Todor Stoyanov Djamiykov - Academia.edu (original) (raw)

Papers by Todor Stoyanov Djamiykov

Journal Scientific and Technical Of Information Technologies, Mechanics and Optics, 2014

Научно-технический вестник информационных технологий, механики и оптики Scientific and Technical ... more Научно-технический вестник информационных технологий, механики и оптики Scientific and Technical Journal of Information Technologies, Mechanics and Optics 2014, No 6 (94) 48 УДК 681.786 МЕТОД ОПРЕДЕЛЕНИЯ ПРОСТРАНСТВЕННЫХ КООРДИНАТ В АКТИВНОЙ СТЕРЕОСКОПИЧЕСКОЙ СИСТЕМЕ В.В. Коротаев, Т.С. Джамийков, Х.В. Нгуен, С.Н. Ярышев Университет ИТМО, Санкт-Петербург, 197101, Российская Федерация, korotaev@grv.ifmo.ru Технический университет София, София, 1000, Болгария Аннотация. Предложена структурная схема активной стереоскопической системы и алгоритм ее работы, обеспечивающий быстрое вычисление пространственных координат. Система включает в себя две одинаковые камеры, образующие стереопару, и лазерный сканер, который осуществляет вертикальное сканирование лазерным лучом пространства перед системой. Синхронная работа двух камер обеспечивается с помощью отдельного блокасинхронизатора. Разработанный алгоритм работы системы реализован в среде MATLAB. В предложенном алгоритме влияние фоновой засв...

This paper illustrates the process of study and choice regarding a sensor for motioning of walkin... more This paper illustrates the process of study and choice regarding a sensor for motioning of walking robots. Typical for all walking machines is the need of a effective force-to-weight ratio. Based on preset parameters a sensor prototype for a six-legged mobile robot joint had been chosen. To meet the requirements all possibilities for reaching the goal by using optrons with air entrance, integral illumination-frequency commuter and photodiode lineal had been investigated. Explicated are the characteristics and the basic conceivable parameters of diverse variants.

This paper presents the technical decision of tachometer which is realized with program logic. A ... more This paper presents the technical decision of tachometer which is realized with program logic. A distinguish feature of the suggestion is the using functional transformation of the number next impulses in order to reach a result in rpm. This way there is no need oft mathematical operations multiplication and division. The device is programmed with language from upper level VHDL on Xilinx’s crystals.

In the present paper is described optoelectronic system for visualization of frames from a CMOS i... more In the present paper is described optoelectronic system for visualization of frames from a CMOS image sensor on the monitor. It uses features and advantages of the programmable logic and it based on a FPGA Spartan III. Hardware and software solutions are presented. Simultaneously with the data from the image sensor, the system can visualize addition information. This expands features of the system especially when it is uses for measurement or scientific applications. In this way there is no necessary to using additional device for visualization of the information. In the end of the paper experimental results are applied.

Abstract:- In this paper, the focus is on resolving determining dimensions of opto-electronic mea... more Abstract:- In this paper, the focus is on resolving determining dimensions of opto-electronic measuring devices using methods of statistical modeling. We propose different parameters in the transfer function to be exchanged with random numbers. Every one of these numbers is limited by real range of corresponding physical device parameters. The result is a random value. Repeating the previous procedure with different random numbers we receive an representative of transfer function. It is then put on statistical test. Results from statistical test (average value, root mean square value and distribution law) are analyzed in order to determine mechanical parameters of the device. The considered example demonstrates the possibility for a easy and fast determination of mechanical dimensions and tolerances of the opto-electronic measuring devices. Key-Words:-statistical modeling, mechanical dimension, tolerance, transfer function, transfer characteristic. 1

In order to design, implement and control the flame sensor systems, it is needed information for ... more In order to design, implement and control the flame sensor systems, it is needed information for the electrical signals according the flame’s physical parameters. The behaviour of the signals generated by an open-air flame is experimentally investigated using the following circuit. The flame radiation is focused over a PbSe photoresistor, which is sensitive in 2- 3µm spectral range. The photoresistor is connected to amplification circuit As can be seen on the figure, there are additional amplification stage that is used to increase only the AC component of the signal. Both electrical signals are digitized by ∑- ∆ ADC. Personal computer controls the ADC in his turn. The data stored by various flame sources are statistically manipulated using the software package Mathcad. In this paper the methodological steps needed to accomplish experiments for various flame sources are presented in details. The design and implementation of hardware configuration and software code are also considere...

