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UNIVERSITY OF NOVI SAD FACULTY OF TECHNICAL SCIENCES
21000 NOVI SAD, Trg Dositeja Obradovia 6
KEY WORDS DOCUMENTATION
monographic publication
textual printed material
doctoral thesis
Jovan Baji
Dr Milo ivanov, full professor
Method of measuring angular position based on a new class of
optoelectronic sensors
serbian
serbian / english
Republic of Serbia
Autonomous Province of Vojvodina
2015
authors reprint
Faculty of Technical Sciences, Sq. of Dositeja Obradovia 6,
Novi Sad
13/111/133/6/96/0
Electrical Engineering and Computer Science
Electronics, Optoelectronics
sensor, absolute angular position, measurement method, RGB color space,
cylindrical color space
Library of the Faculty of Technical Sciences
In this doctoral thesis a review of existing methods for angular position
measurement is conducted and a new method for measuring absolute
angular position is proposed. The proposed measurement method is based
on the use of object color transformation from Cartesian RGB color space to
one of the user-oriented cylindrical color space (HSV, HSI, HLS). n the
basis of the proposed measurement method, absolute angular position
sensor consisting of three optical reflective sensors and a grayscale printed
pattern is constructed. Accuracy, repeatability and resolution of
measurement using proposed sensor were 1 , 0.3 and 0.1 .
May 29th, 2014
President: Laslo Na, Ph.D., full professor
Member: Zoran Mitrovi, Ph.D., associate professor
Member: Ljiljana ivanov, Ph.D., full professor
Member: Sandra Dedijer, Ph.D., assistant professor Menthor's sign
Member: Milan Kovaevi, Ph.D., associate professor
Member, Mentor: Milo ivanov, Ph.D., full professor
Obrazac Q2..06-05- Izdanje 1
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 ABSTRACT

In this doctoral thesis a review of existing methods for angular position measurement is
conducted and a new method for measuring absolute angular position is proposed. The
proposed measurement method is based on the use of object color transformation from
Cartesian RGB color space to one of the user-oriented cylindrical color spaces (HSV, HSI,
HLS).

The original measurement concept was based on the use of printed color wheel and a color
sensor. Implementation and characterization of fiber-optic color sensor intended for the
testing of the proposed measuring concept is presented in the doctoral thesis. However, the
results achieved by the proposed method have not been satisfactory. Measurement error was
in some cases larger than 10 , while the repeatability of the measurement was somewhat
better and was in the range of about 4 . Due to the mismatch of the color spaces of different
devices involved in the process of color reproduction, simple idea proved to be very complex
to implement.

The progress in the study occurred after modification of the proposed measurement method.
In the above-mentioned modified method, the color sensor is replaced with a three optical
reflective sensors and the color wheel is replaced with a black and white pattern, while
transformation into a cylindrical color space was preserved. In this way, using optical
reflective sensors and a grayscale pattern, the use of the color sensor and color wheel for
absolute angular position measurement is simulated. Described modification significantly
simplified the initial idea and reduced the price of implementation. The need for relatively
complex implementation and calibration of color sensor, as well as the need for more complex
and more expensive process of color printing (in respect to black and white printing) are
eliminated. Instead of color sensor, low-cost, commercially available, optical reflective
sensors are used, while the process of color printing is replaced by a simpler and cheaper
process of black-and-white printing. The measurement results achieved during testing of the
proposed sensor based on modified measurement method were more than satisfactory.
Excellent linearity (R2 = 0.99998) of the proposed sensor is achieved, while the accuracy,
repeatability and resolution of measurement using proposed sensor were 1 , 0.3 and
0.1 , respectively.

Keywords: sensor, absolute angular position, measurement method, RGB color space,
cylindrical color space

..............................................................................................................iii
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1. ................................................................................................................................... 1
1.1. ................................................................... 2
2.
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2.1. ........................................................................................................... 5
2.2. ................................................................................................. 7
2.3. / ......................................................................................... 10
2.4. ........................................................................................................ 12
3. A .................................... 15
3.1. ............................................................. 17
3.2. ................................ 17
3.3. ........................................................................................................... 19
3.4. ..................................................................................................... 21
3.5. ............. 23
3.6. ............................................................................................... 24
3.7. .................................................... 25
4.
.................................................................................................................... 29
4.1. .............................................................................................................. 29
4.2. .......................................................................... 32
4.3. .................................................................................................. 35
5. .... 38
6. ....................... 41
6.1. ...................................................... 41
6.1.1. CIE XYZ ................................................................................ 42
6.1.2. RGB CMY/CMYK .................................................................................................. 45
6.1.3. HSI ........................................................................................................... 47
6.1.4. ............................................................................................................. 52
6.2. .................................................................................. 53
6.2.1. ................................................................................ 54
7. ..................... 59
7.1. FDMI IFOSIS ... 59
7.2. ............................................... 65

i
8.
............................. 73
8.1.
.......................................................................................................... 74
9.

.................................................................................................................................. 80
9.1.
.................................................................................................................................. 81
9.2. ................................ 85
9.3. ........... 88
10.
............................................................................................... 93
10.1. ....................................... 94
11. ................................................................................................................... 99
12. ................................................................................................................... 101
13. ............................................................................................................... 104

ii


1. Svetislav Savovi, Milan Kovaevi, Jovan S. Baji, Dragan Z. Stupar, Aleksandar Djordjevich, Milo B.
ivanov, Temperature Dependence of Mode Coupling in low-NA Plastic Optical Fibers, Journal of
Lightwave Technology, Vol. 33, pp. 89-94, 2015, ISSN 0733-8724.
2. Jovan S. Baji, Dragan Z. Stupar, Bojan M. Daki, Milos B. ivanov, Laszlo F. Nagy, An absolute rotary
position sensor based on cylindrical coordinate color space transformation, Sensors and Actuators A:
Physical, Vol. 213, pp. 27-34, 2014, ISSN 0924-4247.
3. Emil V. Jelenkovi, Milan S. Kovaevi, Dragan Z. Stupar, Jovan S. Baji, Milo P. Slankamenac, Milojko
Kovaevi, Suet To, N-channel polysilicon thin film transistors as gamma-ray detectors, Measurement
Science and Technology, Vol. 24, pp. 1-5, 2013, ISSN 0957-0233.
4. Jovan S. Baji, Dragan Z. Stupar, Lazo M. Manojlovi, Milo P. Slankamenac, Milo B. ivanov, A
simple, low-cost, high-sensitivity fiber-optic tilt sensor, Sensors and Actuators A: Physical, Vol. 185, pp.
33-38, 2012, ISSN 0924-4247.
5. Emil V. Jelenkovi, Milan S. Kovaevi, Dragan Z. Stupar, Shrawan Jha, Jovan S. Baji, K.Y. Tong,
Positive bias temperature instability of irradiated n-channel thin film transistors, Thin Solid Films, Vol.
556, pp. 535-538, 2014, ISSN 0040-6090.
6. Svetislav Savovi, Milan S. Kovaevi, Alexandar Djordjevich, Jovan S. Baji, Dragan Z. Stupar, Grzegorz
Stepniak, Mode coupling in low NA plastic optical fibers, Optics and Laser Technology, Vol. 60, pp. 85-
89, 2014, ISSN 0030-3992.
7. Svetislav Savovi, Branko Drljaa, Milan S. Kovaevi, Alexandar Djordjevich, Jovan S. Baji, Dragan Z.
Stupar, Grzegorz Stepniak, Frequency response and bandwidth in low-numerical-aperture step-index
plastic optical fibers, Applied Optics, Vol. 53, pp. 6999-7003, 2014, ISSN 1559-128X.
8. Milan Kovaevi, Svetislav Savovi, Aleksandar Djordjevich, Jovan S. Baji, Dragan Z. Stupar, Milojko
Kovaevi, Saa Simi, Measurements of growth and decay of radiation induced attenuation during the
irradiation and recovery of plastic optical fibres, Optics & Laser Technology, Vol. 47, pp. 148151, 2013,
ISSN 0030-3992.
9. Lazo M. Manojlovi, Milo B. ivanov, Milo P. Slankamenac, Jovan S. Baji, and Dragan Z. Stupar,
High-Speed and High-Sensitivity Displacement Measurement with Phase-Locked Low-Coherence
Interferometry, Applied Optics, Vol. 51, pp. 4333-4342, 2012, ISSN: 1559-128X.
10. Dragan Z. Stupar, Jovan S. Baji, Lazo M. Manojlovi, Milo P. Slankamenac, Ana Joa, Milo B. ivanov,
Wearable Low-Cost System for Human Joint Movements Monitoring Based on Fiber-Optic Curvature
Sensor, IEEE Sensors Journal, Vol. 12, pp. 3424 - 3431, 2012, ISSN 1530-437X.
11. Jovan S. Baji, Dragan Z. Stupar, Bojan M. Daki, Lazo M. Manojlovi, Milo P. Slankamenac, Milo B.
ivanov, Implementation and characterization of a fibre-optic colour sensor, Physica Scripta , T162, pp.
1-5, 2014, ISSN 0031-8949.
12. Lazo M. Manojlovi, Milo B. ivanov, Milo P. Slankamenac, Dragan Z. Stupar, Jovan S. Baji,
Resolution limit of the white-light interferometric sensor for absolute position measurement based on
central fringe maximum identification, Physica Scripta , Vol. T162, pp. 1-4, 2014, ISSN 0031-8949.
13. Dragan Z. Stupar, Jovan S. Baji, Bojan M .Daki, Milo P. Slankamenac, Milo B. ivanov, The
possibility of using a plastic optical fibre as sensing element in civil structural health monitoring, Physica
Scripta, Vol. T157, pp. 1-4, 2013, ISSN: 0031-8949.
14. Miodrag Jeli, Milo P. Slankamenac, Milo B. ivanov, Dragan Z. Stupar, Jovan S. Baji, Development
of a Fibre-optic Measurement System for Teaching an Advanced Course in Optoelectronic Components for
Optical Communications, International Journal of Electrical Engineering Education, Vol. 50, pp. 34-45,
2013, ISSN 0020-7209.
15. Jovan S. Baji, Dragan Z. Stupar, Ana Joa, Milo P. Slankamenac, Miodrag Jeli, Milo B. ivanov, A
simple fibre optic inclination sensor based on the refraction of light, Physica scripta, Vol. T149, pp. 1-4,
2012, ISSN: 0031-8949.

