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Science
Vo
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36
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3
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Dec
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20
24
,
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.
1
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K
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Diam
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u
.
m
y
1.
I
NT
RO
D
UCT
I
O
N
C
o
lo
u
r
-
co
d
i
n
g
is
h
ar
d
an
d
it
i
s
a
len
g
th
y
p
r
o
ce
s
s
th
at
is
p
r
o
n
e
to
h
u
m
a
n
m
is
tak
es,
lo
wer
i
n
g
p
r
o
d
u
ct
q
u
ality
an
d
e
f
f
icien
cy
[
1
]
.
A
u
to
m
atic
co
lo
u
r
s
o
r
tin
g
b
o
o
s
ts
ef
f
icien
cy
an
d
ac
c
u
r
ac
y
[
2
]
.
E
x
ce
llen
t
co
lo
u
r
s
en
s
o
r
s
an
d
alg
o
r
ith
m
s
r
e
d
u
ce
h
u
m
an
e
r
r
o
r
[
3
]
,
a
n
d
s
tr
o
n
g
c
o
lo
u
r
s
en
s
o
r
s
let
th
e
r
o
b
o
ts
d
e
tect
co
lo
u
r
s
[
4
]
i
n
v
ar
io
u
s
ap
p
li
ca
tio
n
s
.
T
h
ese
s
en
s
o
r
s
f
ilter
d
ata
in
s
tan
tly
u
tili
s
in
g
s
tr
o
n
g
r
ea
l
-
tim
e
an
aly
s
is
[
5
]
.
Han
d
s
o
r
tin
g
is
s
lo
wer
an
d
less
ac
cu
r
ate
th
an
co
m
p
u
ter
s
.
New
au
to
m
ated
s
o
r
tin
g
alg
o
r
ith
m
s
en
h
a
n
ce
ac
cu
r
ac
y
an
d
en
a
b
le
n
ew
ap
p
licatio
n
s
.
Au
to
m
atio
n
m
ak
es
co
lo
u
r
s
o
r
tin
g
h
a
r
d
e
r
b
u
t
f
aster
a
n
d
m
o
r
e
p
r
ec
is
e.
L
ig
h
tin
g
[
6
]
an
d
ca
m
er
a
p
o
s
itio
n
o
n
s
o
r
ted
ite
m
s
[
7
]
af
f
ec
t
co
lo
u
r
d
etec
tio
n
.
B
o
th
im
p
ac
t
s
o
r
tin
g
r
eliab
ilit
y
an
d
ef
f
icien
cy
b
y
af
f
ec
tin
g
co
lo
u
r
r
ec
o
g
n
itio
n
ac
cu
r
ac
y
.
C
am
er
a
co
lo
u
r
in
ter
p
r
etatio
n
ch
an
g
es
with
lig
h
t
[
8
]
,
[
9
]
.
Har
s
h
illu
m
in
atio
n
ca
n
f
ad
e
o
r
in
ten
s
if
y
co
lo
u
r
s
[
1
0
]
.
Mo
r
eo
v
er
,
p
o
o
r
lig
h
tin
g
ca
u
s
es
th
e
co
lo
u
r
to
d
ar
k
en
.
So
r
tin
g
an
d
ca
m
er
a
an
g
le
also
af
f
ec
t
t
h
e
lig
h
t
s
o
u
r
ce
d
u
r
in
g
co
lo
u
r
d
etec
tio
n
.
Fu
r
th
e
r
m
o
r
e
,
ca
m
er
a
co
lo
u
r
ca
n
c
h
an
g
e
with
s
u
r
f
ac
e
r
ef
lectio
n
s
[
1
1
]
f
r
o
m
th
e
an
g
les
o
f
in
cid
en
ce
a
n
d
r
ef
lectio
n
[
1
2
]
.
I
n
ad
d
itio
n
,
th
e
p
o
s
itio
n
o
f
th
e
ca
m
er
a
also
af
f
ec
ts
th
e
s
h
ad
o
w
o
f
th
e
co
l
o
u
r
[
1
3
]
.
C
am
er
a
an
g
les
th
at
co
llect
s
h
ad
o
w
s
f
r
o
m
s
u
r
r
o
u
n
d
i
n
g
o
b
jects o
r
s
tr
u
ctu
r
es m
a
y
m
ak
e
d
ar
k
er
ar
ea
s
ap
p
ea
r
d
is
tin
ct
o
r
u
n
e
v
e
n
ly
c
o
lo
u
r
ed
.
Mo
s
t
co
lo
u
r
id
e
n
tific
atio
n
s
y
s
tem
s
em
p
lo
y
R
GB
,
wh
ich
m
o
s
t
au
to
m
atic
co
lo
u
r
s
o
r
ti
n
g
ca
n
n
o
t
h
an
d
le
th
e
ass
is
ted
p
r
o
b
lem
s
.
L
ig
h
t
af
f
ec
ts
R
GB
d
ig
ital
p
h
o
to
g
r
ap
h
y
an
d
its
p
r
o
ce
s
s
in
g
[
1
4
]
,
w
h
ich
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
52
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
36
,
No
.
3
,
Dec
em
b
er
20
24
:
1
8
0
7
-
1
8
1
5
1808
m
is
in
ter
p
r
ets
th
e
d
if
f
er
e
n
ce
b
etwe
en
lig
h
t
an
d
d
ar
k
c
o
lo
u
r
p
er
ce
p
tio
n
[
1
5
]
.
R
GB
m
ea
s
u
r
es
co
lo
u
r
in
ten
s
ity
,
b
u
t
n
o
t
its
b
r
ig
h
tn
ess
[
1
6
]
.
Un
f
o
r
tu
n
ately
,
en
v
ir
o
n
m
en
t
al
lig
h
tin
g
m
is
id
en
tifie
s
th
e
item
s
’
co
lo
u
r
an
d
in
ac
cu
r
ately
s
o
r
ts
th
e
m
.
On
t
h
e
b
r
ig
h
t
s
id
e,
t
h
e
h
u
e,
s
atu
r
atio
n
,
an
d
v
al
u
e
(
HSV
)
d
is
ti
n
g
u
is
h
es
h
u
e
f
r
o
m
illu
m
in
atio
n
in
ten
s
ity
[
1
7
]
in
co
lo
u
r
o
p
er
atin
g
s
y
s
tem
s
.
T
h
is
s
ep
ar
atio
n
r
ec
o
g
n
is
es
co
lo
u
r
s
with
o
u
t
lig
h
t
an
d
s
h
ad
o
w
in
u
n
ev
e
n
lig
h
tin
g
.
HSV
ad
ap
ts
b
etter
to
ch
an
g
in
g
illu
m
in
atio
n
s
in
ce
h
u
e
p
r
o
v
id
es
co
lo
u
r
t
y
p
e,
s
atu
r
atio
n
,
an
d
v
alu
e
b
r
ig
h
tn
e
s
s
[
1
8
]
.
On
an
o
th
e
r
n
o
te,
th
e
co
lo
u
r
s
p
ac
es
ca
n
alter
th
e
s
ize
esti
m
atio
n
o
f
a
n
o
b
ject.
T
h
e
R
GB
p
ar
ad
ig
m
d
o
es
n
o
t
d
is
cr
im
in
ate
co
lo
u
r
f
r
o
m
b
r
ig
h
tn
ess
,
m
ak
in
g
o
b
ject
e
d
g
es
h
ar
d
to
s
ee
in
d
if
f
er
en
t
lig
h
tin
g
.
I
n
I
n
d
u
s
tr
ia
l
q
u
ality
co
n
tr
o
l
an
d
a
g
r
icu
ltu
r
e
g
r
ad
in
g
,
ed
g
e
d
etec
tio
n
an
d
s
ize
esti
m
atio
n
ar
e
af
f
ec
ted
b
y
lig
h
t.
T
r
an
s
itio
n
in
g
f
r
o
m
R
GB
to
HSV
f
o
r
s
ize
esti
m
atio
n
is
n
o
t
d
if
f
icu
lt.
C
al
ib
r
atin
g
th
e
co
l
o
u
r
d
etec
to
r
an
d
co
n
v
er
tin
g
th
e
R
GB
to
HSV
co
lo
u
r
s
p
ac
e
with
o
u
t
lo
s
in
g
d
etail
in
ca
lcu
latin
g
th
e
o
b
ject
s
ize.