2019 IEEE XXVIII International Scientific Conference Electronics (ET), 2019

Air quality has become a major concern for citizens all over the world. It is well documented tha... more Air quality has become a major concern for citizens all over the world. It is well documented that Fine Particulate Matter (FPM) is a health hazard which can affect the cardiovascular system, respiratory system, etc. and lead to high mortality rates. This study presents the development and implementation of an innovative portable air purifier. The device can be used to improve air quality in small spaces.

Current paper presents the structure and main parameters of the modern solid state CMOS image sen... more Current paper presents the structure and main parameters of the modern solid state CMOS image sensors. Increasing complexity of these devices leads to implementation of on-chip image processing by embedded hardware modules and functions. High degree of programming, configuration and communication is available through high-speed interfaces.

The paper is presented the technical solution of simultaneous measurement of the angle of the sun... more The paper is presented the technical solution of simultaneous measurement of the angle of the sun elevation and the create radiation. The sensor is based on three photodiodes. The diodes are arranged at different angles, three amplifier circuits and three transmitters for the current loop 4÷20 mA. The relation between the signals from each photodiode depends of the sun altitude. The PSpice simulation results for the amplifier ant the current converter circuit are shown.

2017 XXVI International Scientific Conference Electronics (ET), 2017

The paper presents a technical solution for one-dimensional (east-west) solar panels managing as ... more The paper presents a technical solution for one-dimensional (east-west) solar panels managing as two photovoltaic cells are used for the sensor. The photovoltaic cells are placed at an angle of 45 ° to each other on the surface of the panel. If the difference between the measured radiations by the cells is greater than 5%, the corresponding relay is activated and the panel rotates. The proposed solution is simple, its parameters can be easily changed and can be implemented with the Arduino microcontroller. It provides a rapid reaction to increase the effectiveness of the solar panels under fast changing environmental conditions. The implementation and experimental results are also presented.

Essential highlight of a new robot generation as mechatronics systems is using of movement basics... more Essential highlight of a new robot generation as mechatronics systems is using of movement basics taken from the nature. In the present paper is examined a modular architecture for control and information processing for such kind of robots. Especially here is considered a building of basic module as main entity of the architecture. The approach for architecture assembly is to create instances of basic module and realize of object-oriented connections in between depending on problem standing to solve. The presented paper suggests both approach and module for a synchronal control for the leg of a six-legged mobile robot.

The paper describes the algorithm developed and used by the team to design and adjust the power s... more The paper describes the algorithm developed and used by the team to design and adjust the power supply circuit used in high quality digital camera system.

This paper describes a simple, cost-effective parameter analysis system, built of low-cost data a... more This paper describes a simple, cost-effective parameter analysis system, built of low-cost data acquisition module, easily obtainable components and programmed using a graphical programming environment. The system is designed for educational purpose and can be used for static characterization of optoelectronic devices, sensors and other semiconductors. In the presented paper is considered some topics concerning the connectivity between data acquisition board and integrated parametric measure unit. Such considerations are important in order to achieve accurate I-V characteristics of investigated optoelectronic devices. The designed system’s hardware is powerful and capable of performing a more of the tests required for the laboratory experiments.

This paper presents methods for increasing the performance of image processing system. The factor... more This paper presents methods for increasing the performance of image processing system. The factors that influence the process are presented and their relations with other main system parameters. Several example algorithms are presented as a illustration of these ideas.