iii
16. Lazo M. Manojlovic, Milo B. Zivanov, Milo P. Slankamenac, Dragan Z. Stupar, Jovan S. Baji, A Simple
Low-Coherence Interferometric Sensor for Absolute Position Measurement Based on Central Fringe
Maximum Identification, Physica scripta, Vol. T149, pp. 1-4, 2012, ISSN: 0031-8949.
17. Dalibor L. Sekuli, Miljko V. Satari, Milo B. ivanov, Jovan S. Baji, Soliton-like Pulses along
Electrical Nonlinear Transmission Line, Elektronika IR Elektrotechinka, Vol. 121, No. 5, pp. 53-58, 2012,
ISSN: 1392-1215.

1. Ana. Joa, Dragan Z. Stupar, Jovan S. Baji, Bojan M. Daki, Milo P. Slankamenac, Zoran Mijatovi,
Milo B. ivanov, Fluorescence based Fiber-Optic UV Sensor, The First International Conference on
Radiation and Dosimetry in Various Fields of Research - RAD, 25-27.4.2012, Ni, Serbia, pp. 89-92, ISBN
978-86-6125-063-7.
2. Jovan S. Baji, Bojan M. Daki, Dragan Z. Stupar, Milo P. Slankamenac, Milo B. ivanov, The
frequency-modulated reflective color sensor, 35th International convention on information and
communication technology, electronics and microelectronics - MIPRO, 21-25.5.2012, Opatija, Croatia, pp.
168-172, ISBN 978-953-233-069-4.
3. Jovan S. Baji, Dragan Z. Stupar, Josif Tomi, Milo P. Slankamenac, Ana Joa, Milo B. ivanov,
Implementation of the Optical Beam Profiler System Using LabVIEW Software Package and Low-Cost
Web Camera, 35th International convention on information and communication technology, electronics
and microelectronics - MIPRO, 21-25.5.2012, Opatija, Croatia, pp. 173-178, ISBN 978-953-233-069-4.
4. Jovan S. Baji, Vladimir Milosavljevi, Vladimir Rajs, Milo P. Slankamenac, Milo B. ivanov, Universal
Wireless Communication Detector (UD-100) - Preventing of high-tech cheating methods, 35th
International convention on information and communication technology, electronics and microelectronics -
MIPRO, 21-25.5.2012, Opatija, Croatia, pp. 243-246, ISBN 978-953-233-069-4.
5. Brki Miodrag, Milan Luki, Jovan S. Baji, Bojan M. Daki, Milorad Vukadinovi, Hardware Realization
of Autonomous Robot Localization System, 35th International convention on information and
communication technology, electronics and microelectronics - MIPRO, 21-25.5.2012, Opatija, Croatia, pp.
152-156, ISBN 978-953-233-069-4.
6. Dragan Z. Stupar, Jovan S. Baji, Ana Joa, Bojan M. Daki, Milo P. Slankamenac, Milo B. ivanov,
Edvard Cibula, Remote monitoring of water salinity by using side-polished fiber-optic U-shaped sensor,
International Power Electronics & Motion Control Conference - EPE-PEMC, 3-6.9.2012, Novi Sad, Serbia,
pp. 1-4, ISBN 978-1-4673-1971-3.
7. Miodrag Jeli, Dragan Z. Stupar, Bojan M. Daki, Jovan S. Baji, Milo P. Slankamenac, Milo B.
ivanov, An Intensiometric Contactless Vibration Sensor with Bundle Optical Fiber for Real Time
Vibration Monitoring, International Symposium on Intelligent systems and Informatics - SISY, 20-
22.9.2012, Subotica, Serbia, pp. 395-399, ISBN 978-1-4673-4748-8.
8. Dragan Z. Stupar, Jovan S. Baji, Milo P. Slankamenac, Lazo M. Manojlovi, Ana Joa, Milo B. ivanov,
Experimental and Simulation Analysis of Fiber-Optic Refractive Index Sensor Based on Numerical
Aperture, 20th Telecommunications forum TELFOR, 20-22.11.2012, pp. 939-942, ISBN 978-1-4673-
2984-2.
9. Dragan Z. Stupar, Jovan S. Baji, Milo P. Slankamenac, Josif Tomi, Milo B. ivanov, Miodrag Jeli,
Lazo M. Manojlovi, Optoelectronics system for measuring light-wave attenuation in liquids, Research
People and Actual Tasks on Multidisciplinary Sciences, 8-10.6.2011, Lozenec, Bulgaria, Vol. 2, pp. 184-
188, ISBN 1313-7735.
10. Milo P. Slankamenac, N. ikari, Ana Joa, Dragan Stupar, Jovan S. Baji, Miodrag Jeli, Milo B.
ivanov, Modeling and simulation of electro-optic effect, Research People and Actual Tasks on
Multidisciplinary Sciences, 8-10.6.2011, Lozenec, Bulgaria,Vol. 2, pp. 174-178, ISBN 1313-7735.
11. Milo P. Slankamenac, M. orevi, Ana Joa, Dragan Z. Stupar, Jovan S. Baji, Miodrag Jeli, Milo B.
ivanov, Modeling and simulation of in-fiber grating optic sensor elements, Research People and Actual
Tasks on Multidisciplinary Sciences, 8-10.6.2011, Lozenec, Bulgaria, Vol. 2, pp. 179-183, ISBN 1313-7735.
12. Jovan S. Baji, Dragan Z. Stupar, Milo P. Slankamenac, Josif Tomi, Milo B. ivanov, Miodrag Jeli, R.
Aleksi, Design and operation of a fiber optic sensor for liquid level detection, Research People and
Actual Tasks on Multidisciplinary Sciences, 8-10.6.2011, Lozenec, Bulgaria, Vol. 2, pp. 164-168, ISBN
1313-7735.

iv
13. Jovan S. Baji, Dragan Z. Stupar, Milo P. Slankamenac, Lazo M. Manojlovi, Milo B. ivanov, Miodrag
Jeli, Ana Joa, Displacement measurement using fiber optic coupler, 16th International Symposium on
Power Electronic Power electronics - Ee 2011, pp. 1-4, Paper No. T4-1.6, ISBN 978-86-7892-355-5.
14. Dragan Z. Stupar, Jovan S. Baji, Milo P. Slankamenac, Milo B. ivanov, Miodrag Jeli, Ana Joa, Josif
Tomi, Influence of fiber diameter on fiber optic displacement sensor, 16th International Symposium on
Power Electronic Power electronics - Ee 2011, 26.28.10.2011. Novi Sad, Serbia, pp. 1-5, Paper No. T4-
1.5, ISBN 978-86-7892-355-5.
15. Milan Luki, Miodrag Brki, Jovan S. Bajic, An Autonomous Robot Localization System Based on Coded
Infrared Beacons, Research and Education in Robotics- EUROBOT 2011, 15-17.6.2011, Prague, Czech
Republic, pp. 202-210, ISBN 978-3-642-21974-0.
16. Ana Joa, Bojan M. Daki, Dragan Z. Stupar, Jovan S. Baji, Milo P. Slankamenac, Milo B. ivanov, Z-
scan measurement of nonlinear optical properties, Tenth Young Researchers Conference Material
Sciences and Engineering, 2123.12.2011, Belgrade, Serbia, pp. 36-36, ISBN 978-86-80321-27-1.