HSV
id
en
tifie
s
ed
g
es
in
d
if
f
er
en
t
lig
h
tin
g
,
alth
o
u
g
h
d
ir
ec
t
s
u
n
lig
h
t
o
r
d
ar
k
n
ess
m
ay
d
is
to
r
t
h
u
e
an
d
s
atu
r
atio
n
.
HSV
s
ep
ar
ates
co
l
o
u
r
f
r
o
m
illu
m
in
atio
n
in
te
n
s
ity
,
h
o
wev
er
,
its
ap
p
licatio
n
in
ex
tr
em
e
co
n
d
itio
n
s
is
u
n
ce
r
tain
.
Un
k
n
o
wn
r
o
o
m
-
lig
h
t
HSV
p
er
f
o
r
m
an
ce
with
o
u
t
ar
tific
ial
lig
h
tin
g
.
L
ik
e
co
lo
u
r
id
en
tific
atio
n
,
f
o
r
m
atio
n
d
etec
tio
n
f
ails
.
C
o
lo
u
r
s
p
ac
e
s
elec
tio
n
af
f
ec
ts
s
h
ap
e
co
r
r
ec
tn
ess
in
co
lo
u
r
-
an
d
-
f
o
r
m
s
o
r
tin
g
alg
o
r
ith
m
s
.
T
h
er
ef
o
r
e,
r
esear
ch
o
n
h
o
w
c
o
lo
u
r
s
p
ac
es
af
f
ec
t
o
b
ject
e
d
g
e
an
d
c
o
n
to
u
r
id
en
tific
atio
n
i
n
d
if
f
e
r
en
t
lig
h
tin
g
co
n
d
itio
n
s
c
o
u
ld
im
p
r
o
v
e
o
b
ject
class
if
icatio
n
.
A
m
b
ien
t
lig
h
tin
g
an
d
ca
m
e
r
a
p
o
s
itio
n
in
a
u
to
m
atic
co
lo
u
r
s
o
r
ter
s
wer
e
ex
a
m
in
ed
.
T
h
is
ex
am
in
e
d
h
o
w
th
ese
c
o
m
p
o
n
en
ts
af
f
ec
t
c
o
lo
u
r
id
en
t
if
icatio
n
an
d
o
b
ject
s
ize
esti
m
a
te
s
,
cr
itical
to
co
lo
u
r
s
o
r
tin
g
r
o
b
o
t
p
er
f
o
r
m
a
n
ce
.
W
e
test
ed
th
e
HSV
co
lo
u
r
s
p
ac
e
’
s
f
u
n
d
am
en
tal
co
n
s
tr
ain
ts
in
d
iv
er
s
e
lig
h
tin
g
.
Fo
r
ac
cu
r
ac
y
,
th
e
HSV
co
lo
u
r
s
o
r
tin
g
was u
s
ed
in
th
is
wo
r
k
.
2.
P
RE
VIOU
S WO
RK
O
N
CO
L
O
UR
SO
R
T
I
NG
RO
B
O
T
I
n
n
o
v
ativ
e
au
to
m
atic
co
lo
u
r
s
o
r
tin
g
u
s
es
m
u
ltip
le
ap
p
r
o
ac
h
es
an
d
tech
n
o
lo
g
ies.
C
o
m
p
ar
is
o
n
s
p
r
o
v
id
e
c
o
lo
u
r
s
o
r
tin
g
s
y
s
tem
p
r
ec
is
io
n
,
ef
f
icien
cy
,
an
d
ap
p
licab
ilit
y
im
p
r
o
v
em
en
ts
.
Ar
d
u
in
o
UNO
s
u
p
p
o
r
ts
co
lo
u
r
-
b
ased
co
n
tr
o
l
s
y
s
tem
d
ev
elo
p
m
e
n
t
wi
th
T
C
S3
2
0
0
D
an
d
T
C
S3
4
7
2
5
[
19
]
-
[2
1
]
.
Fo
r
r
eli
ab
le
co
lo
u
r
id
en
tific
atio
n
,
th
e
T
C
S3
4
7
2
5
co
lo
u
r
s
en
s
o
r
h
as
an
I
R
b
lo
ck
in
g
f
ilter
[
2
2
]
.
T
h
e
c
o
m
p
le
te
p
r
o
ce
s
s
in
clu
d
ed
r
o
b
o
tic
s
y
s
tem
s
etu
p
an
d
d
e
b
u
g
g
in
g
,
alth
o
u
g
h
r
o
b
o
tic
ar
m
s
wer
e
ef
f
ec
tiv
e
f
o
r
c
o
lo
u
r
-
b
ased
s
o
r
tin
g
[
23
].
T
h
i
s
c
o
m
p
a
r
is
o
n
h
i
g
h
l
i
g
h
ts
t
h
e
m
o
n
i
t
o
r
e
d
o
b
j
e
c
t
t
o
c
o
n
t
r
ast
b
r
o
a
d
s
y
s
t
e
m
d
e
v
e
l
o
p
m
e
n
t
w
i
t
h
s
m
a
r
t
,
s
e
n
s
o
r
-
b
a
s
e
d
s
o
r
t
i
n
g
.
A
n
o
t
h
e
r
n
o
v
e
l
c
o
l
o
u
r
s
o
r
t
i
n
g
s
y
s
t
e
m
u
s
es
a
n
A
r
d
u
i
n
o
U
n
o
a
n
d
c
o
l
o
u
r
s
e
n
s
o
r
.
T
h
e
1
6
.
7
m
i
l
l
i
o
n
-
c
o
l
o
u
r
s
e
n
s
o
r
o
u
t
p
u
ts
8
-
b
i
t
R
G
B
d
a
t
a
f
o
r
e
ac
h
b
as
i
c
c
o
l
o
u
r
.
D
e
c
o
m
p
o
s
i
n
g
c
o
l
o
u
r
s
i
n
t
o
R
GB
s
o
r
t
s
t
h
e
m
[
2
4
]
.
MA
T
L
AB
co
lo
u
r
-
co
d
es
co
n
v
ey
o
r
b
elt
im
ag
es
f
r
o
m
web
ca
m
s
[
2
5
]
with
t
h
e
is
s
u
e
b
etwe
e
n
HSV
an
d
R
GB
co
lo
u
r
p
r
o
ce
s
s
in
g
.
T
h
e
y
s
u
cc
ess
f
u
lly
claim
th
at
H
S
V
is
b
etter
at
d
etec
tin
g
co
lo
u
r
s
u
n
d
er
ch
a
n
g
in
g
l
ig
h
tin
g
,
h
o
wev
er
a
m
o
r
e
ex
t
en
s
iv
e
in
v
esti
g
atio
n
co
m
p
ar
i
n
g
HSV
to
R
GB
in
d
iv
er
s
e
i
n
d
u
s
tr
ial
s
ce
n
ar
io
s
wo
u
ld
s
tr
en
g
th
en
t
h
is
ca
s
e.
T
h
e
HSV
m
o
d
el
’
s
en
h
an
ce
d
co
lo
u
r
d
escr
ip
tio
n
at
v
ar
y
i
n
g
b
r
ig
h
t
n
ess
lev
els
co
n
v
er
ts
R
GB
p
h
o
t
o
s
to
HSV
,
wh
ich
er
o
s
io
n
an
d
d
ilu
tio
n
i
m
p
r
o
v
e
th
e
HSV
th
r
esh
o
ld
co
lo
u
r
id
e
n
tific
atio
n
.
I
m
ag
e
p
r
o
ce
s
s
in
g
with
a
p
ic
k
-
an
d
-
p
lace
r
o
b
o
tic
g
r
ip
p
e
r
e
n
ab
les
co
lo
u
r
an
d
s
h
ap
e
-
b
ased
in
d
u
s
tr
ial
s
o
r
tin
g
[
2
6
]
.
