- 10 1*? %0 ¡$4 10 jfGh-8K ÿR1h'' / $^$%$% $`0'.+^!10 R/0 g=$>-$> w $%/0235j1f'.$j$% *G'0" /0/$:''+v$6;1 0$%. ?¡4"81 '$k4?S "5*G ;' *Gh/0:AUT$%"3$%'-
1 1+_P"-$%1+'.'?- L4. $%"+0d$%$%$ K 3.¢dA 'DAY O-) IN '$=THE F5LIFE W1 OF FA:AZEBRA $%./1 $%.$
AV2 =8- 'g !f$ K¢d0'? -X '.$d '"u $>%1i+vA$>]+,AUN$%$;LgAU0P 4? ' $%$4 $R 5*G0P=43? 10_P34?W4 AV1 $WA^%%10u; "'$%0QK¤£QfG4$%0PkN$%./ m n6+Pd'$%g +]N+; $ 4'' *00Pc$^$71?1+'.'?-(¡1$70PR"81 0' D5*G''!$>-$> ¥ $%/0QKW[6'? ='-8P_&4$%]F
"'+-;$%$kARm n6k1 '.'.5$60Si/0ZA$%" 1.$k $%35T6$ T 1 $>-$> S¦` $ P'.$ P4'BW/0$ P *GS'./0^ = ='$$%1F$k ' "8$ . K ÿ.$6''+4$6?
0'/0$>$R:/0hRAU3 8'8%
$%" 1 $R5635R$ 1 % 8'-=!8AV'.'?-d'B1hf/KR4$""+P+ *0+P! AV81$0i $ K`]1 '3R$`$% 10ij/0*G$%"1 ?r31 $ b 4 i3:$%81 .'$>%1359 "319 $>-$> # $%/0S1.1 $ K
3.1lk""Social +q = Structure '?-@Y0P
0
N and $&Collaring /0d4.'-(5*G&
G
P
0
0
s$Cf.' $gN1 "$%()£Qf". 1 $>-$> §Ak1 8%':-8K2[6$>3./F+$%4k'.$%1+"T+C8? $R1 0''./i " $% 8*Gk3?
*.3'$3Z131 /j ?`r3
/+^ 5*G 8$ d 5*$k5*GT'./0^$%1+'.$ Kk%3'-8P:$%81 .' $>%1hA_$% k j$%" 1.$ 3' $c$:1 0''.0'? =' $7@-8h&$>''/GAU =5.(;/./ 5*4A'./0Z$%$%$4Abj""'.5.QK ÿ!!$%" 1 $2A7 $F?F]£bf"B( 1 0$>-$>
SK e 0P4¨T*-p $ 7L©RC8$`/*-BbAV $c'.5/0 '80$% '?-
0+h$ FK ÿT+P8 T10 0_P8ª'.$ L©4K1 ''B=AU $=./8% OfW? O ='0Pk 7'??
AV =' /S/0"$ K ÿ $%$%
1+''+t« $%¬S 131 +';'0/ L §$ P K ÿ-"1+''?-@35 §/0"$ 1 0' $%1 S8%16Ab65+PjC83'O-=A96*G/0
23;Z1 0 "$%?.FAc3.*.'Q3 °/0"$ H ®5JLKc±!'+5'-8PG$ "$93^$% ='' 35 /0"$ PR-='.$>4'./3d^ k "
%-)// /00_K#1- 1 $="$% 8d]13''./
/Z"' xi1 0'0/$>$%%-/ZZ+*G ' ?1+$% $ P i4''41h3''?-@$%$%.$>=m nT&@""3/0/%
5*./KRm $T$%"3W $>kA9 ?k :/ /P3
Pin_gw
18
Pin_fm
16
speedgw
speedg Pout_gw
speedfm Pout_fm
# of samples
14 12 10 8 6 4 2
GRAZING
GRAZE-WALKING
FAST MOVING
²4³U´µb¶5·N¸3¹Zº^»b¶5··¼>½+³U·¶5·¾¿DÀ3Á`³VÂU³U½hÿDÀ_¾b·ÂOÄ
18
0 0
5
10 15 20 25 30 35 40 45 50 55 60 65 70 75 80 85 90 95 100 105 110 115 120
net angle turned (degrees)
² ³U´µb¶5· _¹Æd³VÇ ½ ¶³UÁ9µb½+³UÀÈ#À3É;ÊG·Á9¶5ËX½+µb¶È9³VÈb´xËÈb´ÂU·Ç 4 À3Á`Ç ·¶5Ì·¾Á_ÃNÍ`·ÂV¾)Á`³BÀÂUÀ3´³UÇ ½+Ç0Ä
16
# of samples
14 12 10 8 6 4 2 0 1
3
5
7
9
11 13 15 17 19 21 23 25 27 29 31 33 35 37 39 41 43 45 47 49
net distance traveled (meters)
²4³U´µb¶5·(Å_¹DÆd³UÇ ½ ¶³UÁ`µb½+³BÀÈvÀÉiÊG·Á9¶5Ë¿DÀÌ·¿D·È½+ÇWÀÁb¼ Ç ·¶5Ì·¾@Á_Ã@Í9·ÂU¾)Á`³UÀÂBÀ3´³VÇ ½+Ç0Ä ÎÏ ÐSÏÑ3ÎSÑÒÓ0Ô8Õ+ÖTרÙÚÏÛTÜÚØÝUØÚkÕÞ;ÓÚÏß Ø^ÒÑ2ÏÚØ+ÏÛjÞÝcÛ%ÔÞÚ%Õ ÙàÕÚÏÜÒBÎá?Ðâ ÓÚÞ5ã4ÒÑÓ;ÓÚÏÛ%Û%Ø Û ÖäÔØ Û%Ø^ÏÚØ ÏÛ6ÞåØÚTÔÒÓ0ÔSØÑâ ØÚÓØÕÒæSÓGÏÒ.ÑÛ;ÏÑ3Î@áÞ+ã#ÚÒ.Û%çÛÞÝjÜÚØ ÎÏÕÒÞÑQÖ@èÔÒáØSÓÚÏßâ ÒÑÓWÞ0ÑgÛ%ÔÞÚ%ÕZÓÚÏÛ%ÛZÛ>ãÏ5ÚÎÛ é9ߨ ÙÚÏÛjÕ ÐÜÒæ+Ïá.á?ÐÕÏÑæ Ø Û éã4Ò?ÕÔ:ÕÔØ Ò?Ú ÔØ Ï0ÎÛkÚÏÒÛ%Ø+Î2ÙØ æ+ÏàÛ%ØZÕÔØÐSÏÚØ7ÑÞÕTÓÚÏß ÒÑÓÖ6è]ØZæ+ÏÕØÓ0Þâ ÚÒß ØjÕÔÒÛkÏÛÕÔØjÝÏÛ>Õ%â ë Þ5ìÒÑÓ7Û>ÕÏ5ÕØ0Ö ð ÒÓ0àÚØ7ójÒááàÛ>Õ%ÚÏÕØÛkÕÔØ Û%ØTÕÔÚØ Ø ë ÞÎØÛÞÝ`ߨ ÙÚÏ ë Þì0Øâ ë Ø Ñ8Õ7ÏÙÛ>Õ%ÚÏæÕá?