1. Nenad Mren, Jovan S. Baji, Dragan Z. Stupar, Milo P. Slankamenac, Bojan M. Daki, Fiber optiki
senzor sile, Zbornik radova Fakulteta tehnikih nauka, Novi Sad, UDK 621.3, pp. 101-104, 2013, ISSN:
0350-428X.
2. Ana Joa, Dragan Z. Stupar, Jovan S. Baji, Bojan M. Daki, Zoran Mijatovi, Milo P. Slankamenac,
Milo B. ivanov, An End-Type Fiber-Optic UV Sensor Covered with Mixture of Two UV Sensitive
Materials, Key Engineering Materials, Vol. 543, pp 265-268, 2013, ISSN: 1662-9795.
3. Bojan M. Daki, Jovan S. Baji, Dragan Z. Stupar, Milo P. Slankamenac, Milo B. ivanov, A novel
fiber-optic mass flow sensor, Key Engineering Materials, Vol. 543, pp 231-234, 2013, ISSN: 1662-9795.
4. Milan S. Kovaevi, Alexandar Djordjevich, Svetislav Savovi, Jovan S. Baji, Dragan Z. Stupar, Milo P.
Slankamenac, Milojko Kovaevi, Measurement of 60Co gamma radiation induced attenuation in
multimode step-index POF at 530 nm, Nuclear Technology & Radiation Protection, Vol. 28, No. 2, pp
158-162, 2013, ISSN 1451-3994.
5. Ana Joa, Jovan S. Baji, Dragan Z. Stupar, Milo P. Slankamenac, Miodrag Jeli, Milo B. ivanov:
Simple and Low-cost Fiber-optic Sensors for Detection of UV Radiation, TELFOR Journal, Vol. 4, No. 2,
pp. 133-137, 2012, ISSN 1821-3251.
6. Jovica Krikovic, Dragan Z. Stupar, Jovan S. Baji, Milo P. Slankamenac, Fiber-Optiki senzor
savijanja, Zbornik radova Fakulteta tehnikih nauka, Novi Sad, UDK: 621.38:535, pp. 2438-2441, 2012,
ISSN: 0350-428X.
7. Igor Bugarski, Milo P. Slankamenac, Milo B. ivanov, Dragan Z. Stupar, Jovan S. Baji, Merenje
indeksa prelamanja tenosti korienjem fiber-optikog senzora pomeraja, Zbornik radova Fakulteta
tehnikih nauka, Novi Sad, UDK:621.382, pp. 85-88, 2012, ISSN: 0350-428X.
8. Jovan Eror, Jovan S. Baji, Dragan Z. Stupar, Milo P. Slankamenac, Simulacije razliitih geometrijskih
struktura plastinih optikih vlakana u TracePro softveru, Zbornik radova Fakulteta tehnikih nauka, Novi
Sad, UDK: 621.38:535, pp. 1537-1540, 2012, ISSN: 0350-428X.
9. Miodrag Jeli, Milo P. Slankamenac, Dragan Z. Stupar, Jovan S. Baji, Milo B. ivanov, Primer
korienja softverskog paketa za modelovanje i analizu DWDM sistema, Telekomunikacije, struno-nauni
asopis Republike agencije za elektronske komunikacije, Vol. 8, No. 8, pp. 7-18, 2011, ISBN 1820-7782.

1. Milo P. Slankamenac, Milan Vrani, Nikola Stojanovi, Milo B. ivanov, Miodrag Jeli, Jovan S. Baji,
Dragan Z. Stupar, Simulacije efekta savijanja kod plastinih optikih vlakana, INFOTEH 2011, Jahorina,
Repbulic of Srpska, B&H Federation, Vol. 10, No. B-II-10, pp. 173-176, 2011, ISBN 99938-624-2-8.
2. Ana Joa, Jovan S. Baji, Dragan Z. Stupar, Milo P. Slankamenac, Miodrag Jeli i Milo B. ivanov,
Korienje optikih vlakana za detekciju UV zraenja, 19th Telecommunications forum - TELFOR,
Belgrade, Serbia, 22-24.11.2011, pp. 940-943, ISBN 978-1-4577-1498-6.
3. Dragan Z. Stupar, Jovan S. Baji, Milo P. Slankamenac, Miodrag Jeli, Milo B. ivanov, Josif Tomi,
Vladimir Rajs, Lazo M. Manojlovi, Vladimir Milosavljevi, Nove tehnologije u zatiti ivotne sredine

v
 korienjem fiber optikih senzora, Druga regionalna konferencija Zatita ivotne sredine u energetici,
rudarstvu i industriji, 2-3.3.2011, Zlatibor, Serbia, pp. 72-77, ISBN 978-86-913953-2-2.
4. eljko Beganovi, Dragan Z. Stupar, Jovan S. Baji, Milo P. Slankamenac, Josif Tomi, Milo B. ivanov,
Realizacija ureaja za merenje intenziteta svetlosti u plastinom optikom vlaknu, Kongres metrologa
2011, 17-19.10.2011, Kladovo, Serbia, pp. 47-54, ISBN 978-86-7518-139-2.
5. Milan Luki, Miodrag Brki, Jovan S. Baji, Sistem za lokalizaciju autonomnog robota pomou kodiranih
infracrvenih predajnika, INFOTEH 2011, Jahorina, Repbulic of Srpska, B&H Federation, Vol. 10, No. A-
12, pp. 55-58, 2011, ISBN 99938-624-2-8.
6. Jovan S. Baji, Ranko Milovanovi, Goran Stojanovi, Realizacija univerzalnog prenosivog EKG/EEG
ureaja, INFOTEH 2010, Jahorina, Repbulic of Srpska, B&H Federation, Vol. 9, No. E1-15, pp. 959-962,
2010, ISBN 99938-624-2-8.
7. Jovan S. Baji, Milo P. Slankamenac, Nikola Stojanovi, Dragan Z. Stupar, Milo B. ivanov, Fiber
optiki senzor sile, VIII Simpozijum Industrijska elektronika - INDEL, Banja Luka, Repbulic of Srpska,
B&H Federation, 4-6.11.2010, pp. 32-36, ISBN 978-99955-46-03-8.
8. Dragan Z. Stupar, Milo P. Slankamenac, Nikola Stojanovi, Jovan S. Baji, Milo B. ivanov, Fiber
optiki senzor za merenje indeksa prelamanja tenosti, VIII Simpozijum Industrijska elektronika - INDEL,
Banja Luka, Repbulic of Srpska, B&H Federation, 4-6.11.2010, pp. 27-31, ISBN 978-99955-46-03-8.
9. Jovan S. Baji, Ranko Milovanovi, Vladimir Rajs, Milo B. ivanov, Termostat sa histerezisom za
hlaenje sa mogunou podeavanja temperature ukljuenja, INFOTEH 2009, Jahorina, Repbulic of
Srpska, B&H Federation, Vol. 8, No. F-8, pp. 865-867, 2009, ISBN 99938-624-2-8.
10. Dragan Z. Stupar, Jovan S. Baji, Bojan M. Daki, Milo P. Slankamenac, Milo B. ivanov, Primena
fiber-optikih senzora baziranih na modulaciji intenziteta za detekciju pucanja crepa, Peta radionica
fotonike, Kopaonik, Serbia, 10-14.3.2012, pp. 26-26, ISBN 978-86-82411-33-5.
11. Dragan Z. Stupar, Jovan S. Baji, Milo P. Slankamenac, Milo B. ivanov, Korienje plastinih optikih
vlakana za beino i udaljeno merenje saliniteta, Peta radionica fotonike, Kopaonik, Serbia, 10-14.3.2012,
pp. 37-37, ISBN 978-86-82441-33-5.

