Chih-Chung Chou, 周執中

碩士 / 國立臺灣大學 / 電機工程學研究所 / 97 / Based on the dynamic window approach (DWA) for robot navigation, this thesis presents a local reactive method, called DWA*, for mobile robots to achieve high-speed, smooth, and local-minima-free navigation. The original DWA utilizes only a small part of environmental information to search for a proper motion command in the robot’s motion space. Hence, the robot can be easily driven into local-minima area and trapped in complex environment. In order to escape from th...

Yu-Chun Feng, 馮煜鈞

碩士 / 國立中興大學 / 電機工程學系所 / 96 / This thesis develops methodologies and techniques for motion control, autonomous navigation and mission execution of a tour-guide robot with a four-wheeled omnidirectional mobile platform. A nonlinear unified kinematical control method is presented for point stabilization and trajectory tracking of an omnidirectional wheeled mobile robot with four independent driving omnidirectional wheels equally spaced at 90 degrees from one to another. A hybrid navigation method i...

Chin-Cheng Chen, 陳金成

碩士 / 國立中興大學 / 電機工程學系所 / 96 / This thesis presents methodologies and techniques for system design, object distance calculation, behavior-based navigation, forward and inverse kinematics of a home-service robot with two seven-degrees-of-freedom arms and one three-wheeled omnidirectional mobile platform. The mechanical structure of the dual arms is described as well, and depth images are employed to determine the distances between objects and a stereo vision system. A fuzzy–Kohonen clustering netwo...

Huan-Hau Fan, 范元豪

碩士 / 國立中興大學 / 電機工程學系所 / 96 / This paper presents techniques for motion control and planned navigation of a self-balancing two-wheeled platform for autonomous service robots. Based on the linearized mathematical modeling, a kinematical trajectory tracker and two adaptive controllers are designed to achieve speed tracking and yaw rate control. Planned navigation architecture, combining a human-aware trajectory generator and an obstacle-avoidance method, is used to provide desired safe trajectories...

Kai-Li Chiang, 江凱立

碩士 / 國立交通大學 / 資訊科學與工程研究所 / 94 / A vision-based vehicle system for security patrolling and danger condition monitoring in indoor environments using an autonomous vehicle is proposed. A small vehicle with wireless control and image grabbing capabilities is used as a test bed. A camera with panning, tilting, and zooming capabilities is used as the eye of the small vehicle. A vehicle location estimation method using house corners is proposed first. This is a vision-based estimation method to prevent...

Ssu-Min Hu, 胡斯閔

碩士 / 國立中興大學 / 電機工程學系所 / 95 / This thesis presents methodologies and techniques for adaptive speed, multi-sensory hybrid navigation and human-robot interaction of an active mobile robot assistant for the elderly people in a known and cluttered indoor environment. In robotic mapping, the geometric and topological representations are combined together to maintain the advantages of them and counteract their disadvantages. By using RFID system, the estimation of position hypothesis for similar region...

Ming-Kang Chuang, 莊銘罡

碩士 / 國立臺灣大學 / 電機工程學研究所 / 92 / The goal of this research is to develop a stereovision guided autonomous navigation system and apply it to the mobile robot control. The autonomous navigation system is composed of a binocular stereovision sub-system, a motion planning sub-system, and a motion control sub-system. The binocular stereovision mimics human visual perception to obtain the 3D information about the environment. The area-based stereo matching algorithm is used to construct the disparity ima...

Tsung-CheHuang, 黃聰哲

碩士 / 國立成功大學 / 測量及空間資訊學系 / 104 / Continuous indoor and outdoor positioning and navigation is the goal to achieve in the field of mobile mapping technology. However, accuracy of positioning and navigation will be largely degraded in indoor or occluded areas, due to receiving weak or less GNSS signals. Targeting the need of high accuracy indoor and outdoor positioning and navigation for mobile mapping applications, the objective of this study is to develop a novel method of indoor positioning and n...

Siang-LinJheng, 鄭向林

碩士 / 國立成功大學 / 民航研究所 / 102 / The development and implementation of Communication, Navigation, Surveillance, and Air Traffic Management (CNS/ATM) for civil aviation have attracted a lot of attention because CNS/ATM changes the current analog aviation system to the modern digital aviation system. As the enabling technology of the modern CNS/ATM system, the Global Positioning System (GPS), for example, is utilized for time synchronization between air data network, air communication network, and airc...