Ð8é!ã4Ò?ÕÔ@Õ%ÚÏÑÛ%Ò?ÕÒÞ0Ñ(ÜÚÞÙ3ÏÙÒá.Ò?ÕÒØ ÛÙØÕOãØ ØÑ ÕÔØ ë ÖNäÔØWÛ%ÜØ Ø+ÎÎÒÛ>Õ%ÚÒÙàÕÒ.ÞÑÛ&ÒÑØ+ÏæÔ ë ÞÎØWÏÑÎ@ÕÔØ ÜÚÞÙ3ÏÙÒáÒÕÒØ Û!ÞÝ_Õ%ÚÏÑÛ%Ò?ÕÒÞ0ÑÒÑÓ7ÙØhÕ ãØØ Ñ=Ø+ÏæÔ=Û>ÕÏÕØTÏÚØjÎØâ ÚÒìGØ+Î=ÕÔÚÞ0àÓ0Ô=ÝVØ Ø ÎÙ3ÏæhçÝBÚÞ ë ÙÒÞá.ÞÓ0ÒÛ>ÕÛjÏÛkÎØ Û%æÚÒÙØ+Î;ÙØâ áÞ+ã:Ö Æd³UÇ ½ Ë3È9ô·õ\ÀÌ·¾RÄ ð ÒÓàÚØöÛ%ÔÞ+ã4ÛÕÛø ö5ùLÖúäÔØgÔÒÛ>â ÕÞ0ÓÚÏ ë Û%ÔÞ+ã4Û^ÔÞ+ãxÞÝUÕØÑ]ÎÒ?åØÚØÑÕjÑØÕ ë Þ5ìGØ ë Ø Ñ8ÕÛkã!ØÚØ Þ0ÙÛ%ØÚìGØ+ÎÖRûRÏæhÔ2ÎÏÕÏ7ÛÏ ë ÜáØ:ÒÛkÑØÕTÎÒÛ>ÕÏÑæ Ø ë Þ5ìGØ+Î=Ò.ÑSÏ ÕÔÚØØâ ë Ò.ÑàÕØ&ÒÑÕØhÚì0Ïá!Û%ÒÑæ Ø=ÕÔØ=á.ÏÛ>Õ7Þ0ÙÛ%ØÚì0Ï5ÕÒÞ0ÑQÖ@üLäÔØ ÕÔÚØØâ ë Ò.ÑàÕØ:Ò.Ñ8ÕØÚìÏáQÒÛ6æÔÞ0Û%ØÑÕàÎÒØ ÛÕÔ3Ï5Õ4Û%ÔÞ+ãXÒ?ÕÛkÛ%àÒ?ÕÏÙÒáÒ?Õ Ð;ÝVÞÚTÛ>ÕÏ5ÕÒÛ>ÕÒ.æ Ïáá?Ðâ ìÏáÒ.Î&ÛÏ ë ÜáÒÑÓZÞÝbÏÑÒ ë Ïá ë Þì0Ø ë Ø Ñ8ÕÛø?óùLÖ ý^è]ØkÎØh÷3ÑØ4ÑØÕ ÎÒÛ>ÕÏÑæ Ø ë Þ5ìGØ+ÎdÏÛTÕÔØ^ÑØÕ6ÎÒÛ>ÕÏÑæ Ø:ÝUÚÞ ë ÕÔØZÙØ ÓÒÑÑÒÑÓ ÞÝ_ÕÔØkÕÔÚØ Øhâ ë ÒÑàÕØÒÑ8ÕØÚìÏáÕÞZÕÔØkØ ÑÎ_ÖcäÔ3Ï5ÕÒÛ éÒ?Ý`Ï:ß Øâ ÙÚÏ ë Þ5ìGØ+Î6ÕØÑ ë ØhÕØÚÛQÝBÚÞ ë Ò?ÕÛ9ÞÚÒÓ0ÒÑ3ÏáÜÞÛ%ÒÕÒÞÑ7ÏÑ3ÎjÕÔØ Ñ æ+Ï ë Ø7Ù3Ïæhç2ÏÓGÏÒ.Ñ_é9ÏáácÒÑ2ÕÔÚØ Ø ë ÒÑàÕØ Û éÒ?ÕÛ:ÑØÕ:ÎÒÛ>ÕÏÑæ Ø ë Þ5ìGØ+ÎãÞàá.ÎdÙØ:ß ØÚÞÖ þ Ø æ ÏàÛ%ØWÕÔØSÎÏÕÏFãÏÛ;æÞ0ááØ æÕØ+ÎÙÐNÏDÛ>ÕÏÕÒÞÑ3ÏÚ%ÐÞÙâ Û%ØÚìGØhÚ+é ð Ò.ÓàÚØ!öñ Û`ÎÏÕÏÒÑæ áàÎØ Û ë Þ0Û>Õá?ÐjÓÚÏß ÒÑÓkÏÑ3ÎjÓÚÏß Ø ãÏáçÒÑÓWÞÙÛ%ØÚìÏÕÒÞ0ÑÛ Ö^äÔØZÕ ã!Þ;ÕOÐÜØÛ6ÞÝ ë ÞÕÒÞÑÕ%ÚÒÙàÕÒ.ÞÑQÖ äÔØj÷ÚÛ>Õ ë ÞÎØ0éÓÚÏß ÒÑÓé3Ô3ÏÛkÏ7ÔÒÛ>ÕÞ0ÓÚÏ ë ÜØ Ïç=ÓÚÏÜÔØ Î ÏÕ=ö ë ÏÑ3ÎÏ ë Ø+ÏÑ(ÑØÕ%âOÎÒÛ>ÕÏÑæ ØdÞÝ:ÿÖ.ó ë Ö(äÔØdÛ%Øæ Þ0ÑÎ ë ÞÎØé`ÓÚÏß ØâLãÏá.çÒÑÓéRÚÏÑÓØ Û^ÝBÚÞ ë ó 5â>ö ë éÔÏÛiÏSÜØ+Ïç ÓÚÏÜÔØ+ÎgÏ5Õ7ÏÜÜÚÞ5êÒ ë ÏÕØáÐ@ó ë é`ÏÑ3ÎÕkáÒ.Ñç=ÔÒÛ>ÕÞÚ%ÐWÒÑÝVÞÚ ë ÏÕÒÞ0Ñ ë Ï+Ð=ÙØjÝBÚàÒ?Õ%ÝVàáÖ ºµb¶È9³UÈb ´ WÈQ´ÂU·Ä í ÑÞÕÔØÚÝVÏæ ØhÕ6ÞÝ ë Þ5ìGØ ë Ø Ñ8ÕÒÛkÎÒ?â ÚØ æÕÒÞÑQÖ ð ÒÓ0àÚØiÿÓ0ÒìGØ Ûk÷3Ø á.ÎFÎÏÕÏÞ0Ñ2ÑØhÕTÕàÚÑÒÑÓ=ÏÑÓ0áØ0Ö Ò ë Òá.ÏÚ=ÕÞ]ÑØÕ;ÎÒÛ>ÕÏÑæ Ø ë Þ5ìGØ+Î_éRÕÔØFÑØÕÕàÚÑÒ.ÑÓNÏÑÓ0áØ ÒÛ;ÎØ÷ÑØ+ÎÏÛÕÔØ2ÏÙÛ%Þá.àÕØFì0ÏáàØSÞÝjÕÔØ2ÏÑÓ0áØFÙØÕOãØ ØÑ ÕÔØÛ>ÕÏ5Ú%Õ7ÞÝÕÔØÕÒ ë ØÒÑÕØhÚì0Ïá!ÏÑ3ÎgÕÔØØÑ3ÎgÞÝÕÔØÕÒ ë Ø ÒÑ8ÕØÚì0Ïá Ö OÝ4ÕÔØ=ß Ø ÙÚÏ ë Þì0Ø+Î]ÿ 2ÎØ ÓÚØ Ø Ûiã4Ò?ÕÔÒ.ÑNÕÔÚØ Ø ë ÒÑàÕØ Û é0ÒÕÛ!ÑØÕRÕàÚÑÒÑÓiÏÑÓá.ØkãÞàá.ÎÙØ6ß ØÚÞÖcäÔØ ë Ïêâ Ò ë à ë ÕàÚÑÒÑÓDÏÑÓ0áØdÒÛ&ÕÔØÚØÝVÞÚØgó gÎØ ÓÚØ ØÛ ÖNè]ØdàÛ%Ø ÕÔØÛ%Ø6ÎÒ.Û>ÕÏÑæ Ø6ÏÑÎ;ÎÒ?ÚØ æÕÒÞ0Ñ;ÔÒÛ>ÕÞ0ÓÚÏ ë Û!ÕÞZÓàÒ.ÎØ ë Þ0ÙÒá?â Ò?Õ Ð ë ÞÎØá.ÛÝUÞÚTÛ%Ò ë àá.Ï5ÕÒ.ÞÑÛ4ÒÑ ØæÕÒÞ0 Ñ Ö ×Ø ÙÚÏÛgÏÚØ t˽ · ¶ _Àµb¶ô0·ÇtË3Èb¾ ÆW¶³VÈ Q³VÈQ´bÄ ÕØÚ ë Ø+ÎdÏ7ãÏÕØhÚ%â ÎØ ÜØ ÑÎØ Ñ8ÕTÔØÚÙÒ.ì0ÞÚØZÙØ æ+ÏàÛ%Ø:ÕÔØÐdÛ%Ø Ø ç Þ0àÕ!ãÏÕØÚÕÞ^ÎÚÒ.Ñç&Þ0Ñ;Ï^ÎÏÒ.á?ÐÙÏÛ%ÒÛ Ö í Ó0ÏÒÑWÙÏÛ%Ø+ÎÞÑ;ÞÙâ Û%ØÚìÏÕÒÞ0ÑÛ éÞ0àÚ ë Þ0ÙÒ.áÒ?Õ Ð ë ÞÎØ áÛ9ÏÛ%Û%à ë ØÕÔ3Ï5Õbß ØÙÚÏÛbÔØ+ÏÎ ÝVÞÚ4ãÏÕØhÚTÛ%ÞàÚæ ØÛTÏÙÞ0àÕ4Þ0ÑæØ:ÜØÚkÎÏ Ð8Ö Ñæ Ø6ÕÔØhÚØ0éÕÔØÐ ÎÚÒÑçÕiÒÛ7ÛÏÕÒ?â ÏÕØ Î_é8ÕÔØÒÚ ë Þì0Ø ë Ø Ñ8ÕcÒ.ÛÏÓGÏÒÑdÒÑ3ÎØ ÜØ Ñ3ÎØ Ñ8Õ!