T
o
im
p
r
o
v
e
im
ag
e
co
lo
u
r
an
d
b
r
ig
h
tn
ess
in
a
g
r
icu
ltu
r
e
m
ac
h
in
e
v
is
io
n
s
y
s
tem
s
with
v
ar
iab
le
o
u
td
o
o
r
lig
h
tin
g
,
o
v
er
c
u
r
r
e
n
t
-
d
r
iv
e
n
L
E
Ds
h
av
e
b
ee
n
test
ed
[
2
7
]
.
T
h
e
au
th
o
r
s
p
r
o
p
o
s
e
an
ac
tiv
e
i
llu
m
in
atio
n
ca
m
er
a
s
y
s
tem
f
o
r
s
u
n
lig
h
t,
v
eh
icle
m
o
tio
n
b
lu
r
,
an
d
g
r
o
u
n
d
v
i
b
r
ati
o
n
s
.
Six
tim
es
th
eir
u
s
u
al
L
E
Ds
p
r
o
v
id
e
a
b
r
ig
h
t
f
lash
s
y
n
ce
d
with
a
ca
m
er
a
to
im
p
r
o
v
e
d
ay
lig
h
t
p
h
o
to
s
.
L
E
D
s
tr
o
b
es
im
p
r
o
v
e
ap
p
le
o
r
ch
ar
d
s
h
o
ts
u
n
d
e
r
s
h
if
tin
g
lig
h
tin
g
.
HSV
ch
an
n
el
s
tan
d
ar
d
d
ev
iatio
n
is
8
5
%
lo
wer
with
L
E
D
f
lash
es
th
an
with
au
to
-
ex
p
o
s
u
r
e
s
ettin
g
s
,
en
h
an
cin
g
c
o
lo
u
r
u
n
i
f
o
r
m
ity
an
d
b
r
ig
h
tn
ess
.
Fin
ally
,
s
en
s
o
r
in
teg
r
atio
n
,
r
ea
l
-
tim
e
p
ictu
r
e
p
r
o
ce
s
s
in
g
,
an
d
in
v
en
tiv
e
e
n
v
ir
o
n
m
en
tal
lig
h
tin
g
s
o
lu
tio
n
s
en
ab
le
au
to
m
atic
co
lo
u
r
s
o
r
tin
g
.
T
h
ese
f
in
d
in
g
s
d
em
o
n
s
tr
ate
th
at
ex
is
tin
g
tech
n
o
lo
g
ies ca
n
en
h
an
ce
in
d
u
s
tr
ial
s
o
r
tin
g
a
n
d
ex
p
an
d
r
esear
ch
.
3.
M
E
T
H
O
D
3
.
1
.
RO
S no
des
f
o
r
c
o
lo
ur
pro
ce
s
s
ing
o
pera
t
io
n
T
h
is
wo
r
k
u
s
es
R
OS
p
ac
k
ag
es
cv
_
b
r
id
g
e,
u
s
b
_
ca
m
,
a
n
d
r
o
s
_
ar
d
u
i
n
o
_
p
y
th
o
n
o
n
a
B
v
ee
ta
m
in
i
m
o
b
ile
r
o
b
o
t
as
s
h
o
wn
i
n
Fig
u
r
e
1
.
T
h
e
c
v
_
b
r
id
g
e
c
o
n
n
e
cts
R
OS
w
ith
Op
en
C
V,
allo
win
g
ea
s
y
s
witch
in
g
[
2
8
]
.
Alter
n
ativ
ely
,
th
e
u
s
b
_
c
am
p
ac
k
ag
e
is
u
s
e
d
to
lin
k
a
web
ca
m
er
a
to
a
R
OS
-
b
as
ed
m
o
b
ile
r
o
b
o
t
to
ca
p
tu
r
e
an
d
p
u
b
l
i
s
h
i
m
a
g
e
s
a
s
R
OS
i
m
a
g
e
t
o
p
i
c
s
,
/
u
s
b
_
c
a
m
/
i
m
a
g
e
_
r
aw
.
R
O
S
’
s
r
o
s
_
a
r
d
u
i
n
o
_
p
y
t
h
o
n
m
o
d
u
l
e
f
a
c
i
l
i
t
a
t
e
s
P
y
t
h
o
n
-
b
a
s
e
d
A
r
d
u
i
n
o
-
R
O
S
c
o
m
m
u
n
i
c
a
t
i
o
n
.
T
h
r
o
u
g
h
t
h
e
/
c
m
d
_
v
e
l
t
o
p
i
c
,
u
s
e
r
s
c
a
n
l
i
n
k
A
r
d
u
i
no
-
b
a
s
e
d
h
a
r
d
w
a
r
e
t
o
R
O
S
,
m
a
k
i
n
g
i
t
e
a
s
y
t
o
i
n
t
e
g
r
a
t
e
r
o
b
o
t
i
c
s
y
s
t
e
m
s
o
r
s
e
n
s
o
r
s
l
i
k
e
t
h
e
D
C
M
o
t
o
r
i
n
t
h
i
s
p
r
o
j
e
c
t
[
2
9
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2
5
0
2
-
4
7
52
C
o
lo
u
r
s
o
r
tin
g
R
OS
-
b
a
s
ed
r
o
b
o
t e
va
lu
a
tio
n
u
n
d
er d
iffer
en
t
lig
h
ts
a
n
d
ca
mera
…
(
Mo
h
a
m
a
d
F
a
r
id
S
a
a
id
)
1809
Fig
u
r
e
1
.
R
elatio
n
s
h
ip
b
etwe
e
n
R
OS n
o
d
es a
n
d
to
p
ic
f
o
r
co
l
o
u
r
p
r
o
ce
s
s
in
g
o
p
e
r
atio
n
3
.
2
.
B
a
ll
’
s
co
lo
ur
det
ec
t
io
n
a
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.
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h
e
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h
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is
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ad
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e
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r
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lts
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g
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o
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ile
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ay
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to
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atica
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t
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r
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ar
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b
ile
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l
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r
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tio
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with
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if
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T
a
b
le
2
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x
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3
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,
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n
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l
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x
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h
e
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v
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p
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n
t
a
n
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t r
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er
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e
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ad
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ated
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ix
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e
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ce
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g
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ias
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g
r
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s
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ec
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u
m
s
en
s
itiv
ity
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h
e
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1
lm
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t
f
lu
x
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elp
s
all
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lo
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esp
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lu
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an
d
g
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ee
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h
is
im
p
r
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en
t
em
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h
asizes
co
lo
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r
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ata
co
llecti
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g
an
d
an
al
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is
illu
m
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atio
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d
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ate
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h
tin
g
im
p
r
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v
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th
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en
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r
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d
alg
o
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ith
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s
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d
etec
tio
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r
ates.
All
co
lo
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r
s
lo
o
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b
etter
at
6
4
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u
t
g
r
ee
n
s
t
a
n
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s
o
u
t
.
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h
i
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h
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p
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g
.
T
a
b
l
e
3
i
l
l
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s
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r
a
t
e
s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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ly
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ly
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tio
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s
to
7
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%,
r
e
d
an
d
y
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w
to
5
0
%,
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d
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lu
e
to
0
%.
T
h
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d
ata
d
em
o
n
s
tr
ate
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o
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m
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a
an
g
le
a
f
f
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ts
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r
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n
itio
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.
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r
tin
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r
e
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u
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am
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itio
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w
h
ich
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f
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y
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er
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an
g
le.
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to
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t
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h
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g
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cc
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l
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r
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s
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r
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ee
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th
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est
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m
er
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le
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t
co
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r
s
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ly
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d
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d
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er
r
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r
s
.
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ad
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f
r
o
m
ex
ce
s
s
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ca
m
e
r
a
tilt
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f
ec
t
im
ag
e
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p
tu
r
e
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d
c
o
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u
r
s
en
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itiv
ity
.
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o
w
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s
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s
t
s
h
ad
o
ws,
d
ar
k
en
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n
g
th
e
im
a
g
e,
wh
ile
s
m
all
tilt
s
r
ed
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ce
th
e
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ted
item
to
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ewe
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i
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er
a
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g
les
af
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t
m
o
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ile
r
o
b
o
t
co
lo
u
r
id
e
n
t
if
icatio
n
in
au
to
m
atic
s
o
r
tin
g
as
s
h
o
wn
in
T
ab
l
e
4
.