1. Milo P. Slankamenac, Vladimir Rajs, Vladimir Milosavljevi, Jovan S. Baji, Milo B. ivanov, UD-100
- univezalni detektor beine komunikacije, Fakultet tehnickih nauka, 2013.
2. Dragan Z. Stupar, Jovan S. Baji, Bojan M. Daki, Milo P. Slankamenac, Milo B. ivanov, Beini
intenziometrijski fiber-optiki senzorski interogatorski sistem - Wireless IFOSIS, Fakultet tehnikih nauka,
2013.
3. Jovan S. Baji, Dragan Z. Stupar, Bojan M. Daki, Milo P. Slankamenac, Milo B. ivanov,
Intenziometrijski fiber-otpiki senzorski interogatorski sistem IFOSIS, Fakultet tehnickih nauka, 2013.
4. Jovan S. Baji, Dragan Z. Stupar, Bojan M. Daki, Milo P. Slankamenac, Milo B. ivanov, Softver za
akviziciju i obradu podataka merenih sa intenziometrijskim fiber-otpikim senzorskim interogatorskim
sistemom IFOSIS 1.1, Fakultet tehnikih nauka, 2013.
5. Jovan S. Baji, Dragan Z. Stupar, Bojan M. Daki, Milo P. Slankamenac, Milo B. ivanov, Frekventno
modulisani fiber-optiki intenziometrijski senzorski interogatorski system, Fakultet tehnikih nauka, 2013.

vi

2.1. . ..........................................................................................4
2.2. ) [13]. ....................................................................................10
2.3. ) DNL ) INL [13].................................................................................................11
3.1. [16]. .........................................................15
3.2. ) a ) [15]...........................................................................17
3.3. ) [18] ) . ................18
3.4. [18]. ...........18
3.5. ) [19], )
............................................................19
3.6. . ............................................................................20
3.7. ) ) . ...................20
3.8. : ) )
[15]. ...............................................................................................22
3.9. : ) )
[15]. ....................................................................................................22
3.10. [15]. ....................................................................................................23
3.11. : ) [8] )
[8] ...........................................................................................24
3.12. )
) CUI, Inc. [22]. ..............................................................................................25
3.13. - Micronor [23]. ................................................26
3.14. Canon USA, Inc [24]. ..........................................................................26
3.15. : ) Electricfil automotive [25] )
SUMIDA [26]. ........................................................................................................................................................27
3.16. SKF [27]: )
) . .......................................................................................................................27
3.17. MAGNETOCODE FRABA, Inc [29]. ....................28
4.1 ) [46] )
[49]........30
4.2. : ) [50] )
[51]. ...............................................................................................................................................................31
4.3.
[62]. .........................................................................................................32
4.4.
[65]. ..............................................................................................................32
4.5. ) [70]
)
[72]. ........................................................................................................................33
4.6. : ) [75] )
[81]. ..........................................................................................................................34
4.7. [87] )
) . ......................35
4.8. : ) [90] ) [91]. .......................................36
6.1. ,
[104]. .............................................................................................................................41
6.2. CIE 1931 [106]. ............................................................................43
6.3. RGB [104].
................................................................................................................................................................................44
6.4.) RGB , ) a ) . ...................................45
6.5. RGB HSV [104]............................................................48

vii
 6.6. H S ) , ) )
[104]. .....................................................................................................................................................................48
6.7. HSI [104]......................................................................................................................49
6.8. c1 c2 H C [107]. ...............50
6.9.) HLS ) HSV [103]. ...............................................................................................51
6.10. . .............................................................................................53
6.11. ) )
. ..........................................................................................................................................54
6.12. ) )
[123]. ..................................................................................................55
6.13. ) [114] )
[112]. ........................................................................................................................56
6.14. [112]. ..............................................58
7.1. - FDMI . ...........................60
7.2. FDMIs . .....................................................................................61
7.3. FDMIs . .......................................................................................61
7.4. OCR ..........................................................................................62
7.5. OCR ............................................................................................62
7.6. IFOSIS ........................................................................................63
7.7. - IFOSIS ....................................................64
7.8. ) FDMI ) IFOSIS . ..........................64
7.9. VR, VG, VB
IFOSIS . ..............................................................65
7.10. O IFOSIS
, .........................................................................................................................66
7.11. H V . .................67
7.12. LED FDMI IFOSIS . ......................68
7.13. CIE sRGB
. .......................................................................................................................................................................68
7.14. R, G B ,
IFOSIS ADJD . .........................................................................................................................69
7.15.
, IFOSIS ADJD 7.3. ................................................70
7.16. (H )
, IFOSIS ADJD 7.3. ..............71
7.17. (H )
, IFOSIS ADJD 7.3...............71
8.1. ......................73
8.2. R, G, B H HSV
. ......................................................................................................................74
8.3.
. ..............................................................................................................................................................75
8.4. RGB . ................................................................75
8.5. HSV . ................................................................76
8.6. R, G B . .................................................77
8.7. H, S V . ..........................................................78
8.8. R, G B R, G B
. ..................................................................................................................78
8.9. . .....79
9.1. R, G B
. ........................................................................................................................................................................80
9.2. . ........................................................................81
9.3. . ...................................................................82

viii
 9.4. ..................................................................................83
9.5. . .........................................................................83
9.6. . ............................................................................84
9.7. . ..............................84
9.8.
( ). ........................................................................................................................................85
9.9. CNY-70 . ........................................................85
9.10. .86
9.11. CNY-70 . .............87
9.12. CNY-70 . .................................................................................87
9.13. ( ). .................88
9.14. ( ). ..........89
9.15. . .89
9.16. 30 o/min. .................90
9.17. .....................................................................90
9.18. . ................................................................................................................................91
9.19. . .............................................................................91
10.1. . ................93
10.2.
. .............................................................................................................................................................94
10.3. . .......................95
10.4.
. ................................................................................................................................................95
10.5. . .......................................................................96
10.6.
. ................................................................................................................................................97
10.7. . .....97
11.1. )
) . ...........................................................99
11.2. : )
) . ............................................................................................................... 100

ix

3.1. . ..............................................................16
5.1. . ............40
7.1. LED ....................................69
7.2. , IFOSIS FDMI ADJD HDJD
. ...............................................................................................................................................................69
7.3. , IFOSIS FDMI ADJD HDJD
, . ...............................................................................................................70
8.1. R, G B sRGB
....................................................................................................................................76

x

AMR a (. Anisotropic Magneto-Resistance)
BLDC (. Brushless Direct Current)
BRDF (. Bidirectional Reflectance Distribution
Function)
CIE (. Commission internationale de l'clairage)
CMOS -- (. Complementary Metal-Oxide
Semiconductor)
CMRR (. Common Mode Rejection Ratio)
CMY , , (. Cyan, Magenta, Yellow)
CMYK , , , (. Cyan, Magenta, Yellow, blacK)
DNL (. Differential Nonlinearity)
DC (. Direct Current)
dpi (. dots per inch)
ENOB (. Effective Number Of Bits)
FBG (. Fiber Bragg Gratings)
FDMI (. Frequency Domain Multiplexing
Interrogator)
FDMIs (. Frequency
Domain Multiplexing Interrogator Software)
GBW (. Gain BandWidth product)
GMR (. Giant Magneto-Resistance)
HSI , , (. Hue, Saturation, Intensity)
HLS , , (. Hue, Lightness, Saturation)
HSV , , (. Hue, Saturation, Value)
ICC (. International Color Consortium)
IFOSIS - (. Intensiometric Fiber Optic Sensor
Interrogation System)
IIR (. Infinite Impulse Response)
IMC (. Integrated Magneto Concentrator)
INL (. Integral Nonlinearity)
JCGM (. Joint Committee for Guides in
Metrology)
JFET (. Junction Field Effect Transistor)
LASER (. Light Amplification by
Stimulated Emission of Radiation)
LED (. Light-Emitting Diode)
LSB (. Least Significant Bit)
LVDT (. Linear Variable Differential
Transformer)

xi
MAGFET (. Magnetic Field Effect Transistor)
OCR (. Optical Color Recognition)
PSD - (. Position Sensitive Devices)
PSRR (. Power Supply Rejection (Ripple) Ratio)
RGB , , (. Red, Green, Blue)
RMS (. Root Mean Square)
rpm (. revolutions per minute)
RSG (. Resonant Subwavelength Grating)
RVDT (. Rotary Variable Differential
Transformer)
SINAD - (. SIgnal to Noise And Distortion)
sRGB RGB (. Standard RGB)
THD (. Total Harmonic Distortion)
UART / (. Universal Asynchronous
Receiver/Transmitter)
TIA (. Transimpedance Amplifier)
/ -

xii


1.
.
.
( ) .

.
.
. ,
,
[1] , ,
.
.
[1].

.
,
.
, ,
[2].
(Thomas Johann Seebeck, 1821.),
(Michael Faraday, 1831.), (Lord
Kelvin, 1856.), (Jacques and Pierre Curie, 1880.),
(Alexander Graham Bell, 1880.), (Albert Einstein, 1905.)
, .