ÞÝbÕÔØkãÏÕØÚ Û%Þ0àÚæ ØSàÑÕÒáÕÔØdÑØêÕ=ÎÏ+Ð8Ö(è]ØdÏÛ%Û%à ë ØdÒ.Ñ(Þ0àÚ ë ÞÎØ áÛ ÕÔ3Ï5ÕRÕÔØ4Û%Þ0àÚæØ ÛÞÝ_ãÏ5ÕØÚÏ5ÚØkÚÏÑ3ÎÞ ë á?ÐÎÒ.Û>Õ%ÚÒÙàÕØ+ÎéÏÑÎ ÕÔ3Ï5Õ7ÕÔÒÚÛ>ÕOÐNß Ø ÙÚÏÛ&æ ÏÑØ+ÏÛ%Òá?ÐuüÙàÕ&ÑÞÕ&ÒÑÛ>ÕÏÑ8ÕáÐý:÷3Ñ3Î ÕÔØÒÚãÏ ÐWÕÞÏÑFÏ0ÎØ+ò8à3Ï5ÕØjÛ%Þ0àÚæ Ø0Ö ×Ø ÙÚÏÛ7ÕØÑ3Î]ÑÞÕ&ÕÞÕ7ÒÛ àÛ%Ø Î;ÕÞ&Û>ÕÞÚØjÕÔØj÷Ú ë ãÏ5ÚØ0Ö TÛ%Ò.ÑÓDÕÔØ $&%' )â ( ó û4ñ Û ë ÒæÚÞ0ÜÚÞ8æ Ø Û%Û%ÞÚ+éã!ØSÜØÚÒÞÎÒ?â æ+Ïá.á?ÐWÞ0ÙÕÏÒÑdÕÔØ6ÜÞ0Û%Ò?ÕÒÞ0ÑSæ Þ8ÞÚÎÒÑ3Ï5ÕØ ÛTÏÑ3ÎWÛ>ÕÞÚØjÕÔØ ë ÒÑ
Tekk KS-960 Data Radio
PicoPacket Packet Modem
Linx SC-PA Short Range Radio
GPS-MS1E
=?>A@CBD E5FGHIJLKMJL@NDOQPRISJLT?KIEUJLD EJLT?O!VEXWDONYZEK KMD OLU[2>]\@ UJC^A^AOND_P`D JLKMJLKba2PcE
Battery & Solar Array Voltage Data
u-Blox GPS-MS1E
PicoPacket Packet Modem
Linx SC-PA Tranceiver (local radio)
Power Conversion & Switching Circuit
ADC: Voltage Measurement
Rechargeable Lithium Ion Battery
Tekk KS960 (long-range radio)
Solar Array
Charge Controller
=?>A@CBD Ed2Gef^AJ2U[g`>AOQ@LD OChiJLTjVcEW`D OLYkEXKZ\J2gE3gEml n >A@C\co prqts/uvQwyxCu;z {b|5}Lzs8~&
&'Z{tz|XpvNs&z{tjzMMX{bzqt6qtu rp qt~Npv wbMqt~Npsps,u{tqt~Lzv:s8X,MpMvmq]u{fuQ{6QQ{8w Cus8sMcs8s8N,pvQ&qt~Lzq sqtu{tMumu{b|QpvLz qtMsC{'~NuQ{ z~_~NuQ{{tmQp{ts z¡prq8qt¡&u ¢;{ £¤;xm¥Xqts*us8LzM'¦~Nps p,N¡pMs/qt~Nzq§¤;¨6©ªu'sqtu{bzjpsmNp¢z¡MvmqqtuZzNQ{tu«w p¬zqtM¡r¥ Mu¡®¡®z {8w)|QzM¥Qs u{8qt~¯u|Qzqbz±°NX{8qt~N{t,u{t 3N¡®zv²qtu³Mu,X{tMs8sqt~Q|QzqbzSxm¥{tMQ{tMs8vqtpvQ,usq u qt~QjMumu{b|QpvLz qtMszs6u´ s8qts6A{tuµq u{t]{tMvQM,Cupvmqts C{~QuX{6s8s8Q,p®vQ_z_Mu,Q{tMs8s8puv¶{bz qtu*zxCuQq6§;·_ §¤¨6©u°`¡®zs8~psjqt~NMv zLzxQ¡u/sqtu{tpvN:¶Mu¡¡®z{8w |NzM¥Xs uc|Qzqbz ¦~NZQ{tumMMs8s8u{z¡s8u!Mumu{b|XpvLzqts_qt~QZMu,NvQpzqtpuvQs u ¢;{qt~N6q u¬{bz|XpusM¸!b~Nus8qtukQs8q u¬{bz|Xp®uss8u zv~Lz¢;*xQ{tu;z|fMuvmq8{tu¡Xu¢{Rq8{bz|XMu´ spvMvQ{t¥¢sM`ujw QvNpz qtp®uv{bzvQ&°`p{tsqCqt~Q¹pvQ«¦M~QvNu¡®upMs6Qº'w»2 s8{tpMsf¼M½¾ps&z,|Qzqbzj{bz|Xpu prqt~zj{bzvQ6ucuvN¡r¥:M¬,w qt{tsxQQq¢;{8¥¡®u Cu {MuvNs8Q,Qqtpuv2,MMuvN|2 jQs8 zjs8¡u xNXq~Qp~N{8w»Cu {&|Qzqbz{bz|Qpu_zvL|Nzb¿;q,u|Q ]u{ ¡uvQ{8wÀ{bzvQfÁÀ½¿_Âq8{bzvNsA{tsM'¦~Ns8~Nu{8q8wy{bzvN{bz|Xpu psCu {8wy,MpMvmq]u{cCM{q8{bzvQs]{ts ~NMvfÃMMxX{bzscz{t?MuvQw {t;zqtpvQx¥ zqt{cs8uX{tMMsM ~Np¡?qt~Q¡uvQ{8wÀ{bzvQ {bz|Xpu ps vNMMs8stz{8¥,Au{?Mu,NvQpzqtpvNqtu6qt~NxLzs8/sqbzqtpuvku¢{ qt~Nf¡®z{tjz{tz_sqtL|Qp| prqt~¶{t¡Äz qtp¢;M¡r¥] q8{bz¿pvN_Mu¡rw ¡®z{tsM Å IJNDKÆ,ON\@LE3Æ,OLg`>AJ¯H&D JLKJUJC^»oǸS~Np¡jqt~N,pMuw Rzb¿;qcNzb¿;qc,u|QMª~LzvN|Q¡Msc{8{tu{'Mu{8{tMqtpuv2mMu¡¡ps8puv |QqtMqtpuv2zvN|:Lz¿;qtp®ÃMzqtpuv!Au{|Nzqbzs8vquv!qt~N,¡uvQ {bzvQ¦M¿¿|Qzqbz,{bz|QpuX2qt~Qfstz,Au{6|Qzqbz,q8{bzvQs8,p®s8s8puv u ¢;{qt~N¹2p®vX«f{bz|QpuQsqcxC C{8]u{t,|jxm¥qt~QÈ MxX{bzÉq Ê {t z {tkX~Qu{8q{bzvQj{bz|QpuLz¿qts6~Lz¢;,zZ¬z «Xp®fN s8pÃM?u2&xm¥qtMsczvL|zf§&xQpq*º*ºËQ{tu ¢p®|QMs{8{tu{'b~N¿mw