Scientific and Technical Journal of Information Technologies, Mechanics and Optics

Аннотация Предмет исследования. Характерной чертой сферических панорам является максимально возмо... more Аннотация Предмет исследования. Характерной чертой сферических панорам является максимально возможный угол обзора пространства (360º×180º). Всенаправленные оптико-электронные системы способны получать изображения, в которых отображается большая часть этого пространства, однако эти изображения отличны от канонической сферической панорамы. В работе предложен метод преобразования круговых изображений, полученных всенаправленными оптическими системами, к каноническим сферическим панорамным изображениям с использованием процедуры калибровки всенаправленной оптико-электронной системы. Метод. Процесс создания сферических панорам состоит из трех этапов. На первом этапе происходит формирование виртуальной поверхности в пространстве предметов, соответствующей полю зрения сферической панорамы. Поверхность задается посредством массива трехмерных точек. На втором этапе находятся координаты изображений этих точек в плоскости фотоприемника. На третьем этапе осуществляется поэлементное формирование выходного изображения из исходного всенаправленного изображения с использованием координат, полученных на втором этапе. Основные результаты. Рассмотрена геометрическая проекционная модель сферических панорам. Предложен алгоритм расчета массива трехмерных точек, характеризующего поле зрения сферической панорамы, удобный для практического применения. Разработанный метод предназначен для работы с всенаправленными оптико-электронными системами-как с зеркально-линзовыми оптическими системами, так и со сверхширокоугольными объективами типа «рыбий глаз». Представлены экспериментальные результаты, в которых среднеквадратическая ошибка перепроецирования составила 0,794 пиксела, что указывает на корректность предложенного в работе метода. Практическая значимость. Предложенный метод может найти применение в технологиях создания виртуальных туров и панорам улиц, где сферические панорамные изображения являются стандартом для хранения визуальной информации, а также в различных сферах робототехники, ориентации и навигации космических аппаратов и беспилотных летательных аппаратов. Ключевые слова всенаправленные камеры, объективы типа «рыбий глаз», катадиоптрические камеры, преобразование изображений, сферические панорамы Благодарности Работа выполнена при государственной финансовой поддержке ведущих университетов Российской Федерации (субсидия 074-U01).

In the current paper is presented a modify algorithm for object’s center calculation achieved fro... more In the current paper is presented a modify algorithm for object’s center calculation achieved from CMOS with resolution of 1024x768 pixels and 10-bits digital output. Used hardware is based on FPGA family SPARTAN II by Xilinx capable of 100MHz system operation speed. Object’s center calculation of digital image is wide used in many areas nowadays. This problem grows huge when there is a need for high data accuracy and calculation time is short. Contemporary state of programmable logic devices reveals many opportunities for real-time data processing. At the same time there was made right choice of algorithms that are embedded into programmable device. In the paper are shown results from accuracy based on mathematical modeling of algorithm. In the same time algorithm implementation with VHDL and SPARTAN II shows great performance for frame center calculation by frame speed of 20ms. This speed in most cases is high. For practice applications is used average value of multiple frames in ...

The use of photovoltaics for domestic purposes, in single family houses, makes it necessary to in... more The use of photovoltaics for domestic purposes, in single family houses, makes it necessary to inform our users how they have aided in avoiding global warming, namely, how much solar energy they have spent. It is also of particular importance how much energy the accumulators have. A system with a microcontroller and a single-board computer is proposed for monitoring the important parameters of the small solar system. The system measures current up to 25A and voltages up to 55V in 4 channels. A SQL Server is built into a Single-board computer. Every 5 minutes the data logger sends data to a remote central server.

2016 XXV International Scientific Conference Electronics (ET), 2016

The proposed paper presents features of laboratory stand for investigation of optoelectronic meas... more The proposed paper presents features of laboratory stand for investigation of optoelectronic measurement devices. Various methods for measurement of different parameters with high accuracy in real time are described. CMOS image sensor is used. For calculations in each measurement programmable logic is used. PLDs have great advantages in fast parallel processes. In the paper are described special features in realization of the stand. Other useful feature of the stand is visualization of the frames from image sensor directly on a monitor. The results of the calculations can be visualized on the same monitor, on separate display or sent to the computer. All image processing algorithms are implemented in XC3S400 FPGA.