A
co
m
p
r
eh
en
s
iv
e
an
al
y
s
is
o
f
co
l
o
u
r
id
en
tific
atio
n
ef
f
ici
en
cy
at
3
0
°,
4
0
°,
a
n
d
6
0
°
ti
lt
an
g
les
o
p
tim
izes
ca
m
e
r
a
l
o
ca
tio
n
f
o
r
s
o
r
tin
g
ac
cu
r
ac
y
.
T
h
ese
f
i
n
d
i
n
g
s
m
a
t
t
e
r
b
e
c
a
u
s
e
a
4
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c
a
m
e
r
a
t
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l
t
i
n
c
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e
a
s
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c
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r
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c
t
i
o
n
.
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o
r
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t
a
n
g
l
e
s
e
l
i
m
i
n
a
t
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h
a
d
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s
,
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n
c
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as
e
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t
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a
n
d
c
a
p
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o
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c
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s
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t
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m
a
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.
T
ab
le
4
T
o
tal
n
u
m
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e
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f
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s
s
u
cc
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f
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lly
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o
b
ile
r
o
b
o
t u
n
d
er
d
if
f
er
e
n
t c
am
er
a
tilt
an
g
les
C
a
mer
a
’
s t
i
l
t
a
n
g
l
e
(
°
)
C
o
l
o
u
r
A
v
e
r
a
g
e
d
e
st
i
n
a
t
i
o
n
p
i
x
e
l
s
A
v
e
r
a
g
e
d
e
st
i
n
a
t
i
o
n
p
i
x
e
l
s
p
e
r
c
e
n
t
a
g
e
(
%)
30
R
e
d
1
0
0
6
0
1
3
2
.
7
5
Y
e
l
l
o
w
1
1
5
7
7
9
3
7
.
6
9
B
l
u
e
1
0
9
8
8
7
3
5
.
7
7
G
r
e
e
n
1
1
6
3
3
1
3
7
.
8
7
40
R
e
d
1
4
8
9
0
6
4
8
.
4
7
Y
e
l
l
o
w
1
4
9
7
2
5
4
8
.
7
4
B
l
u
e
1
3
9
8
6
9
4
5
.
5
3
G
r
e
e
n
1
5
7
3
7
6
5
1
.
2
3
60
R
e
d
1
2
4
4
0
7
4
0
.
5
0
Y
e
l
l
o
w
1
1
3
9
9
9
3
7
.
1
1
B
l
u
e
1
3
3
3
7
3
4
3
.
4
2
G
r
e
e
n
1
0
9
0
9
7
3
5
.
5
1
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
52
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
36
,
No
.
3
,
Dec
em
b
er
20
24
:
1
8
0
7
-
1
8
1
5
1812
Data
in
d
icate
ca
m
er
a
tilt
.
Mo
r
e
s
h
ad
o
ws
an
d
a
less
d
ir
ec
t
lin
e
o
f
s
ig
h
t
to
o
b
jects
m
ay
a
f
f
ec
t
3
0
°
tilt
co
lo
u
r
id
en
tific
atio
n
.
T
h
e
6
0
°
tilt
an
g
le
in
cr
ea
s
es
v
is
io
n
b
u
t
d
is
to
r
ts
co
lo
u
r
s
an
d
d
im
s
o
b
jects.
An
g
les
o
f
ca
m
er
a
tilt
alter
co
lo
u
r
p
er
c
ep
tio
n
.
B
ec
au
s
e
c
o
lo
u
r
s
in
te
r
ac
t
with
lig
h
t
an
d
s
h
ad
o
w
at
d
if
f
er
e
n
t
an
g
les,
s
tatis
t
ics
im
p
ly
co
lo
u
r
m
atter
s
f
o
r
d
etec
tio
n
.
T
h
e
ca
m
er
a
’
s
g
r
ee
n
p
ix
el
id
en
tific
atio
n
r
is
es
at
30°
-
4
0
°
an
d
d
r
o
p
s
at
6
0
°.
T
h
e
an
g
le
o
f
t
h
e
ca
m
er
a
af
f
ec
ts
co
lo
u
r
r
ec
o
g
n
itio
n
.
R
esu
lts
in
d
icate
k
ey
au
to
m
ated
s
o
r
tin
g
s
y
s
tem
d
esig
n
a
n
d
im
p
lem
e
n
tatio
n
v
ar
iab
les.
Dif
f
e
r
en
t
o
p
er
atio
n
al
co
n
d
itio
n
s
r
e
q
u
ir
e
d
y
n
am
ics
s
y
s
tem
ca
m
er
a
an
g
le
m
o
d
if
icatio
n
f
o
r
ac
cu
r
ac
y
.
An
g
le
-
in
d
u
ce
d
co
l
o
u
r
d
etec
tio
n
v
ar
iab
ilit
y
r
ed
u
c
tio
n
ap
p
r
o
ac
h
es
ar
e
p
r
o
m
is
in
g
an
d
war
r
an
t
s
tu
d
y
.
C
h
an
g
in
g
d
etec
tio
n
p
ar
am
eter
s
u
s
in
g
r
ea
l
-
tim
e
ca
m
er
a
o
r
ie
n
tatio
n
an
aly
s
is
m
ay
h
elp
.
Un
ce
r
tain
in
d
u
s
tr
ial
co
n
d
itio
n
s
h
u
r
t
au
to
m
ated
s
o
r
tin
g
.
C
am
er
a
tilt
an
g
l
es
m
u
s
t
b
e
p
r
ec
is
e
f
o
r
co
lo
u
r
d
etec
tio
n
.
R
ea
l
-
wo
r
ld
r
o
b
o
tic
s
y
s
tem
s
u
s
e
co
lo
u
r
in
ter
p
r
etati
o
n
lam
p
s
,
ad
ju
s
tab
le
ca
m
er
a
m
o
u
n
ts
,
an
d
s
ev
er
al
ca
m
er
as
at
ap
p
r
o
p
r
iate
an
g
les.
C
o
lo
u
r
r
ec
o
g
n
itio
n
an
d
au
to
m
ated
s
o
r
tin
g
s
y
s
tem
r
eliab
ilit
y
d
ep
en
d
o
n
ca
m
er
a
tilt
an
g
l
es.
I
n
d
u
s
tr
ial
au
to
m
ate
d
item
s
o
r
tin
g
u
s
es
clev
er
alg
o
r
ith
m
s
an
d
s
y
s
tem
s
.
T
ab
les
5
an
d
6
esti
m
ate
b
all
d
iam
eter
at
d
if
f
er
e
n
t
lig
h
t
f
l
u
x
an
d
ca
m
er
a
tilt
an
g
les.
T
h
ese
tab
les
d
em
o
n
s
tr
ate
th
at
th
e
s
y
s
tem
ca
n
r
eliab
ly
esti
m
ate
o
b
ject
s
izes,
a
cr
u
cial
f
ea
tu
r
e
o
f
au
to
m
ated
s
o
r
tin
g
a
p
p
licatio
n
s
,
an
d
s
u
g
g
est
f
u
tu
r
e
d
ev
elo
p
m
e
n
t.
T
ab
le
5
.
T
h
e
b
all
’
s
d
iam
eter
e
s
tim
atio
n
u
n
d
er
d
if
f
er
e
n
t lu
m
i
n
o
u
s
f
lu
x
Lu
m
i
n
o
u
s
f
l
u
x
(
l
m)
C
o
l
o
u
r
A
v
e
r
a
g
e
e
st
i
ma
t
e
d
d
i
a
me
t
e
r
(
c
m)
A
b
so
l
u
t
e
a
v
e
r
a
g
e
e
r
r
o
r
(
c
m)
A
b
so
l
u
t
e
a
v
e
r
a
g
e
e
r
r
o
r
p
e
r
c
e
n
t
a
g
e
(
%)
43
R
e
d
3
.
4
4
0
.
0
6
1
.
7
7
Y
e
l
l
o
w
3
.
5
3
0
.
0
3
0
.
7
7
B
l
u
e
3
.
6
9
0
.
1
9
5
.
4
3
G
r
e
e
n
4
.
0
2
0
.
5
2
1
4
.
8
6
51
R
e
d
3
.
5
4
0
.
0
4
1
.
0
3
Y
e
l
l
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w
3
.