pvNXc¦~N&¹2pvQ«j{bz|Qpuz¡s8uf{tmNpr{tMszºX{tuqtumMu¡Cs8p®vQM vNuvNkp®s,X{tu ¢Xp®|X|Ëp®v3qt~Nk~Lz{b| z {t¸S~Np¡Z¬zvm¥ËsqbzvQw |Nz {b|3X{tuqtumMu¡sks8Q~zs_¡u~LzX?X¡uq8qt|¡u~NzXº Q zvN|ºÌ¼r§ ¾z{t:z ¢zp¡®zxQ¡ÈCMxQ{bzÉ/qZ~Lzs_{tmNpr{tw ,MvmqtskzvL|³{tMs8uQ{tMMskqt~Lzq5|Qpr´ {Ä{tuÍq»¥XNpz¡ pr{tM¡Ms8s z|wy~NumvNq u{t¿sMR¸³~QMv_|Qup®vQfC{ s8z {t~2Qu¡¡®z{ts Qsq z¢;up®|Mu¡®¡ps8puvQsRx¥&s8M¡MqtpvN|QMs8pvLzqtM|s8MvN|Q{tsuvQw»zq8w»zw qtp,R°Qu{8qtNvNzqtM¡r¥m zv,p®,Q¡M,Mvmqz&NvQp®QMu¡®¡ps8puvXw z¢;up®|QzvN Q{tuqtumu¡Qqt~NzqRqbz¿;Mscz|X¢zvqbzuCqt~N*]zqqt~Nzq
&',p¢;Ms*uQ{*vNq u{t¿|js¥XsqtMzv¬«q8{tM,M¡r¥jzMMX{bzqt zvN|:Q{tMps8ks¥XvNb~Q{tuvNpÃM|M¡um¿C ÁÀ¦~N¬s¥XsqtMÎ~LzsfvQq8w u{t¿;|qtp,pvN pqt~¯w)vNskQ{tMMps8puvzvL|SvNs_/5 zMQ{bz¥m Â_©'¥kxQ{tuz|XzsqtpvN¬CM{qtu,C{/s8Mz{tb~Q{tpMs pvfvQuvXw»u ¢;{t¡ÄzNQp®vQX{t|Qqt{t,pvN|&qtp,*s8¡uqts`qt~NzqR{tMCMzq M¢;{8¥Zs8MMuvL|Qs*u{ s8uX /zvk¡®p,pvLz qtu¡¡p®s8puvNsM ¦~Q ,pvNpQÌ¡MvNqt~ufqt~Q¶qtp,s8¡uqtsps5|Xpqbzqt|³xm¥Ïqt~Q z¢zp¡ÄzxNp¡prq)¥_uRºcЯqtp,/zvL|,qt~Nqtp,vNMM|Q|,qtufs prqtb~ xCq MMvf{tMMMp¢;?zvL|fq8{bzvNs8,prq,u|QMsuvqt~N?¹2p®vX«f{bz|QpusM ºÐÑz¢zp®¡®zxNp¡pq»¥pszvps8s8Qs8pvQMqt~N6
&'w)5 MÒ³ºÐ psz¡®s8u{tNvQvNpvN&qtp,wy{tprqtpz¡Lqbzs8¿s'{tM¡®zqtM|¬qtuf
&',q8{bz¿mw pvNX©*MzNs8?uCqt~QpsM u{t¿ prqt~ZM w£,scqtp, s8¡uqts pvkuQ{?pvNprqtp®z¡|Q¢XpMsM*¦~Qps p¢;Ms?Ns*Mu¡¡ps8p®uvQwÀA{tfuC{bzw qtpuv]u{_u{jMku¡¡®z{tsM prqt~:£,s6zvN|!,s&qtp, s8¡uqts {tMs8CMqtp®¢M¡r¥m ÓÔ>AD EX^AE nn YZEKÕJLD[2>]\@Ök^AKEXD\OQK>A×CE n oذQ{tmNMvQ¥ {bzvQ³{tMN¡®zqtpuvQsSz ´ Mq3qt~N³b~NupMu5{bz|Qpu²]u{SuQ{ Q{tuqtuq»¥QQpvNÏQQ{tCus8MsM̰Nu{¶«Qz,N¡6qt~Q{t z{tË~Qp®~Qw C{8Au{t¬zvQM¬{bz|Qpus¬zvX9zqtQ{t|!xm¥ z «Nq8{tzÙqt~Nzq uC{bzqtpvkqt~QÚ;Z~NÃzvL|£m ¤m
/~NÃÛNÜxNzvL|Xsqt~Lz qz{t ¡pMMvNs8wyÄ{tM pvfqt~QÐ,¼ ££ ¾ÀÛ»vf¨Mvm¥z~Qu M¢;{ uQ¡®| ~Lz¢;¬qtuNs8_qt~N_s8~Nu{8qt{8wy{bzvN:ÁÀzvN|ËuvN¡r¥ ¢;{8¥:{tMMvqt¡r¥ z¢zp¡ÄzxN¡ £ ¤m
/~QÃfQvNprqLqt~N£ ¤«Xsq8{tzÉM¢;{8qt~QM¡Ms8sMCprq ~Lzs6z_{bzvNu Qqtuk¤¿µ¡pvNju s8p~mq prqt~:¡u Cu { MuvNs8N,Xqtpuv¶Á £ ¸Ýq8{bzvQs8,prq8qtp®vQQNX ¸Þ{tMMp¢p®vQmÂ*©*w zNs8*uNprqtsCu {z|Q¢zvmqbzMsM *¬zM¥&s prqtb~fpvqt~NcvNMz{ ]XqtQ{t/qtuNs8pvNqt~Qps?{bz|QpuAu{¡®uvNwy{bzvN&q8{bzvNs8,ps8s8puvQsM °`pvLz¡¡¥m z¡s8u MuvNs8p®|Q{tM|¯Qs8pvN zvß&Ò' pr{tM¡Ms8s ÒRqt~N{tvQq!ÁÀ½;£MxCÂZ,u|XN¡3¼ ¾pvNsqtz|ufqt~Qs8~Qu{8q8w {bzvQ³{bz|XpusMà¦~Q¯CuqtMvmqtp®z¡Zz|Q¢zvmqbzMs3u¶½;£Mx uN¡®|¯xC:¢;{8¥S~Np~|Nz qbz qt~X{tuN~NQQq5zvL|³qt~N:zxNp¡prq)¥ qtukzxNsq8{bzqz zM¥|Qqbzp¡®s6u pr{tM¡Ms8s6Mu,fNvQp®MzqtpuvpvQw M¡L|XpvN5Mu¡®¡ps8puvÏ|QqtMqtp®uv zvN|3z¢;up®|NzvQM{8{tu{,|XqtMw qtpuv2Qqtc¦~N{t6z {t|Qpstz|Q¢zvmqbzMsMN~Qu M¢;{c¦~N6