,
. -
, , e

.
,
.
,
.
.
, ,
, , . ,
. , ,
, ,
- ,
.
,
[3].
,
.
,
.
,
.
1 2015.


. ,
.
.

1.1.

.
, .
,
, , , .
,
, ,
, - ,
.
, ,
.


.

.
: , ,
, .

RGB (.
Red, Green, Blue) .

. ,
, :
, -
,


.









,
.

.

2 2015.


:
2
,
-
. ,
.
3 ,
4
.
5.
6

.
7

8 9 ,
,
10
.
11
.
12 ,
13 .

3 2015.


2.

:
, , (), , ,
. ,
.
(. sensor) (
) ,
[1,4,5]. ,
. (.
actuators), .
(. transducer)
( ) [1].
.
[1]. ()

. .
[1,5],
( ) ,
, , [1].
,
- .


( )
[6].
, 0-10 V, 4-20 mA 20-100 kPa.

[6]. , ,
.
2.1 je
.

2.1. .

, , .

.
(/ ).
,
.
4 2015.


,
/ .

2.1.
,
.
, ,
.
,
[7].
[1,5,79].

, ,
, .
.

1. (. Transfer Function)

[5] ( ) [1].
, [1]:
: y b x a ,
: y b eax c ,
: y b ln x a ,
: y b x a c ,
,
x (, , .), y
(, , ), a, b c .

.
.

. ,
[1].
2. (. Sensitivity) ()
() .
[5]. ,
:

y dy
S , S , (2.1)
x dx

y, dy x, dx .
, .
,
.
3. (. Span, Full-Scale Input)
.

5 2015.


[1].
4. (. Full-Scale Output)

.
5. (. Accuracy)
[1],
[1,8].
[1]:


.
( ,
, , , ).
,

[1].
6. (. Resolution)
.
.
[5]. ,

/( Hz). ,
[5].
, .
, /
.
7. (. Repeatability Reproducibility)
,
[1].
(
, .) [9].
,

[9].
8. (. Calibration)

.
[8].

.
9. (. (Non)Linearity of transfer function)
.
[1].

[9]:
.

.

6 2015.


.

.
.
,
.
10. (. Backlash dead band)
,
[1]. .
11. (. Saturation)
.
12. (. Hysteresis)

[9].
13. (. Offset)
[8].
14. (. Stability) ,

.
.
[8].

.

,
.
,
[7].
(. Warm-up time) (. Response time) [1].
, ,
, , , .

2.2.

, , ,
. ,
/
(. 0-5V). ,
.

[10].
, , , , ,
, (. )
.
.
.
( ),
.

7 2015.


.
:

1. (. Power supply)
, (. 0-5 V, 15 V,...).
2. (. Differential Input Voltage Range)
.

.
[11]. ,
(. Input Common Mode Voltage Range)

.
,
[11].
(. Rail-to-rail input)
p n [11].
3. (. Maximum Output Voltage Swing)

. ,
[11].
(.
(. Rail-to-rail output)).
/
,
.

,


CMOS (. Complementary etal-Oxide Semiconductor) [11].

, CMOS
[11].
4. (. Input resistance)

[11].
,
( ).
107 1012 [11].
5. (. Output impedance)
[11].
. 50 200
[11].
.
,
. , ,
[11].
(. emitter follower)

8 2015.


() (CMOS) [11].
6. (. Input bias current)
.
,

[11].
, . ,

[11]. CMOS
JFET (. Junction Field Effect Transistor)
.
7. (. Input offset voltage)
[10].
,
.

[10].
[11].

CMOS JFET [11].
8. (. Common mode rejection ratio
CMRR)
[11]. .
,
. CMRR CMRR=20log(Ad/Ac) (dB),
Ad , Ac .
CMRR (80 dB).
9. (. Power supply rejection (ripple) ratio PSRR)

[11]. PSRR
(. ) .
PSRR=20log(Vp/Vo) (dB), Vp
, Vo .
PSRR (80 dB).
10.
3 dB .
() (. Unity-gain bandwidth). ,

(. Gain-bandwidth product GBW). GBW
[10].
11. (. Slew rate)
V/s [10].
12. (. Differential voltage amplification)
[11].
, .
(104, 105)
[11].
13. (. Supply current)
[11].

9 2015.


.
,
,
.
,
CMRR PSRR ,
.

2.3. /
, /
, -
/ .
/ [12,13].

1. (. Full scale input)

/ /
[12].
2. (. Resolution) / [13].
1 LSB (. Least Significant Bit) VPS/2N,
VPS , N / .
3. (. Offset error) /

[13] 2.2a.
,
/ .
,
[13].

2.2. ) [13].
4. (. Gain error)
/ , 2.2 [13].

/
.

10 2015.


5. (. Differential nonlinearity DNL)

/ ( 2.3).

/ . 1 LSB
DNL [13].
/ .
6. (. Integral nonlinearity INL)
/ ( 2.3)
DNL [13],
. INL ,
.

2.3. ) DNL ) INL [13].

7. (. Missing codes)
, DNL (1 LSB) [13].
8. (. Monotonicity) /
. . ,
/
, /
.
9. (. Quantization error)
/ .
/ ,
0,5 LSB
[13]. ( ) /
.
10. (. Accuracy) / , (.
Absolute error) /
, ,
[13].
11. (. Acquisition time) (.
rigger) /
.
12. (. Conversion time)

(. Sample and hold). \
11 2015.


[13].

,
, : - (. Signal to noise and
distortion SINAD), (. Effective number of bits ENOB)
(. Total harmonic distortion THD).
, /

, .
(
).

2.4.
2.1
. ,
,
[14].
,
[14]. ,
() , .
,
,
. ,
( )
, ,

[14].

[14].
.

. ,
,
[14].

[14].

,

[14].



[14].

[14].

.

12 2015.


, x ,
n ,
x xi (i [1,n]) [14]:

x i
x i 1
. (2.2)
n

s(x) x :

s x
1 n

2
xi x , (2.3)
n 1 i 1

s2 x

s x
n
. (2.4)

s x
x x [14]
u(x).
, y
N X1, X2,,XN,
y=f(X1, X2,,XN). uC(y)
y [14]:

2
N
f
uC y u Xi ,
2
(2.5)
i 1 X i

u(Xi) ( ) Xi (i[1,N]).
U
k [14]:

U k uC y . (2.6)

Y :

Y y U . (2.7)

y-U y+U

[14].
[14]. uC(y)
() , k=1
68,3% , k=2 95,4%, k=3
99,7%.

13 2015.


(. The Guide to the Expression of

Uncertainty in Measurement) [14] JCGM (. Joint Committee for
Guides in Metrology)
.

14 2015.


3.
A

. ,
() [15].

.
. ,
( )
, ,
. ,

.
, , , [15].
3.1 .
()
(). (
)
. ,
.

3.1. [16].

.
.
() .
,

. ,
.

.
.
90 ( ).

15 2015.


,
.

. , ,
,
. ,

.
, ,
.

( ) .
,
.

, , , () .
.
,
. 3.1
.

3.1. .

, .

16 2015.


3.1.
.

( 3.2). [8].
.

, .

3.2. ) a ) [15].

,
. ,
, . ,
, .
, ,
.

( 3.2).
, (
) , [17].

.
,
[17].

3.2.
( )
,

3.3a [18]. 1879. . . (. E. H. Hall)
(. Hall effect). VH
,
() [18].

17 2015.


3.3. ) [18] )
.
.
,
. ,
, 3.3 [18].
( )
, VH.
. 3.4
,
, [18].
,
[7].
[18].
,
.
.

3.4.
[18].
[1,19]
3.5.

90 ( ).
[18]

(, ,
)

18 2015.


[19].

3.5.
.

3.5. )
[19], ) .

.
,
.
,
.

3.3.

. ,
, .
, ,
. 3.6
. e LED (. Light
Emitting Diode), [7].
[7].
.

( )
[7].
.
.
,
( I)
[7].
.

.

19 2015.


. (LED ),
.

3.6. .
,

. 3.2
.
(. Grey code).
,
( 3.7)
, () [8].
.

3.7. ) )
.
, a
( 3.7) [8].

20 2015.


.
,
. ,
,
,
.
, ,
. ,
, ( )
.

3.4.
( ) 50
[20].
,

.
,
[20].
, ,
.
[20].

90
( 3.8).
,
[5].
vR:

vR VR sin t , (3.1)

VR , t .
vS1 vS2:

vS1 vR sin VR sin sin t VS1 sin t , (3.2)

vS 2 vR sin( 90) vR cos VR cos sin t VS 2 sin t , (3.3)

. ,

, (
). :

VS 1 VR sin sin V
tg arctg S 1 . (3.4)
VS 2 VR cos cos VS 2

, VS1 VS2.