5
9
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.
0
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.
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3
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l
u
e
3
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7
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0
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2
0
5
.
7
7
G
r
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e
n
3
.
9
6
0
.
4
6
1
3
.
2
0
64
R
e
d
3
.
6
0
0
.
1
0
2
.
9
7
Y
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l
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w
3
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5
8
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0
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2
0
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l
u
e
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.
6
9
0
.
1
9
5
.
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1
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r
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n
3
.
6
4
0
.
1
4
4
.
0
6
T
ab
le
6
.
T
h
e
b
all
’
s
d
iam
eter
e
s
tim
atio
n
u
n
d
er
d
if
f
er
e
n
t c
am
er
a
tilt
an
g
les
C
a
mer
a
’
s t
i
l
t
a
n
g
l
e
(
°
)
C
o
l
o
u
r
A
v
e
r
a
g
e
e
st
i
ma
t
e
d
d
i
a
me
t
e
r
(
c
m)
A
b
so
l
u
t
e
a
v
e
r
a
g
e
e
r
r
o
r
(
c
m)
A
b
so
l
u
t
e
a
v
e
r
a
g
e
e
r
r
o
r
p
e
r
c
e
n
t
a
g
e
(
%)
30
R
e
d
3
.
2
2
0
.
2
8
8
.
0
3
Y
e
l
l
o
w
3
.
3
3
0
.
1
7
4
.
8
0
B
l
u
e
3
.
6
7
-
0
.
1
7
4
.
7
4
G
r
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n
3
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3
8
0
.
1
2
3
.
5
1
40
R
e
d
3
.
6
0
-
0
.
1
0
2
.
9
7
Y
e
l
l
o
w
3
.
5
8
-
0
.
0
8
2
.
2
0
B
l
u
e
3
.
6
9
-
0
.
1
9
5
.
5
1
G
r
e
e
n
3
.
6
4
-
0
.
1
4
4
.
0
6
60
R
e
d
4
.
2
3
-
0
.
7
3
2
0
.
8
0
Y
e
l
l
o
w
4
.
4
4
-
0
.
9
4
2
6
.
7
7
B
l
u
e
3
.
3
8
0
.
1
2
3
.
5
4
G
r
e
e
n
4
.
0
6
-
0
.
5
6
1
5
.
9
1
T
h
e
s
y
s
tem
lig
h
tin
g
s
en
s
itiv
ity
is
v
er
if
ied
b
y
b
all
d
iam
eter
esti
m
ate
u
n
d
er
d
if
f
er
en
t
l
u
m
i
n
o
u
s
f
lu
x
lev
els.
B
o
th
b
lu
e
an
d
g
r
ee
n
b
a
lls
m
ak
e
5
.
4
3
% a
n
d
1
4
.
8
6
% e
r
r
o
r
s
at
4
3
lm
.
Size
esti
m
ate
m
i
s
tak
es o
cc
u
r
wh
en
th
e
s
y
s
tem
ca
n
n
o
t
d
is
tin
g
u
is
h
o
b
ject
ed
g
es
at
lo
w
lig
h
t
i
n
ten
s
ity
.
R
ed
an
d
y
ello
w
b
al
l
er
r
o
r
p
e
r
ce
n
tag
es
d
ec
r
ea
s
e
with
6
4
lm
lig
h
t
f
lu
x
,
im
p
r
o
v
in
g
th
e
d
iam
eter
esti
m
ate.
B
lu
e
an
d
g
r
ee
n
b
alls
m
a
k
e
m
o
r
e
m
is
tak
es
in
lo
w
lig
h
t.
T
h
e
tech
n
o
l
o
g
y
is
s
en
s
itiv
e
to
h
u
es
in
t
h
e
s
am
e
lig
h
tin
g
a
n
d
n
ee
d
s
o
p
tim
al
illu
m
i
n
atio
n
to
m
ea
s
u
r
e
item
s
ize.
C
am
er
a
tilt
s
co
m
p
licate
d
iam
eter
esti
m
atio
n
an
d
s
y
s
tem
o
p
er
atio
n
.
Neg
ativ
e
er
r
o
r
s
s
h
o
w
3
0
°
an
g
les
u
n
d
er
esti
m
ate
r
e
d
b
alls
an
d
o
v
er
esti
m
ate
b
lu
e
b
alls
,
s
h
o
win
g
im
ag
e
ca
p
tu
r
e
an
g
le
im
p
ac
ts
item
s
izes.
A
4
0
°
t
i
l
t
r
e
d
u
c
e
s
er
r
o
r
s
ac
r
o
s
s
a
l
l
h
u
e
s
,
v
a
l
i
d
a
t
i
n
g
p
r
i
o
r
f
in
d
in
g
s
th
a
t
th
i
s
an
g
le
b
a
l
an
c
e
s
c
o
lo
u
r
i
d
e
n
t
if
i
c
a
t
i
o
n
an
d
s
i
z
e
e
s
t
i
m
a
t
e
.
A
t
6
0
°
,
r
e
d
a
n
d
y
e
l
lo
w
b
a
l
l
s
ex
h
ib
i
t
e
d
2
0
.
8
0
%
a
n
d
2
6
.
7
7
%
l
a
r
g
er
a
b
s
o
l
u
te
av
e
r
ag
e
m
i
s
t
a
k
e
s
.
S
i
z
e
e
s
t
i
m
a
t
e
i
s
h
in
d
er
e
d
b
y
l
a
r
g
e
t
i
l
t
d
eg
r
e
e
s
f
r
o
m
d
is
t
o
r
t
i
o
n
an
d
o
b
j
e
c
t
v
i
s
i
b
i
l
i
t
y
s
h
i
f
t
s
.
Ma
n
y
im
p
o
r
ta
n
t
au
to
m
ated
s
o
r
tin
g
s
y
s
tem
d
ev
elo
p
m
e
n
t
v
ar
iab
les
ar
e
h
ig
h
lig
h
ted
b
y
th
ese
s
tu
d
ies.
First,
ad
ap
tiv
e
alg
o
r
ith
m
s
ar
e
n
ee
d
ed
to
esti
m
ate
s
ize
ac
cu
r
ately
d
u
e
to
s
y
s
tem
p
er
f
o
r
m
a
n
ce
v
ar
ian
ce
u
n
d
er
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2
5
0
2
-
4
7
52
C
o
lo
u
r
s
o
r
tin
g
R
OS
-
b
a
s
ed
r
o
b
o
t e
va
lu
a
tio
n
u
n
d
er d
iffer
en
t
lig
h
ts
a
n
d
ca
mera
…
(
Mo
h
a
m
a
d
F
a
r
id
S
a
a
id
)
1813
v
ar
ied
lig
h
tin
g
an
d
co
lo
u
r
s
.
2
,
C
am
er
a
p
lace
m
en
t
is
cr
u
ci
al
in
au
t
o
m
ated
item
r
ec
o
g
n
it
io
n
an
d
m
ea
s
u
r
in
g
s
y
s
tem
s
d
u
e
to
h
ig
h
tilt
an
g
l
e
er
r
o
r
r
ate
d
is
p
ar
it
y
.
Dete
r
m
in
e
th
e
ca
m
e
r
a
tilt
an
g
le
to
r
ed
u
ce
er
r
o
r
s
an
d
r
eg
u
late
item
s
izes
an
d
c
o
lo
u
r
s
to
ex
te
n
d
s
y
s
tem
u
tili
za
tio
n
.
C
o
n
s
is
ten
t
s
ize
esti
m
atio
n
er
r
o
r
s
,
esp
ec
ially
in
s
u
b
o
p
tim
al
s
ettin
g
s
,
in
d
icate
o
b
ject
m
ea
s
u
r
e
m
en
t
m
eth
o
d
d
if
f
ic
u
lties
.
R
esear
ch
er
s
m
u
s
t
r
esear
ch
im
ag
e
p
r
o
ce
s
s
in
g
o
r
s
en
s
o
r
tech
n
o
lo
g
ies
th
at
p
r
o
v
i
d
e
m
o
r
e
ac
cu
r
a
te
s
ize
an
d
f
o
r
m
d
ata.