Journal Scientific and Technical Of Information Technologies, Mechanics and Optics, 2014

Научно-технический вестник информационных технологий, механики и оптики Scientific and Technical ... more Научно-технический вестник информационных технологий, механики и оптики Scientific and Technical Journal of Information Technologies, Mechanics and Optics 2014, No 6 (94) 48 УДК 681.786 МЕТОД ОПРЕДЕЛЕНИЯ ПРОСТРАНСТВЕННЫХ КООРДИНАТ В АКТИВНОЙ СТЕРЕОСКОПИЧЕСКОЙ СИСТЕМЕ В.В. Коротаев, Т.С. Джамийков, Х.В. Нгуен, С.Н. Ярышев Университет ИТМО, Санкт-Петербург, 197101, Российская Федерация, korotaev@grv.ifmo.ru Технический университет София, София, 1000, Болгария Аннотация. Предложена структурная схема активной стереоскопической системы и алгоритм ее работы, обеспечивающий быстрое вычисление пространственных координат. Система включает в себя две одинаковые камеры, образующие стереопару, и лазерный сканер, который осуществляет вертикальное сканирование лазерным лучом пространства перед системой. Синхронная работа двух камер обеспечивается с помощью отдельного блокасинхронизатора. Разработанный алгоритм работы системы реализован в среде MATLAB. В предложенном алгоритме влияние фоновой засв...

This paper illustrates the process of study and choice regarding a sensor for motioning of walkin... more This paper illustrates the process of study and choice regarding a sensor for motioning of walking robots. Typical for all walking machines is the need of a effective force-to-weight ratio. Based on preset parameters a sensor prototype for a six-legged mobile robot joint had been chosen. To meet the requirements all possibilities for reaching the goal by using optrons with air entrance, integral illumination-frequency commuter and photodiode lineal had been investigated. Explicated are the characteristics and the basic conceivable parameters of diverse variants.

This paper presents the technical decision of tachometer which is realized with program logic. A ... more This paper presents the technical decision of tachometer which is realized with program logic. A distinguish feature of the suggestion is the using functional transformation of the number next impulses in order to reach a result in rpm. This way there is no need oft mathematical operations multiplication and division. The device is programmed with language from upper level VHDL on Xilinx’s crystals.

In the present paper is described optoelectronic system for visualization of frames from a CMOS i... more In the present paper is described optoelectronic system for visualization of frames from a CMOS image sensor on the monitor. It uses features and advantages of the programmable logic and it based on a FPGA Spartan III. Hardware and software solutions are presented. Simultaneously with the data from the image sensor, the system can visualize addition information. This expands features of the system especially when it is uses for measurement or scientific applications. In this way there is no necessary to using additional device for visualization of the information. In the end of the paper experimental results are applied.

Abstract:- In this paper, the focus is on resolving determining dimensions of opto-electronic mea... more Abstract:- In this paper, the focus is on resolving determining dimensions of opto-electronic measuring devices using methods of statistical modeling. We propose different parameters in the transfer function to be exchanged with random numbers. Every one of these numbers is limited by real range of corresponding physical device parameters. The result is a random value. Repeating the previous procedure with different random numbers we receive an representative of transfer function. It is then put on statistical test. Results from statistical test (average value, root mean square value and distribution law) are analyzed in order to determine mechanical parameters of the device. The considered example demonstrates the possibility for a easy and fast determination of mechanical dimensions and tolerances of the opto-electronic measuring devices. Key-Words:-statistical modeling, mechanical dimension, tolerance, transfer function, transfer characteristic. 1

In order to design, implement and control the flame sensor systems, it is needed information for ... more In order to design, implement and control the flame sensor systems, it is needed information for the electrical signals according the flame’s physical parameters. The behaviour of the signals generated by an open-air flame is experimentally investigated using the following circuit. The flame radiation is focused over a PbSe photoresistor, which is sensitive in 2- 3µm spectral range. The photoresistor is connected to amplification circuit As can be seen on the figure, there are additional amplification stage that is used to increase only the AC component of the signal. Both electrical signals are digitized by ∑- ∆ ADC. Personal computer controls the ADC in his turn. The data stored by various flame sources are statistically manipulated using the software package Mathcad. In this paper the methodological steps needed to accomplish experiments for various flame sources are presented in details. The design and implementation of hardware configuration and software code are also considere...