. , ,

21 2015.


120
( 3.9).

3.8. : ) )
[15].
(3.1),
S1, S2 S3 [5]:

vS13 vR sin VR sin sin t VS13 sin t , (3.5)

vS 32 vR sin 120 VR sin 120 sin t VS 32 sin t , (3.6)

vS 21 vR sin 240 VR sin 240 sin t VS 21 sin t , (3.7)

vS13, vS32 vS21 S1 S3, S3 S2, S2

S1.

3.9. : ) )
[15].
(. Scott T transformer)
3.10 ( 3.9)
( 3.8) [15].
. ,

, .
[15]:

22 2015.


sin S 3 S1 , (3.8)

S1 S 3 2
cos S2 , (3.9)
2 3

S1, S2 S3
.

3.10. [15].
120 ,
.
[5].
.
: - - [7]. .
-,
- [7].
.
, ,

[15]. ,
.
(. Speed Voltage) [15].

.

3.5.


.
. ,

( ) [8].
3.11 .

.
[8].
,
.

23 2015.


[8].
,
[8].
(. microsyn)
[8].

3.11. : ) [8] )
[8]
(. LVDT -
Linear variable differential transformer) (. RVDT - Rotary variable
differential transformer)
. 3.11

, .
vP ( 3.11),
.
() .
[1] ,
vS ( 3.11) . ,
,
, ,
, ,
vS [1].
[8].

40
360 [5].

3.6.
.
.
( ),
, , . ,
.

[21,22].
,
,

24 2015.


[7]. 3.12
.
, .
,
.

3.12. )
) CUI, Inc. [22].
3.12 AMT CUI, Inc [22].
: - ,
.
-
.
() . ,
[21].

CUI, Inc .
,

.

3.7.

. ,

.
Micronor
[23]. -
. Micronor
,
.
Micronor 3.13.
.

,
.
. ,
, .
,

25 2015.


.
Micronor ,

300 m. ,
Micronor .
Micronor
, ,
. ,
.

3.13. - Micronor [23].

Canon USA, Inc.
[24].
( 3.14). Canon USA, Inc.
81000 . ,
.

3.14. Canon USA, Inc. [24].

Electricfil automotive
[25].
,

26 2015.


( 3.15). -
,
.

.
.

. Electricfil automotive
-
.

3.15. : ) Electricfil automotive [25]

) SUMIDA [26].
SUMIDA (
3.15) [26].
. SUMIDA

.
N
. SKF [27]. 3.16
SKF.

3.16. SKF
[27]: ) ) .

90
27 2015.


.
.

(
3.16a).
,
, , .

MAGNETOCODE FRABA, Inc. [28].
.
(. Wiegand wire) a

. ,

( ). FRABA
3.17.

3.17. MAGNETOCODE FRABA, Inc

[29].

28 2015.


4.

x
. ,
.
,
, , .
,
, .
[30] .
[31] -
. [32]
,
[33] .
[34]
. [34]
. ,
, [34].
, . [35]
[36] .

[3741].
. ,

, [39] ,
,
[40,41].

,
[4245]. , ,
.

4.1.
,
. 14
[46]. 4.1

. 256

. [46]
. [47,48]

30x30 . [48]
: ,
[48].
, ,

29 2015.


[49]. .
, ( 4.1).

4.1 ) [46] )

[49].

.
[49]

.
360 [50].
.
p-n , ,
p-n , .
,
p-n
[50]. - (.
PSD - Position Sensitive Devices)
[50]. 4.2
[50],
. .

[51].

, .


[51]. 4.2,
-
,
[51].
[51] 15 . [52]

18 mm 16 .

30 2015.


.
,
a .
[52].

) )

p SiO2 l
Si
+
n n

4.2. : )
[50] ) [51].
-

. - [53].
(.
FBG Fiber Bragg Gratings) [53]. [53]

.
, 1 [53].
- [54].
[54] 45 , 10 .
,
.
[54] . -
[55,56]
. [56]
0,35 ,
. -
[57].
-
(. RSG - Resonant Subwavelength Grating)
. [58]
.
[5961]
.
4.3, [62]
.

31 2015.


4.3.
[62].
[63] [64]
LED
. [64]
0,08 .
6,65% 100 .

[65].

.

.
GaAs ,
[65]. 4.4

[65].

4.4.
[65].

4.2.
,
,
.

. [66] ,
: ,

32 2015.


. [67]
.
3.2.
[68]
.

. ,
,
.
, 0,3 360 .
[69]
CMOS 0,17 .

,
[70]. [70]

. [70] TriaxisTM
Sentron.

4.5.
(. IMC Integrated Magneto Concentrator).

[70].
. [71]
.
90 , [71]
90 .

1% 120 [71]. [72]

.

4.5.
[72].

4.5. )
[70] )
[72].

33 2015.


[73].

.
BLDC (. Brushless
Direct Current) [74].
,
.
(. AMR Anisotropic Magneto-
Resistance) (. GMR Giant Magneto-Resistance )
[75]. [75]
AMR . (. Wheatstone Bridge)
90
( 4.6).
360 ,
(BA 4.6). [76]

4000 .
AMR [77]. AMR
.
AMR .
[78].
160000 . [79]
GMR .
200 kA/m,
0,3 [79].
,
. [80]

. [80]
.

.

4.6. : ) [75] )
[81].
4.6 [81]

34 2015.


(.
MAGFET- Magnetic Field Effect Transistor).
4,3x4,3 mm2, 3,5
[81].
.

[70]. [82] je
.
,
[83]. ,
. 2,5 .

[84,85]. ,
(. Kapton film)
[84].

4.3.

. [86]
.

. [87]
.

( 4.7).
, 90 [87].

.
.

[87].

4.7. [87] )
)
.
[87]
4.7.

35 2015.


, [87]

. [88]
o . [89] [90]

360 .
[89] [90] (
) ( 4.8).
a [90]
1,5 360 ,
140 ms.

4.8. : ) [90] ) [91].

[92].
[92] [89] [90].
[92] 0,2 , 12 , 1
kHz. [92] [93]
.
[94]. [94]

,
.
[95]
[86]
.

. [89] [90]
[96]
. [90] [97]
,
. ,
[97]. [91]

. [91] 4.8.
.
.
.
.
36 2015.


[91]. [91]
0 360 0,1%. [98]
,

[98]. [98]
[87].
[99] [100].
[99] [100]
.

37 2015.


5.


.
, ,
, , ,
.

.

[16,22,28,33,70,92,101,102]. ,

. , 5.1
.
, ,
.
, ,
. ,
,
,
.
.

. ,

.
, - ,
.
. ,
,
, ,
.
. ,
, , .

, , , . ,
.

. ,
.
,
.

.
, ,

.
,

38 2015.


.
,
. , , ,
,
.
, .

.
.
, ,
, . ,
, ,
. ,
, ,
.
.
,
.
,
.
,
, . ,
.
. ,
, .

. .
/ /
.

. ,
,
(,
).
, , ,
.

,
.
, ,
. , , ,
(. )
.
, .


.

39 2015.


5.1. .

40 2015.


6.


RGB (. Red, Green, Blue)
.

.

6.1.

[103],
( 400-700 nm)
[103].

.
, ,
(. )
[103].
6 7
. 65% ,
, , 33% 2% (
) [104]. 6.1
o
,
(, , , ).
S (. Short-wavelength-sensitive
cones), M (. Medium-wavelength-sensitive cones) L (. Long-wavelength-sensitive
cones) [105].

6.1.
, [104].

41 2015.


. ,
,
[103]. ,
.
.

[103].
, [104].
(. , , ,
) . ,
,
[103]:

. CIE
.
(. HSV
).

. RGB
.

(-, -, -).
, ,
[103]:

, .

.

.
.

6.1.1. CIE XYZ

(. CIE - Commission internationale de l'clairage)

1931.
[103].
( )
X, Y Z .
X, Y Z CIE XYZ . CIE XYZ


[103].
,
,
. 6.2 CIE 1931 (),
42 2015.


(), () [106].

a. 6.2,

,
.

6.2. CIE 1931 [106].

C(),
X, Y, Z CIE XYZ
:

X x C d , (6.1)

Y y C d , (6.2)

Z z C d . (6.3)

X, Y Z ,
x, y z [103]:

X
x , (6.4)
X Y Z
Y
y , (6.5)
X Y Z
Z
z . (6.6)
X Y Z

z z=1-(x+y),
. ,
CIE XYZ xy,
. 6.3
[103]. ( )

43 2015.


.
. , ,

[103].