T
h
e
s
y
s
tem
’
s
o
b
ject
s
iz
e
esti
m
atio
n
ac
cu
r
ac
y
is
p
r
o
m
is
in
g
,
b
u
t
its
u
n
p
r
ed
ictab
ilit
y
u
n
d
er
d
iv
er
s
e
am
b
ien
t
co
n
d
itio
n
s
an
d
o
b
ject
p
r
o
p
er
ties
c
o
u
ld
b
e
im
p
r
o
v
ed
.
Fix
in
g
th
ese
is
s
u
es
will
im
p
r
o
v
e
th
e
in
d
u
s
tr
ial
s
y
s
tem
’
s
d
ep
e
n
d
ab
ilit
y
an
d
ef
f
icien
cy
.
5.
DIS
CU
SS
I
O
N
I
n
d
u
s
tr
ial
r
o
b
o
tics
an
d
im
ag
e
p
r
o
ce
s
s
in
g
b
en
e
f
it
f
r
o
m
au
t
o
m
ated
o
b
ject
s
o
r
tin
g
.
Mo
b
ile
co
lo
u
r
s
o
r
ter
s
ar
e
test
ed
f
o
r
lig
h
t f
l
o
w,
ca
m
er
a
tilt
an
g
les,
co
lo
u
r
i
d
en
tific
atio
n
,
o
b
ject
lo
ca
lizatio
n
,
an
d
s
ize
esti
m
ate.
I
d
ea
l
illu
m
in
atio
n
(
4
3
an
d
6
4
lm
)
m
ak
es
s
o
m
e
co
lo
u
r
s
1
0
0
%
v
is
ib
le.
B
lu
e
b
all
s
u
cc
es
s
r
ates
d
r
o
p
at
4
3
lm
,
q
u
esti
o
n
in
g
th
e
s
y
s
tem
’
s
wa
v
elen
g
th
,
s
h
ad
o
w,
an
d
lig
h
t
f
lu
ctu
atio
n
s
en
s
itiv
ity
.
T
h
e
d
if
f
er
en
ce
h
elp
s
ec
o
-
f
r
ien
d
ly
c
o
lo
u
r
r
ec
o
g
n
itio
n
s
y
s
tem
s
.
T
h
e
d
ir
ec
ted
li
g
h
t
s
o
u
r
ce
an
d
s
o
r
tin
g
co
n
tr
o
l
m
ay
lim
it
u
s
e.
C
o
lo
u
r
p
er
ce
p
tio
n
is
d
if
f
icu
lt
to
tr
an
s
late
in
to
r
o
b
o
tic
g
r
ip
p
e
r
co
o
r
d
in
atio
n
d
u
e
to
tr
ac
k
b
o
r
d
er
id
en
tific
atio
n
an
d
o
b
ject
p
o
s
itio
n
in
g
is
s
u
es.
Vis
u
al
in
p
u
t
an
d
d
y
n
a
m
ic
m
ec
h
a
n
ical
m
o
v
em
en
ts
ar
e
d
if
f
icu
lt
to
s
y
n
ch
r
o
n
ize
f
o
r
b
lu
e
o
b
jects.
Sy
s
tem
p
er
f
o
r
m
an
ce
,
c
am
er
a
tilt
,
an
d
lu
m
in
o
u
s
f
lu
x
ap
p
ea
r
co
n
n
ec
ted
.
M
o
r
e
lig
h
t
im
p
r
o
v
es
co
lo
u
r
an
d
o
b
ject
r
ec
o
g
n
itio
n
.
I
ts
ex
ac
t
il
lu
m
in
atio
n
s
ettin
g
s
u
n
d
er
u
n
e
x
p
ec
ted
in
d
u
s
tr
ial
lig
h
ts
m
ay
lim
it
it
s
u
tili
ty
.
T
h
e
b
est
ca
m
er
a
tilt
an
g
le
f
o
r
co
lo
u
r
an
d
o
b
ject
lo
ca
l
izatio
n
is
4
0
d
eg
r
ee
s
.
Au
to
m
at
ic
co
lo
u
r
s
o
r
tin
g
is
af
f
ec
ted
b
y
im
ag
e
an
g
le.
Au
t
o
m
atic
s
o
r
tin
g
is
co
m
p
licated
b
y
d
iam
eter
esti
m
atio
n
.
Hig
h
lig
h
t
f
l
u
x
a
n
d
a
40
-
d
e
g
r
ee
ca
m
er
a
tilt
an
g
le
y
i
eld
th
e
m
o
s
t
ac
cu
r
ate
s
ize
esti
m
ates,
b
u
t
d
ev
iatio
n
s
g
e
n
er
ate
s
u
b
s
tan
tial
er
r
o
r
s
.
T
h
ese
er
r
o
r
s
,
esp
ec
ially
at
6
0
°
ca
m
er
a
tilt
s
,
s
h
o
w
th
e
d
if
f
i
cu
lty
o
f
co
n
v
er
tin
g
two
-
d
im
e
n
s
io
n
al
v
is
u
al
d
ata
in
to
th
r
ee
-
d
im
en
s
io
n
al
o
b
ject
p
r
o
p
er
ties
.
L
i
g
h
tin
g
,
ca
m
er
a
lo
ca
tio
n
,
a
n
d
im
a
g
e
p
r
o
ce
s
s
in
g
o
b
ject
d
im
en
s
io
n
lim
its
ar
e
co
n
tin
u
o
u
s
ly
m
o
n
ito
r
ed
in
th
is
s
y
s
tem
p
er
f
o
r
m
an
c
e
co
m
p
o
n
en
t.
T
r
ials
s
ay
lig
h
t
f
lu
x
an
d
ca
m
er
a
tilt
an
g
les
d
eter
m
i
n
e
s
y
s
tem
s
u
cc
ess
.
B
etter
illu
m
in
atio
n
a
n
d
ca
m
er
a
alig
n
m
e
n
t
im
p
r
o
v
e
co
lo
u
r
,
p
o
s
itio
n
,
a
n
d
s
o
r
tin
g
.
I
n
u
n
ex
p
ec
te
d
in
d
u
s
tr
ial
s
itu
atio
n
s
,
illu
m
in
atio
n
an
d
ca
m
er
a
an
g
le
lim
it
s
y
s
tem
ad
ap
tab
ilit
y
.
Un
d
er
id
ea
l
c
o
n
d
it
io
n
s
,
th
e
s
y
s
tem
ca
n
esti
m
ate
item
d
iam
eter
,
b
u
t
illu
m
in
atio
n
an
d
ca
m
er
a
an
g
les
lim
it
it,
s
h
o
win
g
th
e
ch
allen
g
e
o
f
c
o
n
v
e
r
tin
g
two
-
d
im
en
s
io
n
al
im
ag
e
p
r
o
ce
s
s
in
g
in
to
t
h
r
ee
-
d
im
e
n
s
io
n
al
o
b
ject
c
h
ar
ac
ter
izatio
n
.
Ma
k
in
g
p
r
o
g
r
ess
,
b
u
t
im
p
lem
en
tatio
n
u
n
ce
r
tain
.
L
ig
h
t
an
d
s
h
ad
e
ca
n
co
n
f
u
s
e
s
y
s
tem
an
d
item
co
lo
u
r
s
.
Dim
lab
lig
h
t
h
in
d
er
s
co
lo
u
r
d
etec
tio
n
.
An
o
th
er
is
s
u
e
is
d
im
en
s
io
n
ally
co
r
r
ec
t
item
s
ize
esti
m
atio
n
.
Size
esti
m
atio
n
er
r
o
r
s
,
esp
ec
ially
u
n
d
e
r
lar
g
e
ca
m
er
a
tilt
s
,
d
em
o
n
s
tr
ate
th
e
c
h
allen
g
es
o
f
tr
an
s
f
o
r
m
in
g
two
-
d
im
en
s
i
o
n
al
v
is
u
al
d
ata
in
t
o
th
r
ee
-
d
im
en
s
io
n
al
o
b
ject
attr
ib
u
tes.
Size
esti
m
atio
n
r
e
q
u
ir
es
b
etter
o
r
n
ew
s
en
s
in
g
tech
n
o
lo
g
ies
b
ec
au
s
e
im
ag
e
p
r
o
ce
s
s
in
g
ca
n
n
o
t
q
u
an
tify
p
h
y
s
ical
d
im
en
s
io
n
s
.