&'w 5 MÒ?á s`s8{tpÄz¡mCu{8qtsuvN¡r¥/s8NNCu{8q`s8CMM|QsQ&qtuX ½¨xNNsM ¦~NpsxCMMu,Msfs8Q~ zs8¢;{t_xCuq8qt¡MvN¿qt~Lz qQvN¡Ms8s b~Numus8fzvQuqt~Q{/Ûâßã,qt~Nu| 6¡us8f,usquqt~N6s8CMM| ;zpvuCÒqt~Q{tvNq¸³prqt~NuQqRqt~N*s8CM|fzpvuX{Cu {R{tw mNpr{tM,Mvmqts uN¡®|_ufQ¬x¥Z§w)£äC{ NvQprq |Nz qbz6q8{bzvNsw ]{8{t|_¼ ¾À`¸!cMuN¡®|s8u¡¢;'qt~Q'Ûâß3xCuq8qt¡MvNMb¿&xm¥6z|N|QpvQ zjs8MNz{bzqt,p{tumMuvq8{tu¡¡®{zvN|Zsqtu{bz pvQsqtz|5uR{t¡¥w pvNjuvkqt~Qus8Q{tu ¢p®|Q|_xm¥,å©'¡®u« LxQQq qt~Qp®s uQ¡Ä|_]Q{8qt~Q{ pvN{tMzs8qt~QMvQ{t¥5{tmQp{t,Mvmqtsu zv:Òqt~Q{tvNq8w»xNzs8| b~NupM?zvL|fz¡s8u uN¡®|pvN{tMzs8 C{8wyvNu|X ~Lz {b| z {t MusqtsM s8pÃMNzvN|ZMu,Q¡«Xpq»¥m æ\ED@Na:ç nn BE n OL\`g:HJXÕfED Å BPPR^AaLoͦ`zxQ¡6p¢;Ms MX{8{tMvmqkuvNs8Q,QqtpuvÏu6qt~N¶ÈCMxQ{bzÉ/qkvNu|XuC{bz qtp®vQ pv:|Xpr´ {tMvmq&,u|XMsM¡¡ Ê Q{tMs&pvqt~NqbzxN¡z{tjMX{8{tMvmq |X{bzpvNsuvqt~NcX §è Cu {Rs8NQN¡r¥m¦~NcMQ{8{tMvmq Ê Q{tMsz{t xLzs8|:uv zqtNz¡*¡®zx!,zs8X{tM,Mvmqtsu qt~Q,MQ{8{tvqMuvQw s8N,Xqtpuvu pvN|Qp¢pÄ|XLz¡|QM¢pMMsMxNQqqt~N,z{tM;z qt_Q{8w {tMvmq|X{bzpvQsuvqt~Q* §è s8NNQ¡r¥/]u{Rz~6,u|Q {t*z¡MQw ¡®zqt|Zzs8s8N,pvQqt~NQs8u'é·±,MpMvmqê6º'wyê6ºS¢;u¡rqbz MuvX¢{8qt{ts prqt~kqt~Q&zNQ{tuQ{tp®zqt/uQqtQQq*¢;u¡rqbzMs?Cu {8w pvN6|XM¢p®Ms'qt~Nzqc{tNv,uv¬¢;u¡rqbzs~Np~Q{cqt~Lzv¬ §èf ÁÀ¦~Q Mu¡®¡®z {ts`{tmNpr{t'êº'w»êº¶¢;u¡qbz'Muv¢;{8qt{ts prqt~6{tN¡®z qt| uXqtNXqtsM Ms8CMMp®z¡¡r¥¶]u{qt~Qf¡uvNwÀ{bzvNf{bz|Qpu ~Nus8jzjw C{bzMsz{t6~Qp®~N¡r¥_¢z {tp®zxN¡  º*X{8{tMvmqZ|{bzpvNs¬{bzvQÄ{tuëz!¡u u6¡Ms8s¬qt~LzvªM¬ ~Nvqt~Q's¥XsqtM²ps`pvsqbzvN|Xwyxm¥,u|QÁ9,usqRuNqt~Qcqtp,  qtuËz:~Qp~Su, §;££ ~NvÏqt~N5s¥XsqtMÌps,q8{bzvQs8,pq8qtpvQ
ìíCî]îAïQð5ñ òMïNòMó
ôkóõöA÷ó5ïLø`ùÏúªí2ùó
!"#%$ $&" ' (*)+ $ +,- (. "/ (,10 ! 0@0 /CD$ ; "(= 0 / +EF / ( #HG 0 />I N # 0 CO$# ; "B= 0 / I +P $ ZY
(+0 " Y #[! 0@0 / ( N # 0\ ]0@ / ; M c öÄòMòö]ø d ô_ïNòMïòMíf e ïM ó b ð ïLøB:
2 ! 435 687:96;< $&= 0> ?0@ 2 ! 435 687KJL M "/ % / (+,10 2 ! 435 Q87RJTS " +, / (+,109 2 ! 435 Q@7KJL ]M "/ % / ,10^J_S " +,( / +,0 2 ! 435 Q@7KJOS " +,( / +,0
ìfûðð óXø ò,ùð ïLö]ø íLü/ý2þÄÿû`î
BA1AB BA1AB UWVWXB UW`1a( g ÿhh+cji
b ïkRîAó gl>m øóðBdncóïûð ócóXø ò8füyíLð_ïfocók`ð ï+pZóò,øí2ùó¶ö]øSù`ö&q*óð óXø2òZMòMïNòMó]jíLü?íóð ïNòöÄíCø'þ r òMóc v N "8w 2 ! 435 Q@7K $ ,10; M $ )x2 ! +E1y !{z S $ w +y} ! ~ M "/ % / (+,10> 1 $" S " +,( / +,0^D $" + ! (;:V] A = 9 8~;@0@ # " & / /%/ @ z $#%" t /z ^ 0 w]$ +0 ( %
b íLòMïLî
sªóQötd6u2ò | , / ( # X(Z, / ( # Xa`Z, / ( # X | AZ, / # "
( U1Z, / ( # gg]g dLð ï6cj5% h þ îk(
b ï+k`îAó'h l s²óXödu2ò c¶óXï+ûð ócóXø2ò8ü»íNðkùötq*óð óXø2òj÷íQcíCøóXø ò8jíLü?ïoó]kðï+pZóò,øí2ùóCþ Y %# $ , $ # )+ ; W0 " ]0@ * " , / ,10 / 1 $" I Y / , " $# " M = 0: O) "8 0 /}# Y)+) # # ?0@ $ M $ ; M- ?M+0 ( % ?0 / $# / 0@; M / ,108 G/?" #%" & / /%/ @9+Y] $ M $ ;$#O[$ ?M $ / +,0 "(G ?M+0\ # 0 #