[104]. ,
,
[104].
,
. (. color gamut).
6.3 RGB ,
.
,
[104].

6.3. RGB
[104].

[104].
. ,
,
,
.

[103]. ,
, .

44 2015.


6.1.2. RGB CMY/CMYK

,
,
[103]. RGB (. Red, Green, Blue)
. RGB (R), (G)
(B) ,

.
[103]. RGB
, 6.4.
, R, G B RGB
0 1 [103]. ,
(R,G,B). ,
, (0,0,0)
.

( ) (1,1,1) 6.4 [104].

R, G B .
o (1,0,0), (0,1,0) (0,0,1) .
(. Cyan) (0,1,1), (. Magenta)
(1,0,1) (. Yellow) (1,1,0) .

6.4.) RGB , ) a ) .
CMY (. Cyan, Magenta, Yellow) ,

[104]. .
( ,
), ,
[104]. ,
. , CMY
. CMY

45 2015.


,
(). ,
RGB , , (
) RGB ,
CMY ,
, . 6.4 6.4
. CMY
,
, , . [104].
RGB CMY [104]:

C 1 R
M 1 G
, (6.7)
Y 1 B

C,M,Y R,G, B 0 1. (6.7)

,
, [104]. ,
( , )
, . ,
CMY .
, CMY CMYK (. Cyan,
Magenta, Yellow, blacK)
( , ) [104]
[105].
0 1,
R, G, B C, M, Y
. true color
24 , 8 ( 0 255)
(R, G, B) RGB .
(28)3=16777216 [104].

(R,G,B) (R,G,B) [103]. (R,G,B)
(R,G,B) .
, ,

[103]. ,
. R
[0,1] R
[0, 255]
[103]:
1

R ' 255 R . (6.8)

RGB
,
(R,G,B)
(R,G,B) [103].

46 2015.


6.1.3. HSI

, RGB CMY
(RGB) (CMY) ,
RGB CMY , , . ,
(.
) [104]. , RGB
( ). , , ()
RGB
CMY [104] (. RGB , ,
). , ,
[104]. (. Hue)
,
.
, , , , ,
[104]. (. Saturation) ,
. ,
[103]. ,
, ,
. (. Lightness)
[103].
CIE
[104].

,
,
[103].
[104]. HSI (. Hue,
Saturation, Intensity) , RGB
.
, RGB
.
RGB
, ,
6.5 [104]. ,
[104].
0 1
, . ,
( )
[104]. ,
. RGB
,
, 6.5. , .

. ,
6.5, ,
.
[104].

47 2015.


6.5. RGB HSV [104].

,
HSI RGB ,
RGB .
-
6.5,
. , ,
(, ) 120 .
(, ).

6.6. H S ) , ) )
[104].
,
() ( 6.6) [104].
H=0.
.
. ,
HSI ,
[104].
HSI ( 6.6), ( 6.6)

48 2015.


( 6.6) [104]. 6.7 HSI

.

6.7. HSI [104].

HSI
, RGB .
RGB , HSI
. c1 i
c2 6.8 [107]:
1
c1 2 R G B, (6.9)
2

3
c2 G B , (6.10)
2
H () C ()
:
c
H arctg 2 , (6.11)
c1

C c12 c2 2 . (6.12)

1
,
[107]. S HSI [104]:

49 2015.


3
S 1 min R, G , B , (6.13)
RG B
I [104,107]:

1
I R G B . (6.14)
3

6.8. c1 c2 H C
[107].
, H HSI [104,107]:

, B G
H , (6.15)
360 , B G

, H=0 :

1
R G R B

arccos 2
. (6.16)
R G R B G B
2

[107].
HSI .
HSV (. Hue, Saturation, Value) [103,108]
HLS (. Hue, Lightness, Saturation) [103]
6.9 6.9. HLS H, L S
: m
RGB :

M max( R, G, B), (6.17)

50 2015.


m min( R, G, B), (6.18)

6.9.) HLS ) HSV [103].

H, L S :

M m
L , (6.19)
2

M m
, L 0.5
M m
S , (6.20)
M m , L 0.5
2 M m

, S 0

G B , R M
M m

H ' BR , (6.21)
M m 2, G M

R G 4, B M

M m

H 60 H ' . (6.22)

HSV ,
, S V :

51 2015.


M m
S , (6.23)
M
V M, (6.24)

H HLS
[108].
, , .
, ,
CIE Lab [103,105]. CIE Lab CIE XYZ .

,
[103,105].

6.1.4.

( ),
(, ) ,
[105,109].
, .
, ,
.

[105,109].
( LED ,
, ),
, , , , .
:
.
(),
. ,

.
RGB .
, .
, 6.10,
( LED )
a ( ,
).
.
. , 6.10,

( , LED ).
6.10
, , ,
.
( )
( ).
,
. ,

52 2015.


/
/ .

6.10. .
( 6.10),
.

6.2.
6.11
.
. 6.11
d .
6.11 : ,
, . d ,

,
. ( )
.

.
.
, (
).
,
(. ).
, 6.11
.
. ,
,
,
, , .
,
- [110,111]. -
53 2015.


, , ,
( ),
.

6.11. ) )
.
.
.

6.2.1.

.

[112120]. , :

[112].
, 6.12,

[113].
:
i r , (6.25)

[121]:

n1 sin i n2 sin t . (6.26)

(6.25) (6.26) i
, r t
, n1 n2 .
,
[122]:

1 sin i t tan i t
2 2

R 2 , (6.27)
2 sin i t tan 2 i t

54 2015.


.
(6.27)
(s- ),
(p- ) [122].
.
(. Brewsters angle), p-

[122]. ,
(n1>n2), ,
, ,
1 100% [121].
( [122]).
. ,
,
[113,116].

6.12. ) )
[123].

[112].
[112]. ,
, .
,
. ,
[112].

, [112].
, [123]:

d 2 d 2
L , (6.28)
da d cos dA d

d , dA , da
dA x-y , ,
( 6.12). [123]:

d
I . (6.29)
d

55 2015.


(6.28) :

1 d d 1 dI
L , (6.30)
cos dA d cos dA

:
dI L cos dA . (6.31)

L (6.31)
[123]:

I L A cos . (6.32)

LA ,

.
[122].

.
.
,
[112],
.
()
,

. 6.13

,
[114]. ,
,
,
[114]. ,
[112].

6.13. ) [114] )
[112].

.

V [112].
n 6.13. ,
56 2015.


( 6.13) [112].
.
,
( 6.12)[122]. ,
, , ,
, [112]:

2

1
e 2 2
. (6.33)
2

,
[112].
[119]
,
[112].

[116] (. bidirectional reflectance distribution function BRDF)
,
[112]. fBRDF
L E ( )
[112,115]:
L
f BRDF , (6.34)
E

6.12 [123]:

d
E . (6.35)
dA

,
( )
[116].
[112120]. ,
[116].
[119] [120] [112]
.
6.14 ,
[112].
( [112]) , .

. [112] :

2

C
E C dl sl e 2 C ss i r r ,
2
(6.36)
cos r
Cdl , Csl , Css
. (6.36)
,
57 2015.


,
. , [112]
Csl Css ,
.
h/<0,0025 Csl=0,
h/>1,5 Css=0, , h
[112].

6.14. [112].

58 2015.


7.


HSI, HSV HLS. (H
)
(H=0). , .


.
,
.

.

,
. ,
.
,
, ,
[124,125].
: IFOSIS (. Intensiometric Fiber Optic Sensor Interrogation System) FDMI
(. Frequency Domain Multiplexing Interrogator),
[126128].
,
.
.
6.10,
, . ,
- ,
,
[129].
,
,
.
,
.

7.1. FDMI
IFOSIS
7.1 -
FDMI .
,
, .
1 mm.
RGB LED
473 nm ( B ), 515 nm ( G )
635 nm ( R ).

59 2015.


,
RGB .
RGB LED (fR, fG fB
7.1). FDMI
[128].
( ) , 7.1 a
. , LED
.
TSL250. TSL250

(. IA Transimpedance amplifier).

.

,
50 Hz. .

/ (-) .
LabVIEW
.

7.1. - FDMI .

:
1. FDMIs (. Frequency Domain Multiplexing Interrogator Software)
2. OCR (. Optical Color Recognition)
7.2 FDMIs . FDMIs
a
( , , ).
LED ,
,
, . FDMIs
,
.

60 2015.


,
RGB .
, FDMIs
(. RMS - Root Mean Square)
Data Socket .
,
Data Socket , .
, FDMIs .
7.3 FDMIs .

7.2. FDMIs .

7.3. FDMIs .

61 2015.