Au
to
m
atic
s
o
r
tin
g
alg
o
r
ith
m
s
d
is
tin
g
u
is
h
co
lo
u
r
s
an
d
f
i
n
d
item
s
,
r
esear
ch
er
s
f
o
u
n
d
.
C
o
m
p
u
tin
g
,
en
v
ir
o
n
m
en
tal
ad
ap
tatio
n
,
a
n
d
b
etter
d
etec
tio
n
an
d
s
o
r
tin
g
ar
e
n
e
ed
ed
to
o
v
er
co
m
e
r
estrictio
n
s
.
Ad
d
r
ess
in
g
th
ese
d
if
f
icu
lties
will
im
p
r
o
v
e
au
to
m
ated
s
o
r
tin
g
tech
n
o
lo
g
ies
’
p
r
ec
is
io
n
,
d
u
r
ab
i
lity
,
an
d
in
d
u
s
tr
ial
ap
p
licatio
n
.
6.
CO
NCLU
SI
O
N
T
h
is
ar
ticle
an
aly
ze
s
an
d
e
x
p
er
im
en
ts
with
au
to
m
ate
d
o
b
ject
-
s
o
r
tin
g
s
y
s
tem
s
in
in
d
u
s
tr
y
to
d
em
o
n
s
tr
ate
th
eir
p
o
ten
tial.
I
n
d
u
s
tr
ial
s
o
r
tin
g
h
as
ad
v
an
ce
d
u
s
in
g
im
ag
e
p
r
o
ce
s
s
in
g
alg
o
r
ith
m
s
an
d
r
o
b
o
tic
s
y
s
tem
s
th
a
t
d
is
tin
g
u
is
h
an
d
s
o
r
t
b
y
co
l
o
u
r
u
n
d
e
r
v
ar
y
in
g
illu
m
in
atio
n
a
n
d
ca
m
er
a
a
n
g
les.
T
h
e
s
tu
d
ies
d
em
o
n
s
tr
ate
th
e
s
y
s
tem
’
s
ac
cu
r
ate
item
s
ize
esti
m
at
io
n
an
d
ef
f
icien
t
co
lo
u
r
d
etec
tio
n
,
esp
ec
ially
in
g
o
o
d
illu
m
in
atio
n
.
H
o
wev
er
,
s
en
s
itiv
ity
to
p
ar
ticu
la
r
c
o
lo
u
r
wav
el
en
g
th
s
,
s
h
ad
o
ws
an
d
illu
m
in
at
io
n
v
ar
iatio
n
s
,
a
n
d
item
p
lace
m
en
t
p
r
ec
is
io
n
m
a
k
e
s
u
ch
s
y
s
tem
s
d
if
f
icu
lt
to
u
s
e
in
d
y
n
am
ic
in
d
u
s
tr
ial
s
ettin
g
s
.
Fu
tu
r
e
s
tu
d
ies
s
h
o
u
ld
im
p
r
o
v
e
co
lo
u
r
id
en
t
if
icatio
n
alg
o
r
ith
m
s
to
ad
ap
t
to
lig
h
tin
g
v
ar
iatio
n
s
with
o
u
t
co
m
p
r
o
m
is
i
ng
ac
cu
r
ac
y
.
T
h
is
in
clu
d
es
s
tu
d
y
in
g
ad
v
a
n
ce
d
m
ac
h
i
n
e
lear
n
in
g
m
o
d
els
th
at
ad
ap
t
to
d
if
f
e
r
en
t
s
ettin
g
s
an
d
b
o
o
s
t
co
lo
u
r
wav
ele
n
g
th
s
en
s
itiv
ity
.
ACK
NO
WL
E
DG
E
M
E
NT
S
T
h
e
au
th
o
r
s
wo
u
ld
lik
e
to
s
i
n
ce
r
ely
th
a
n
k
th
e
Sch
o
o
l
o
f
E
lectr
ical
E
n
g
in
ee
r
i
n
g
at
th
e
C
o
lleg
e
o
f
E
n
g
in
ee
r
in
g
,
Un
iv
er
s
iti
T
ek
n
o
lo
g
i
MA
R
A,
f
o
r
th
eir
in
v
alu
ab
le
s
u
p
p
o
r
t
in
ter
m
s
o
f
s
p
ec
ialis
t
k
n
o
wled
g
e,
f
ac
ilit
ies,
an
d
f
in
an
cial
ass
is
ta
n
ce
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
52
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
36
,
No
.
3
,
Dec
em
b
er
20
24
:
1
8
0
7
-
1
8
1
5
1814
RE
F
E
R
E
NC
E
S
[
1
]
S
.
K
r
i
s
h
n
a
k
u
m
a
r
,
K
.
S
n
e
h
a
,
a
n
d
A
.
R
e
e
t
h
i
k
a
,
“
R
e
v
i
e
w
o
n
se
n
s
o
r
b
a
s
e
d
c
o
l
o
u
r
s
o
r
t
i
n
g
r
o
b
o
t
f
o
r
c
a
n
d
y
man
u
f
a
c
t
u
r
i
n
g
,
”
I
O
P
C
o
n
f
e
re
n
c
e
S
e
r
i
e
s:
M
a
t
e
r
i
a
l
s
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S
,
”
J
o
u
r
n
a
l
o
f
t
h
e
K
o
re
a
n
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o
c
i
e
t
y
o
f
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n
d
u
st
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y
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n
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e
r
g
e
n
c
e
,
v
o
l
.
2
6
,
n
o
.
2
,
p
p
.
2
6
5
–
2
7
2
,
2
0
2
3
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2
5
0
2
-
4
7
52
C
o
lo
u
r
s
o
r
tin
g
R
OS
-
b
a
s
ed
r
o
b
o
t e
va
lu
a
tio
n
u
n
d
er d
iffer
en
t
lig
h
ts
a
n
d
ca
mera
…
(
Mo
h
a
m
a
d
F
a
r
id
S
a
a
id
)
1815
B
I
O
G
RAP
H
I
E
S O
F
AUTH
O
RS
Mo
h
a
m
m
a
d
Fa
r
id
S
a
a
id
is
S
e
n
io
r
Lec
tu
re
r
a
t
S
c
h
o
o
l
o
f
El
e
c
tri
c
a
l
En
g
i
n
e
e
rin
g
,
Co
ll
e
g
e
o
f
En
g
i
n
e
e
rin
g
,
Un
i
v
e
rsiti
Tek
n
o
l
o
g
i
M
ARA
(UiTM
),
S
h
a
h
Ala
m
,
S
e
lan
g
o
r,
M
a
lay
sia
.
He
re
c
e
iv
e
d
h
is
Ba
c
h
e
lo
r
(Ho
n
s)
in
E
lec
tri
c
a
l
En
g
in
e
e
rin
g
(P
o
we
r),
M
a
ste
r
o
f
El
e
c
tri
c
a
l
En
g
i
n
e
e
rin
g
,
a
n
d
P
h
.
D
.
in
El
e
c
tri
c
a
l
En
g
in
e
e
ri
n
g
f
ro
m
U
n
iv
e
rsiti
Tek
n
o
l
o
g
i
M
ARA
(UiTM
).
His
re
se
a
rc
h
in
tere
sts
in
c
lu
d
e
a
g
ricu
lt
u
re
tec
h
n
o
lo
g
y
a
n
d
a
u
to
m
a
ti
o
n
sy
ste
m
s.
a
rti
ficia
l
in
telli
g
e
n
c
e
,
a
n
d
m
a
c
h
in
e
lea
rn
in
g
.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
m
fa
rid
s@
u
it
m
.
e
d
u
.
m
y
.
Ir
.
Dr
.
No
r
a
shi
k
in
M
.
Th
a
m
r
i
n
is
a
n
a
ss
o
c
iate
p
ro
fe
ss
o
r
a
t
th
e
S
c
h
o
o
l
o
f
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
,
C
o
ll
e
g
e
o
f
En
g
in
e
e
ri
n
g
,
Un
i
v
e
rsiti
T
e
k
n
o
l
o
g
i
M
ARA
(UiTM
),
M
a
lay
sia
wh
e
re
sh
e
h
a
s
b
e
c
o
m
e
a
fa
c
u
lt
y
m
e
m
b
e
r
sin
c
e
2
0
0
8
.