( $" 9+ (
;8 " >60 # 0@ : $P/ 0@; ?P4 # ?08 1Q9 $ M # " M " ) $ # @* "8 / # ?M0 # 0 #
( $" 9{Y #%$ +, " ?M+0 / ; " & /?# #$ ?0 / *0@ $ ( ?0 M " ) # 4.®60@ / (¯D0 89 " ]0 # 0 w ;@0@)] ?M+0 # 0 #
B $" ¦ / 0^+ B
#%" Y / ;@0 # 9 M $ 0 ?M+0+ # 0 #
B $" * ( " +0 $# D (
#%$ 6FM $# ³ (
:,W B ?M+0 /?$ ,1´[ / $ ; " / # #[$ ?M> ?M+0{,0@+0 / (0@ª " 0@+¦; " *\Y+ $ ;8 B $" ¦) / 0 = (0@ $ 5 [$P/ 08x [$P/ 0 0 #%# 0 "/ # 9 M+0 / 00 = 0 / Z " ]0;8 (¢60 #%" Y / ;0D (E "/ #%$ +6 © 1 $ $" 9¥®Q0 / ¯0 ^ " ]0 # / 0* " $ 01¢FM+0* " ]0 # "B= 0' /?" Y+« (& "# 5; " #
?P 60 $ # "8 P+ ûF] þ û6% þ(M.ý H ü( ÿ%. W û ýL] ¥ þ[ÿ?þ* þ@6 þÿX ü(3 * ÿ%ÿ?þü¥ý & þY ÿ2+þ ý ÿP ü{ÿ?þ(Z+ * þH ü ü?ýþ:ý &þÿ ûBÿ ý%! þWA þ > û6 üþ 1 ý ÿ.0[ üü?ýþ;%þ ü?ý+þV+ ûBü û P üZý+û þ ü?þ( ü¦ ü?ý+þ!+þ ý ÿG3 ü?ý ü?ýþ*ý 1 ýþH ü\ý þÿû(ÿ ý%C þ1A þIO3P ü?ý ü& þ^ ÿ û6 #!&%C] ÿ#W < þ8.;¼ \ ý+þfûM] þ þ]3P ü?ý nÿ û þB6> > ü?ý+þP+ û% þQH ü û(ü #41P ü ý þÿ ûBÿ ý% * þWA þ þü! ÿ?þ@û% þ(^.)_5 A1þÿ% þ&%2[ ýþnû þM ! * ü>`ª- ÿ û þ!> ÿ# ü?ýþL û6% þ!H ü û(ü #4KP ü^ ý þÿ û(ÿ ý%C þ1 A þ2 þü þ û% þ(=61A þÿ*ü * þ¦û(üûxÿ û(ü?þ?6>F#þ? þW A þ36þÿ þW A þÿ%ba û6. H ýûBüL 0 &>Vac Ld0 þ] þ ÿ?þ* þü^ü?ý+þ ý þÿ ûBÿ ý% þWA þ8%B e þW A þ4@j þ ü?ýþlÿ#% þ(Nÿ ü #X 3% ý(3? PmO * ÿ?þGn. _5 þ8û(ÿ&% ü?ýþk* þ2Q > ü?ý+þ:ý H ü ÿ%-o û% þL* û6H üÿ * ü F]ÿ ü þ6þ Zü?ý+þ! P üJ%+6 > ü?ý+þ+ û% þ3H ü û(ü û?] þ.k[p > ü?ý+þDþüJ5 ÿ< ýû6 þ1W A þ ÿ?þ(Z * þü* % û 1 þü?ýþ:ü?þÿ%ÿ û û #6þ > ü?ý+þByMû6& û úþ% þ@û(ÿ ýx _ þ ü?þÿ; wz>þ%û 7 þ # Hü%ÿ* ü?þ(n ûC@j þ] ÿ ûC!# P üp%=! þ ûN @* & û(ü #¢þA P ÿ*þü7>{ ÿ1Q | þ ÿ û / þü(.591 * ÿ3 @* & û6ü ÿ(f|D / þü~} ?8 ü û6W < þK* % þÿ-p þs+þ(FH ü ÿ û61 þ[û6D û 3 ] ü?ý ûjÿ?þü * ÿ üp7Q* þü%ÿ PRI `TG* þ ÿ û(ü?þ# Hü%ÿ û ü} [ý ý? ü?ýþF6þÿ þü û þD>2+ ûBü û\ü?ýûBü1 þüV+ û < ü!+ û% þ# ûNRI `{ T þ+þÿ 6% #* !ü #4.Xj \ þ3 þW A þ6þ(!|D / þü~} " _V+ û]P ü * ÿ%ÿ?þü&%]H ü û û(ü1d6 eD +þ3> þ#. ä+øÚíÚè ÷'~ ~ äãÞ]íâ1î h üü?ýþPH ü û(ÿ%üN > þ8û ý) @* & û6ü #4 þ[ÿ û #!&%L &û þldD@j þ ÿ û6: ûMe(F: ûBü?þÿ#] * ÿ þ û ÿ# ûC6ûH ü-o!UA . _5#!+* û(ü #^þW A þü û(ÿ?þ2 +*& û(ü?þD@V% þ #D ÿ û6 *& ûBÿ üp%. 91 þ?6þÿN+ û§ % ûBü.û'ÿ û # ü * þ#} ü?ý+þ? +*& û(ü?þ(b@j þ ÿ û6N6 þ #* þ) ü?ýP ÿH üJ%. ¼ \ ýþRü?ýP ÿH üp%[ û:@j þ] ÿ û:!61 A þ ûN &>+ J( ÿ û@j þ: û6 ûH ü?þÿ¦û,!( ÿ?þ þ 6 þÿ ûBü?þ&%R v ü(: ûBÿ Z ü?ýþMþ8û(ÿ?þH ü+: ûBü?þÿ jý # þ#.)RYj \ þ ÿ?þ** þ:ü?ýûBüü?ý+þ~%! ü?ý+þk+þ@û(ÿ?þH ü7 û6ü?þÿ ý þ@> ÿ û%Q üF'ü?ýþ@ @* & û(ü?þ(P ÿ ^. T:mO &û6%0 þN+ s þb û(ü ûP û(ü?þ ü?ýû(ü@@j þ] ÿ ûQ!UW A þ* þü ü?þ^ül6 þ5 ! & û(ÿ5U> ý#] * ÿK6þÿ2+ û%6#] * ÿ2 +*& û(ü( ÿü%ÿ?þ8û(ü ýü%ü * þü?ýþ? û* þ[û65 û( % ü * þ~K v û\þ & þ % & þ36Q > þ8û(ü .ûQ: û6 ü?