2019 IEEE XXVIII International Scientific Conference Electronics (ET), 2019

Air quality has become a major concern for citizens all over the world. It is well documented tha... more Air quality has become a major concern for citizens all over the world. It is well documented that Fine Particulate Matter (FPM) is a health hazard which can affect the cardiovascular system, respiratory system, etc. and lead to high mortality rates. This study presents the development and implementation of an innovative portable air purifier. The device can be used to improve air quality in small spaces.

Current paper presents the structure and main parameters of the modern solid state CMOS image sen... more Current paper presents the structure and main parameters of the modern solid state CMOS image sensors. Increasing complexity of these devices leads to implementation of on-chip image processing by embedded hardware modules and functions. High degree of programming, configuration and communication is available through high-speed interfaces.

The paper is presented the technical solution of simultaneous measurement of the angle of the sun... more The paper is presented the technical solution of simultaneous measurement of the angle of the sun elevation and the create radiation. The sensor is based on three photodiodes. The diodes are arranged at different angles, three amplifier circuits and three transmitters for the current loop 4÷20 mA. The relation between the signals from each photodiode depends of the sun altitude. The PSpice simulation results for the amplifier ant the current converter circuit are shown.

2017 XXVI International Scientific Conference Electronics (ET), 2017

The paper presents a technical solution for one-dimensional (east-west) solar panels managing as ... more The paper presents a technical solution for one-dimensional (east-west) solar panels managing as two photovoltaic cells are used for the sensor. The photovoltaic cells are placed at an angle of 45 ° to each other on the surface of the panel. If the difference between the measured radiations by the cells is greater than 5%, the corresponding relay is activated and the panel rotates. The proposed solution is simple, its parameters can be easily changed and can be implemented with the Arduino microcontroller. It provides a rapid reaction to increase the effectiveness of the solar panels under fast changing environmental conditions. The implementation and experimental results are also presented.

Essential highlight of a new robot generation as mechatronics systems is using of movement basics... more Essential highlight of a new robot generation as mechatronics systems is using of movement basics taken from the nature. In the present paper is examined a modular architecture for control and information processing for such kind of robots. Especially here is considered a building of basic module as main entity of the architecture. The approach for architecture assembly is to create instances of basic module and realize of object-oriented connections in between depending on problem standing to solve. The presented paper suggests both approach and module for a synchronal control for the leg of a six-legged mobile robot.

The paper describes the algorithm developed and used by the team to design and adjust the power s... more The paper describes the algorithm developed and used by the team to design and adjust the power supply circuit used in high quality digital camera system.

This paper describes a simple, cost-effective parameter analysis system, built of low-cost data a... more This paper describes a simple, cost-effective parameter analysis system, built of low-cost data acquisition module, easily obtainable components and programmed using a graphical programming environment. The system is designed for educational purpose and can be used for static characterization of optoelectronic devices, sensors and other semiconductors. In the presented paper is considered some topics concerning the connectivity between data acquisition board and integrated parametric measure unit. Such considerations are important in order to achieve accurate I-V characteristics of investigated optoelectronic devices. The designed system’s hardware is powerful and capable of performing a more of the tests required for the laboratory experiments.

This paper presents methods for increasing the performance of image processing system. The factor... more This paper presents methods for increasing the performance of image processing system. The factors that influence the process are presented and their relations with other main system parameters. Several example algorithms are presented as a illustration of these ideas.