S
h
e
g
ra
d
u
a
ted
fr
o
m
Un
i
v
e
rsiti
Tek
n
o
lo
g
i
M
a
lay
sia
wit
h
h
e
r
b
a
c
h
e
lo
r
’
s
d
e
g
re
e
(Ho
n
o
u
rs)
in
El
e
c
tri
c
a
l
-
El
e
c
tro
n
ic
En
g
i
n
e
e
rin
g
a
n
d
M
a
ste
r
’
s
in
En
g
in
e
e
rin
g
i
n
2
0
0
5
a
n
d
2
0
0
7
,
re
sp
e
c
ti
v
e
ly
.
S
h
e
th
e
n
re
c
e
iv
e
d
h
e
r
P
h
.
D
.
in
a
u
to
m
a
ti
o
n
a
n
d
r
o
b
o
ti
c
s
fro
m
Un
iv
e
rsiti
Tek
n
o
l
o
g
i
M
ARA
(UiTM
)
in
2
0
1
7
.
He
r
re
se
a
rc
h
in
tere
st
is
p
rima
ril
y
i
n
a
u
to
m
a
ted
sy
ste
m
d
e
v
e
l
o
p
m
e
n
t
,
wa
ter
se
c
u
rit
y
,
a
g
ricu
l
tu
re
,
a
n
d
r
o
b
o
ti
c
s.
S
h
e
h
a
s
b
e
c
o
m
e
t
h
e
a
u
th
o
r/co
-
a
u
th
o
r
o
f
m
o
re
t
h
a
n
5
0
p
u
b
l
ica
ti
o
n
s.
S
h
e
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
n
o
ra
sh
i
k
in
@
u
it
m
.
e
d
u
.
m
y
.
Mo
h
a
m
a
d
Fa
r
id
M
isn
a
n
is
a
se
n
io
r
lec
tu
re
r
a
t
th
e
S
c
h
o
o
l
o
f
El
e
c
tri
c
a
l
En
g
i
n
e
e
rin
g
,
Co
ll
e
g
e
o
f
E
n
g
i
n
e
e
rin
g
,
U
n
iv
e
rsiti
Tek
n
o
l
o
g
i
M
ARA
(UiTM
),
M
a
lay
sia
.
In
2
0
2
0
,
h
e
jo
i
n
e
d
t
h
e
fa
c
u
lt
y
a
ft
e
r
e
a
rn
in
g
h
is
Ba
c
h
e
lo
r
’
s
d
e
g
re
e
with
Ho
n
o
u
rs
i
n
El
e
c
tri
c
a
l
En
g
i
n
e
e
rin
g
fro
m
UiT
M
a
n
d
h
is P
h
.
D.
in
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
,
c
o
n
c
e
n
trati
n
g
in
A
u
to
m
a
ti
o
n
a
n
d
R
o
b
o
ti
c
s,
i
n
2
0
1
7
.
Au
t
o
m
a
ti
o
n
s
y
ste
m
s,
Io
T
in
te
g
ra
ti
o
n
,
se
n
s
o
ry
n
e
two
r
k
s,
r
o
b
o
ti
c
s,
a
n
d
n
e
w
e
n
e
rg
y
e
lec
tri
c
v
e
h
icle
d
e
v
e
lo
p
m
e
n
ts
a
re
h
is
re
se
a
rc
h
i
n
t
e
re
sts.
He
h
a
s
a
lmo
st
2
5
p
u
b
li
c
a
ti
o
n
s
t
o
h
is
c
re
d
it
,
d
e
m
o
n
s
tratin
g
h
is
in
tellec
tu
a
l
a
c
c
o
m
p
li
s
h
m
e
n
ts.
F
o
r
p
a
rtn
e
rsh
i
p
s
o
r
in
q
u
iri
e
s,
h
e
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
m
o
h
a
m
a
d
fa
rid
@u
it
m
.
e
d
u
.
m
y
.
Ro
slin
a
Mo
h
a
m
a
d
o
b
tai
n
e
d
a
B.
En
g
.
d
e
g
re
e
i
n
El
e
c
tri
c
a
l
E
n
g
in
e
e
rin
g
a
n
d
a
n
M
.
En
g
.
S
c
ien
c
e
d
e
g
re
e
fr
o
m
Un
i
v
e
rsiti
M
a
lay
a
,
Ku
a
la
L
u
m
p
u
r
,
i
n
2
0
0
3
a
n
d
2
0
0
8
.
S
h
e
e
a
rn
e
d
a
P
h
.
D.
in
Ae
ro
sp
a
c
e
En
g
in
e
e
rin
g
(De
e
p
S
p
a
c
e
a
n
d
Wi
re
les
s
Co
m
m
u
n
ica
ti
o
n
s
Alg
o
rit
h
m
s)
fro
m
Un
i
v
e
rsiti
P
u
tra
M
a
lay
si
a
in
2
0
1
6
.
S
e
n
i
o
r
lec
tu
re
r
a
t
th
e
S
c
h
o
o
l
o
f
E
lec
tri
c
a
l
En
g
i
n
e
e
rin
g
,
C
o
ll
e
g
e
o
f
En
g
in
e
e
r
in
g
,
Un
i
v
e
rsiti
Tek
n
o
l
o
g
i
M
ARA
sin
c
e
2
0
0
6
.
S
h
e
lea
d
s
t
h
e
WHS
Ne
t
re
se
a
rc
h
in
tern
e
t
g
ro
u
p
.
C
o
m
p
u
t
in
g
tec
h
n
iq
u
e
s
a
n
d
d
i
g
it
a
l
si
g
n
a
l
p
ro
c
e
ss
in
g
f
o
r
d
e
e
p
sp
a
c
e
c
o
m
m
u
n
ic
a
ti
o
n
,
c
h
a
n
n
e
l
c
o
d
i
n
g
,
i
n
fo
rm
a
ti
o
n
-
t
h
e
o
r
e
ti
c
se
c
u
rit
y
,
c
o
m
p
u
tati
o
n
th
e
o
ry
,
t
h
e
Io
T,
a
n
d
wire
les
s
c
o
m
m
u
n
ica
ti
o
n
a
re
h
e
r
re
se
a
rc
h
in
t
e
re
sts.
S
h
e
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
ro
slin
a
7
8
0
@
u
it
m
.
e
d
u
.
m
y
.
Nurul
A
’
q
il
a
h
R
o
m
li
g
ra
d
u
a
t
e
d
with
a
Ba
c
h
e
lo
r
o
f
El
e
c
tr
o
n
ics
En
g
in
e
e
rin
g
wit
h
Ho
n
o
u
rs,
sp
e
c
ializin
g
i
n
a
u
to
m
a
ti
o
n
a
n
d
ro
b
o
ti
c
s,
fr
o
m
Un
i
v
e
rsiti
Tek
n
o
lo
g
i
M
ARA
(UiTM
)
,
M
a
lay
sia
in
2
0
2
3
.
S
in
c
e
S
e
p
tem
b
e
r
2
0
2
3
,
s
h
e
h
a
s
b
e
e
n
e
m
p
lo
y
e
d
a
s
an
a
ss
istan
t
m
a
n
a
g
e
r
a
rc
h
it
e
c
t,
se
rv
ice
a
u
to
m
a
ti
o
n
a
t
u
n
it
b
u
sin
e
ss
a
u
to
m
a
ti
o
n
,
d
iv
i
sio
n
tec
h
a
rc
h
it
e
c
tu
re
a
n
d
d
e
li
v
e
r
y
,
TM
.
He
r
re
se
a
rc
h
in
t
e
re
st
is
p
rima
ril
y
i
n
a
u
t
o
m
a
ted
sy
ste
m
d
e
v
e
lo
p
m
e
n
t,
I
o
T
s
y
ste
m
s,
a
n
d
ro
b
o
ti
c
s.
S
h
e
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
a
q
i
lah
.
r
o
m
li
@tm
.
c
o
m
.
m
y
.
Evaluation Warning : The document was created with Spire.PDF for Python.