ýþ=@j þ ÿ û,!( ÿ%ü ûP üJ % ÿ û(ü?þC * þ ü ÿ?þ+ û(ü( ÿ: û(ÿ?þVU« þ#* 1 ý*ü?ýûBü5 þl #(ÿ?þü?ýþ>{ ÿ:ü?ýþ% þ @* t ûBü #. \ þ #!ûBÿ?þ(D|D j / þü~} ?g ^!# P üp%1!] þ3P ü?ýOü?ýûBüX % þÿWA þG%F # # H ü} ûD>{#*G * ÿ0 H ü%ÿ * ü #üV ûBü ý û!H üþ û ü&%F3P ü?ý+mO * ÿ?þ2[ û+3P ü?ý^ü?ý+þ7 ÿ?þû6 þ 1 ! & % ÿ* þÿ%ÿ ÿ(. H ýþ û% þH ü ûBü #! Pü% þ&> þ06 >Y(3D û\ÿ?þ ü û6 #* & û(ÿÿ# * ü?þlt> ÿ#Rod6å0ÔßFÔ ä ßFØmÚÕ*çßFÔÜ8á ÔÖÞ[ßF×0ÖFÔÜ8ÚÕfã ØkßFÚÖFØmÕ4Ù0ç Þ[Õ@åßRÖ-Þ , ä,ä ÚÕ(ßRÖFÚ.Ý ((ç ñ -!~.í />Õ0æ(ØkÖFÚÕfÜ8Ô5ÕOßÞÝ Ü8ÚÕfã ØkßFÚÖFØmÕ4Ù×4ÛRØmÕfÙIÛRÔ5ÕfÛRÚÖÕfÚ(åfÔ5ÛàØkßFÓ¬Ô5Ü ÷ Ôå4å0Ôåá0ÖFÚ ä Ô5ÛRÛRÚÖFÛ Þ[ÖFÔpÞÝmÛRÚ`Þ8ì!Ú ä ×4Û,Ú[ìßFÓfÔpÓ4Þ ÷ ØmßÞßÜ8ÚÕ4ØkßFÚÖFØmÕ4Ù7á0ÖFÚ 0qÔ ä ß ð !}í òÓ4ÔwÖFÔçßFÓ4ÔëáfÝÞ[ÕOß8ßFÓ4ÔÛRÔ5ÕfÛRÚÖFÛÛßÞ[ßFØ ä ÞÝmÝkë{ØmÕÞPÙÖFØcå0ã~ÝmØmêLÔ ìÞ[ÛRÓ4ØmÚÕ7Þ ä ÖFÚÛRÛ>ßqàrÚ1àØmÝcåfÝmØkìòÓfÔ5ÛRÔÛRÔ5Õ4ÛRÚ[ÖFÛØcåfÔÕfã ßFØkì!ëÞÕfØmÜ7ÞÝmÛàÓ4Ô5Õ`ßFÓfÔëÜ8ÚæLÔßFÓ0ÖFÚ×4ÙÓßFÓfÔ,Ü×4ÝkßFØmá4ÝmÔÛRÔ5Õfã ÛRÚÖFÛ5çÞ[Õ@åIÖFÔ5á Ú[ÖRßÚ ÷ ÛRÔwÖFæLÔåáfÓ4Ô5ÕfÚÜ8Ô5Õ4Þ ÷ Þ ä êßFÚÞ ÷ ÞÛRÔ ÛßÞ[ßFØmÚÕ`ßFÓfÖFÚ×4ÙÓ`á Ô5ÔÖRã}ßFÚã~á Ô5ÔÖßRÖÞ[Õ4ÛìÓ@Þ[ÛÛRÔÔ5ÕØmÕfã ØmÕ ÖFÔ Ô5ÕOß,ëOÔÞÖFÛ5í8òÓfÔâ5Ô ÷ ÖÞÛ Õ4Ú(å0Ô5 Û äÜ8ÖFÔÚÞ[æLÛRÔØmÕ4å(Ùë0Õ@ÞÞßRÜ8ßFÔ5ØÕOßFÞ[ØcÝmÚÝmÕP ëÞ[Õ@åÞ[ä Ö ÷ ØkßRÖÞÖFØcÝkëOçfÛRÚßFÓ4ÔàØkÖFÔ5ÝmÔ5ÛRÛØmÕOßFÔÖRã ä äÞWÚÕ4Ü8Õ4Ú Ô ÷ ä ØmßFÝmØmÔÚÕ4ÞÛ å0ã~÷ Ó4ÔÚ ßàÔ5Õ4Ô5ÔwÕ:ßqàßFÚ[ÓfÖFÔ8ê çrÕ4Ú(ßFÓ4å0Ô7Ô5Û ÖFÚä Ó@×0Þ[ßFØmÕ4Õ4ÙÙ Ô áfä ÖFÚÚÕOßFßFÚ ØmÕ0Ú×4ÝÞÝmÓ@ÝkëOÞíÛpöqßFÕÚ åfÔÝcØmæLÔwÖÜ8ÔÛRÛFÞÙÔä Û`óO×4Ø ä ê(ÝmëOçrØmÕßFÓ4Ôìöq Õ Ô ÷ ÖÞ 1ÔwßçÚ×fÖ åfÔÛßFØcÕ4Þ[ßFØmÚÕ ÷ ÞÛRÔÛßÞ[ßFØmÚSÕ ØmÛrÚÕ4ÝkëÛRá Ú[ÖÞåfØ ä Þ[ÝmÝmëÞæÞØmÝcÞ ÷ ÝmÔí òÓ(×4Û5ç ä Þ ä Ó4ØmÕ4ÙÖFÚ×fßFÔ5Û ='U6V ðû !W ÚÖÛRØmÙÕf2Ø ä Þ[Õ(ßÝmØmÕ4êÛßÞ[ßFÔ
XZY\[7]K^`_ ab-cedfhgjikiKlnmLgjo;mPp m qsrtgkumvhlnm q)wx;yCm1q)wq z;m {D{;w-r w |g2rw gky#}G{~)x;fhgk{>omHI{
;wxr Cw4rtzxmPo; | o;mPq tm myCvyt3wttm)gji2}x;m rto4rrto;zUmlSm w| yCm5yur m w-| rtgjm ooErty fh| z;mPw o} rCrttz;gjm ~~mP#wof}Hw>yrttmPWnx;iyCq)m)w{q z;wm{%;zx;yCqhz;mPyItwrtoS{'qPtijy x>vUrtmx>tmPn{m gjlyC q w-7uFmPmPCr}>t[K rtq | m i o| mP wyi rhqPikl;yCm gjiji2m7}wt{Gm yCzm | qKl;oijm mPyrf.mP;tgk{4m >| tgjq7rttq xikrtygjo;r ~w-t_~amPrcZ wtl;g2 rC{ mPwyCrt}Qgko;{wrtwgjr wGo| y ;)f?oN;wnrCm rtl>mP two7y&mslnr)mPvhrf{;m w-m r wo S| )xfhijrtygjm ikg2m%rtz;yCmsGxt3qPtm y5woSwik{ i rtz;mh {mPwlr w&wy7~wXrto;z;Ums{tmPgkoy d~rt5.wgjtonq m d rtrtLmPe)towyikiwrtz;yCyCm4q ogkUw{rtm¢m y nv m l>e) w7lmstrwq {ijq wyCym r)i2}D fhz;g2rtm zDyC| mrtz;{mLwr yCwTm o;yC-f¡E;owmPrCrC fyCm otyCUyKyCoxmPlnrq f.ikwyCty7Uy v {| wr w1lgkijgjm5y4w~F{Uw-rtz;z;mPtqt¤vnx;yHcZ{gjyo rCWtt gjl;x>rtm){&woyCm }o;o;yCUt{>y¥m rty\rtwlSw5wyCyCgkm#oy~r ijw-m5rtgk{m o¥yrtvgjyCo;Kw{;rtgjw| r owrt§U\g | wgk~ikw-~ttijm }~vUwrtrtzm