Scientific and Technical Journal of Information Technologies, Mechanics and Optics

Аннотация Предмет исследования. Характерной чертой сферических панорам является максимально возмо... more Аннотация Предмет исследования. Характерной чертой сферических панорам является максимально возможный угол обзора пространства (360º×180º). Всенаправленные оптико-электронные системы способны получать изображения, в которых отображается большая часть этого пространства, однако эти изображения отличны от канонической сферической панорамы. В работе предложен метод преобразования круговых изображений, полученных всенаправленными оптическими системами, к каноническим сферическим панорамным изображениям с использованием процедуры калибровки всенаправленной оптико-электронной системы. Метод. Процесс создания сферических панорам состоит из трех этапов. На первом этапе происходит формирование виртуальной поверхности в пространстве предметов, соответствующей полю зрения сферической панорамы. Поверхность задается посредством массива трехмерных точек. На втором этапе находятся координаты изображений этих точек в плоскости фотоприемника. На третьем этапе осуществляется поэлементное формирование выходного изображения из исходного всенаправленного изображения с использованием координат, полученных на втором этапе. Основные результаты. Рассмотрена геометрическая проекционная модель сферических панорам. Предложен алгоритм расчета массива трехмерных точек, характеризующего поле зрения сферической панорамы, удобный для практического применения. Разработанный метод предназначен для работы с всенаправленными оптико-электронными системами-как с зеркально-линзовыми оптическими системами, так и со сверхширокоугольными объективами типа «рыбий глаз». Представлены экспериментальные результаты, в которых среднеквадратическая ошибка перепроецирования составила 0,794 пиксела, что указывает на корректность предложенного в работе метода. Практическая значимость. Предложенный метод может найти применение в технологиях создания виртуальных туров и панорам улиц, где сферические панорамные изображения являются стандартом для хранения визуальной информации, а также в различных сферах робототехники, ориентации и навигации космических аппаратов и беспилотных летательных аппаратов. Ключевые слова всенаправленные камеры, объективы типа «рыбий глаз», катадиоптрические камеры, преобразование изображений, сферические панорамы Благодарности Работа выполнена при государственной финансовой поддержке ведущих университетов Российской Федерации (субсидия 074-U01).

In the current paper is presented a modify algorithm for object’s center calculation achieved fro... more In the current paper is presented a modify algorithm for object’s center calculation achieved from CMOS with resolution of 1024x768 pixels and 10-bits digital output. Used hardware is based on FPGA family SPARTAN II by Xilinx capable of 100MHz system operation speed. Object’s center calculation of digital image is wide used in many areas nowadays. This problem grows huge when there is a need for high data accuracy and calculation time is short. Contemporary state of programmable logic devices reveals many opportunities for real-time data processing. At the same time there was made right choice of algorithms that are embedded into programmable device. In the paper are shown results from accuracy based on mathematical modeling of algorithm. In the same time algorithm implementation with VHDL and SPARTAN II shows great performance for frame center calculation by frame speed of 20ms. This speed in most cases is high. For practice applications is used average value of multiple frames in ...

The use of photovoltaics for domestic purposes, in single family houses, makes it necessary to in... more The use of photovoltaics for domestic purposes, in single family houses, makes it necessary to inform our users how they have aided in avoiding global warming, namely, how much solar energy they have spent. It is also of particular importance how much energy the accumulators have. A system with a microcontroller and a single-board computer is proposed for monitoring the important parameters of the small solar system. The system measures current up to 25A and voltages up to 55V in 4 channels. A SQL Server is built into a Single-board computer. Every 5 minutes the data logger sends data to a remote central server.

2016 XXV International Scientific Conference Electronics (ET), 2016

The proposed paper presents features of laboratory stand for investigation of optoelectronic meas... more The proposed paper presents features of laboratory stand for investigation of optoelectronic measurement devices. Various methods for measurement of different parameters with high accuracy in real time are described. CMOS image sensor is used. For calculations in each measurement programmable logic is used. PLDs have great advantages in fast parallel processes. In the paper are described special features in realization of the stand. Other useful feature of the stand is visualization of the frames from image sensor directly on a monitor. The results of the calculations can be visualized on the same monitor, on separate display or sent to the computer. All image processing algorithms are implemented in XC3S400 FPGA.