FDMIs , FDMI

. , FDMI FDMIs
.
Data Socket
.
. , OCR
,
. OCR ,
7.4, Data Socket
7.2.

7.4. OCR .
, OCR ,
RGB (CMY/K,
HSV, CIE XYZ). , OCR .
7.5 OCR .
OCR .

7.5. OCR .

62 2015.


IFOSIS FDMI .
FDMI, IFOSIS .
. IFOSIS
. FDMI
, IFOSIS
TSL250. IFOSIS
FDMI . (634 nm), (515 nm) (466 nm) LED
IFOSIS . LED
, , 1,125 kHz,
2,25 kHz 4,5 kHz. IFOSIS
LED . LED ,
. FDMI
, dsPIC30F4013 IFOSIS-,
/ LED . ,
IFOSIS
1 mm, a
. , ,
,
. ,
,
.
FDMI. IFOSIS 1.1
7.6 , IFOSIS .
FDMIs , IFOSIS 1.1 Data Socket
.

7.6. IFOSIS .
7.7 -
IFOSIS , ,
63 2015.


. , IFOSIS
, IFOSIS
7.7.
,
LED . LED
1,125 kHz, 2,25 kHz 4,5 kHz. ,
(FDMI), . ,

TSL250. ,
1 mm.
, /
dsPIC30F4013. /
.
IIR (. Infinite impulse response) 8.
LED .


IFOSIS 1.1 . , IFOSIS 1.1 ,
Data Socket .
Data Socket FMDIs ,
OCR .

7.7. - IFOSIS .
7.8 FDMI
IFOSIS .

7.8. ) FDMI ) IFOSIS .

64 2015.


7.2.
, e .

.
. (.
ICC - International Color Consortium),
,
. ICC
[130].

.

.
, .
7.9 VR, VG,
VB ( FDI,
IFOSIS )
IFOSIS .

7.9. VR, VG, VB

IFOSIS
.
7.9, VB

. ,
( ).

,
(
IFOSIS ),
(
65 2015.


FDMI ).
,
.
0 1,5 mm, (
) 3,5 mm.
RGB .
, R, G, B
.
( ).
VR, VG, VB. VR, VG, VB
R, G, B,
(BR, BG, BB) (WR, WG, WB).
R, G, B
:
R WR VR BR , (7.1)
G WG VG BG , (7.2)
B WB VB BB . (7.3)

, ,
(R, G, B)=(0,0,0) (R, G, B)=(255,255,255) .
, ,
(BR, BG BB ),
WR, WG WB , .

. OCR
, 7.4 7.5. 7.10
IFOSIS
, .

7.10. O IFOSIS
, .

66 2015.


7.10 0 1,5 mm 7.9

. 1,5 3,5 mm 7.9, 0 2 mm 7.10,
. ,
(R, G, B) , .

.
, , ,
. ,
. HSV ,
S () V ( ) , H
( ) .
7.11 H V
( - H1, V1 - H2, V2).
, , ( HSV )

[124].

7.11. H V
.

IFOSIS . FDMI
.
.
. 7.12
RGB LED FDMI ,
LED IFOSIS .
LED
6.1.1, . 7.13 CIE
. ,
, 7.13 sRGB
. ,
IFOSIS FDMI
67 2015.


LED . 7.1

( ) LED .

7.12. LED FDMI IFOSIS

.

7.13. CIE
sRGB .

68 2015.


7.1. LED .

o ,
.
,
HDJD-S822-QR999 ADJD-E622-QR999.
LED .
(Xerox Colour 550).
(, IFOSIS, FDMI, ADJD, HDJD)
. 7.2
.
7.2. , IFOSIS FDMI ADJD HDJD
.

7.14 ,
FDMI HDJD .

7.14. R, G B
, IFOSIS ADJD .
69 2015.


7.14,
.
, , .
,
, . 7.3
.
1-24, ( , ).
7.3. , IFOSIS FDMI ADJD HDJD
, .

7.15, 7.16 7.17

, 7.3 ,
IFOSIS ADJD .

7.15.
, IFOSIS ADJD
7.3.
70 2015.


7.16. (H )
, IFOSIS ADJD
7.3.

7.17. (H )
, IFOSIS ADJD
7.3.

( 7.3),

. .

71 2015.


8-10
16-18. .

,
.

72 2015.


8.


H
,
( )
.
. ,

. 8.1.
8.1 .
, .

8.1.
.
8.2 R, G B (
6.1.3) HSV
(R, G, B)=(255,0,0). a
6.1.3 H, S V. S
V HSV , R, G B
( 100%). , 8.2
, ,
(HSV ) 6.9. H
, ,
8.2.
R, G
B 8.2.
,
8.1, R, G B HSV .
, ,
H , . ,
, H ,
, .

73 2015.


, .
,
.

.
S ( V HSV
), (R, G, B )
. ,
,
( ).
CMYK ,
S V CMYK

. GIMP 2 sRGB
(IEC 61966-2-1:1999).

8.2. R, G, B H HSV
.

8.1.

8.3
. 600 dpi
(. dots per inch)
12 cm.
, 200
.
dsPIC30F4013 L298 H-. ,
,

-.
74 2015.


1/32 .
3,5 mm ( 7.2)
IFOSIS . IFOSIS
FDMI .
, LED IFOSIS
FDMI .

RGB 8.4, 8.5
HSV .

8.3.
.

8.4. RGB .

75 2015.


8.4
R, G B
. 9 (5 ).
, 8.4 R, G B sRGB
. 6.1.3
8.5.
8.4, R, G B
(), 8.4.
(
),
. 8.5
, H
. 8.5,

.

8.5. HSV .
,
. 8.1 R, G B (,
) sRGB .
, R, G B
.
8.1. R, G B sRGB

76 2015.


R, G B
8.1 MsRGB:
1
154 72 72 118 50 35 1.2296 -0.0788 0.3965

sRGB 72 154 72 53 108 40 -0.0638 1.3429 0.2533 . (8.1)

0.1939 -0.2958 1.9635
72 72 154 33 48 81

R, G B
(Rmereno, Gmereno Bmereno) sRGB (RsRGB, GsRGB BsRGB):

RsRGB Rmereno

GsRGB M sRGB Gmereno . (8.2)
BsRGB Bmereno

(8.2)
,
(). 8.6 R, G B

(8.2).
R, G B .
8.7
HSV .
8.5 8.7,
H ,
,
(8.2). , .

8.6. R, G B .

77 2015.


8.7. H, S V .

, .
8.8,
R, G B R, G B
.

8.8. R, G B R, G B
.
8.8
( 8.6) .

78 2015.


(Xerox
Colour 550).
, ,
H ,

, , .

,
10 , . ,
.
8.9 ( H
) .
, 4 .

8.9.
.

,
.
8.3
.
,
: , . ,
RGB
, CMYK RGB
- .

.

79 2015.


9.




, .

.
, ,
.
, ,
CMYK .
, .
.

RGB . , R, G
B ,
120
, 9.1.

9.1. R, G B
.
80 2015.


,

R, G B
[131]. 120
.
(R, G B) RGB .
,
. a H ,
. ,
R .
9.2.
,
.

9.2. .

8.1. ,

.
. ,
,

- . ,
- ()
. ,
,
.

9.1.

8.1
9.3.

(), .

81 2015.


( )
.

9.3. .
6.1.3,
RGB HSV, HSI, HLS.
HSV. R,
G B (),
HSV . 9.1
R, G B
. ,
. ,
6.6, ,
() [104]. , 9.4, 9.5 9.6,
.
0 1 120 .
, , S1, S2 S3
9.3.
(6.11) (H ) HSI :

180 3 S 2 S3
arctg 180, 0,360 (9.1)
S1 S 2 S1 S3

S1, S2 S3 R, G B
(6.9) (6.10). (6.11)
, (9.1) 0 360 .
9.4, 9.5 9.6,
R2=0,99994.
.
. , ()
, HSI
. ,

.
, (9.1)
82 2015.


( 3.4).
,

. 8.2,
HSV .

9.4. .

9.5. .

83 2015.


9.6. .


(9.1) , HSI
.
,
.
(9.1) ,
,
. 9.7
( ).

9.7. .
84 2015.


, 9.7,
.
( ) arctg
9.8.

.

9.8.
( ).

9.2.

CNY-70 LED
.
9.9. /
/ dsPIC30F4013, 12 .
/
.

9.9. CNY-70 .

85 2015.


9.10
. CNY-70
120 .

600 dpi (. dots per inch) .
, () .
, ,
5 mm .
8 200 .

, , - -,
. ,
, ,

.
dsPIC30F4013 H- L298, 8.

9.10.
.

.
CNY-70 .
,
, .
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