my lSgjowyCrt|¦mH4y|wr ijw-iOrtyCgjm oo1yCltty5w_j¤P{¨q cZw yrty7rtzm5gjo>e | w-rtgjo1g2r7gjy7| gjortmPtm yrtm { o;gjo;ms~« rfz;wmGikt~Ux;yEtog2rtgkzSUz w)xuFmmQyGq ike m |{| rttz;m x;yCm o;m)gjw-q)tvw-qsrtyCzgjgjmPo;o¢tq yEm1q rtzSt9w x>ywrtrtqPgkx;ort{>mP~¢t}NgjyrtyCtgjnq mPrtyq g2q ©SKqªijyCyEm to>xyCtrC fnmPyCikiOm {1_ -cZWI'¬7~)mPf| o;m mPu mPw)i vF| rtz;ml;tgj| ijm4xrtwgj{>o;~'z;wijqH~o;tmPg2rrtfz ty#Uyt{>TnoyCm r&{%f.rtz>tx y fw-4tU_2¤-yhfhv®¤-z£mPv¥tm7-rtcIzm&wyCyCyCm x o;| yCmw%rtgjqHoyCrmPo;yC-7uFm7o;|mPro;fq m&trt>zy mPv;}Gg mwktv m'o{>mPmPrC ;yr ijw )}>}yrtoSz;w m| l;gkqG| wyCyCmm oyyCr w rt{gjmsr ow'gji z;gjy&yCxlq)wyCmHzSwy&| o;r&tmPu>gjx;yCi2}Llnm m o1yrtx;{gjm){Lgjo g2r}YKzwgkoijo;m{rtqPzq mPu-7mPuF mPgjwo ~rtwmmP~tm5gkm yCyyCrtxtgjm oyIl~gjijo%m w-| tq m)m yhwGijijgkxSoT#w-fhItmPgjo;tyCmPmPm)rikwmPftyCq ygj{yy&z;zw)o1uFq'mq o;lnmPom ro;m fo'm qPftrtUgjmPuy iki ²yrtxS{>gjm){v#gjyCyCx;m y&q o;o;mPqPrtgju>g2r}@woS{+³qstgjrtgjq)wi wyCyC´W |C}QlwgjikoSm{1w{'y}z;yrtmq| o;y4msrf_2¤¤tvUyaUwvItm¨ycZrtgjiji zUnx;m y7o'ertw);v®gjqPq yI| gjo%;| lnx>r wrtz5rtgjrtzo;mPw i ~wmP ;| ijgjm)mP{rCC}Hrt~ij wl;o;w{i® uU| gjmPfh~ yKw;zHo;rtmPz;rm fC}%tTrtm rtq z;nog3ijx~}m yI7zS[7w)x>uF\mf.lnm m to gj{oLmsr nwm gjijlm) { w7mPrhlz;gkijwg2ry} eqPx;UyC{>m)m {ijy oE
®ygjrto;wq ijzSi2}wv®yrtrtgjz;qy g2vrty woS{Qw }p g mPty5SwgjoqPr q tirtg q >ti{umPm yCgk~m o¥o rt²y\rtmz;w-wtr&mfhq xgjijCiItgjmPo;oUq rtiji2xS} {>| mº4wUXg3|gkdKo~\nWxyC| Cg2rtrtgkzmPolS|wtyCm)rt{ v gj{o9mPq wgjyC{;| gk{>o;gjrty'gjo@o| rtrtQz;mHz;gjo>yrtx C}UlnmPlS7wyCm){otU{xm rty&gjort~Gv&eXgjCg3fd%wyC m {i2Wrtw{;wgjoQ>rtrtgjzuFmm z;gjyrtlgjCikg2}>r} l;wyCUm){{1m wijy ®toH| w;q wz¥CrtvIgjXq gjxgjgWi3d\w-)lnvmPlrC}'rtmPz;&w-yCuUxgjo;;~\nCtrKrtW'q {>ijygkurtmPzStw-yCmr | |
8. CONCLUSIONS
frtmPikq i2yCijx;i3w-EnwCoSrK{9o;yUrt{>x;m {>yK}@#{>gk{ugjmPyCtSyCw-mL wyCrtmPm5rtyGyCnm gjq mvSwoS{Grtzm'ÅSwikw | ² gji3{>ijgjWm5
;xoS{;w-rtgjo¥
9. ACKNOWLEDGMENTS
_2¤sc'ytÁw nY\i2r ik|gjo~wo;omPrt[7z;l;UyC{>mPy tSuÇ wrtgjoSwiyrtv;xS¨F{UÍ>}Gº £)ÎUlnm ±z;£Uw)vIu>gj¤)Í)£º ¨ _ )c'ÁÀInt| gj°#om q x;mPrtq z;oLo| mPÆK)no;ÅgjuFmP-tuFyCm g2|r}Tm t§>oÈm rÉotÊ)gkx;ZËij\m Ì yhÆ7oS{>wmPWtt~gj q)ww{oLx;x;wortm ~x;ikw-rtm y °.gjz;m ijyCgj~y }n ]7Y7m {>uUr)>gkyCm {T½lq }GijÀI~t}E;w]tuxw>yCz;gjuFwm r | m 7mPrft>y oEÏ sÌ ÊÉâteÊGײ ËÝ7ãSäUÕeÒÜ vnÁFwo¥SbbU _ -ctm m ij| m yCgjy\qÅEÖjÉw Ì}²ð ¤)CÍÐ ÈUÍÒn£UËÖjËtÜñ×ËÒ)Ø)sÌCsÒnÐ sò%ÌCË)ïÐ-Ë¥Ö ÔóFè#ò èãFèã
10. REFERENCES
ø2ù-ú)û*Jÿ $0/m /$$01jÿ "ÿ=ÿ /:7ÿ,ý ø 0ú )@û :l, l,}bc
¡0¡ bcc *R,tÿ ý $7,tiÿ45*ý * >ý $0 /q$¡ /=i4 b ¥t¡qRÿ q ,t,tÿ ÿ ;Rÿ 7,mtÿ bc,}nÿ **Jjÿ ý $\¡Uý ú]0]úUý ø ú -2û Kb>ÿ"ý ¥. /:7/Tÿ ,