Yu-Kai Wang, 王昱凱

碩士 / 國立臺灣大學 / 電機工程學研究所 / 105 / Autonomous vehicle is a key technology that has been widely researched in recent decade and has many applications such as indoor navigation, rescue and transportation. The works of autonomous vehicle usually focus on navigation in an indoor environment or target tracking. There are two kinds of targets: (1) targets that positions have been detected by range sensors or locating systems and (2) targets that positions are unknown. Comparing to the former targets that ...

Yi-Ying Wu, 吳沂盈

碩士 / 國立高雄第一科技大學 / 企業管理研究所 / 101 / Since the rise of smartphones, APP application became an important tool in our life. However, a good interface design not only brings people to a more convenient life, also can improve the quality of life. Therefore, this study used the concept of human-computer interaction and the method of cognitive walkthroughs to design an early indoor parking navigation system. And then eye-tracking technique and Questionnaire for User Interaction Satisfaction (QUIS) were u...

Chin-Ku Chuang, 莊金谷

碩士 / 大同大學 / 機械工程研究所 / 90 / There are many scholars working on exploring artificial intelligent learning rules of intelligent robot system recently. An intelligent robot should be able to learn to behave itself in an unknown environment using the input information obtained from sensors with the expectation that robot can react like living things. Biological immune system possesses several characteristics such as self-organization, memory, recognition, adaptation and learning ability and is extrem...

Yi-Wen Liao, 廖翊汶

碩士 / 中原大學 / 電機工程研究所 / 89 / In this thesis, we propose a Takagi-Sugeno fuzzy model-based parallel distributed Kalman filter for GPS/INS sensor fusion. First some Global Positioning System basic concepts are given. The advantages are all weather, global 24 hour positioning capabilities. The disadvantage is slow update of measurements and the possible loss of signal acquisition do to being obscured. Then important mathematical equations, for example pseusdorange, is given. For inertial navigation s...

Feng-LungChiang, 蔣豐隆

博士 / 國立成功大學 / 航空太空工程學系 / 102 / The purpose of this dissertation is to combine proportional navigation guidance (PNG) along the pitch-axis and pursuit guidance (PG) along the yaw-axis to derive a three-dimensional coupled missile guidance law with actuator dynamic compensation. A three-dimensional space can be constructed by two two-dimensional models that are pitch-plane and yaw-plane. PNG controls the direction of a missile on the pitch-plane and PG controls the direction of a missile on the ya...

Guan-TingLin, 林冠廷

碩士 / 國立成功大學 / 電機工程學系 / 102 / This thesis describes the implementation of multi-sensor integrated positioning algorithms for vehicular navigation and simultaneous localization and mapping (SLAM). The positioning algorithm provides precision position information in an outdoor environment. The positioning accuracy for vehicle navigation is very important. Nowadays, Global Positioning System (GPS) has been developed maturely and widely used in vehicle navigation. However, the positioning accuracy of...

Hsien-LiYang, 楊先立

碩士 / 國立成功大學 / 電機工程學系 / 104 / Nowadays, Global Positioning System (GPS) which has been developed completely are widely used in various fields, such as vehicle, military, navigation, airplane and spacecraft. Applications of GPS are everywhere in our life, and we rely on GPS for route guidance. However, in urban environment, GPS signals are sometimes blocked by buildings, tunnels, or affected by multipath effect. To deal with this problem, we can employ the inertial navigation system (INS). This sy...

Lung-wen Li, 李隆文

碩士 / 國立臺南大學 / 通訊工程研究所碩士班 / 97 / The economic development on the whole world has been fast in recent years, it promotes the transportation facilities and the huge requirement for the traveler. But it derives some problem such as chaotic transportation, traffic congestion or air pollution etc. The road development of traffic construction still can''t solve the problem of congestion to make vehicle driving smoothly. Thus, in order to keep away from the congested road, vehicle navigation system has ...

Terence Chang Tian Lu, 曾添祿

碩士 / 國立中興大學 / 電機工程學系所 / 102 / This thesis proposes navigation of a mobile robot in unknown environments using a Multi-Objective rule-based Continuous ant colony optimization (MO-RCACO) designed fuzzy controller (FC). Unlike normal modified continuous ant colony optimization (ACO) algorithms that find only a single solution in a multi-objective optimization problem, the MO-RCACO finds Pareto-optimal solutions. All of the free parameters in the FC are learned through MO-RCACO, which helps avoid th...

Do, Myungsik

Kyoto University (京都大学) / 0048 / 新制・課程博士 / 博士(工学) / 甲第8518号 / 工博第1972号 / 新制||工||1185(附属図書館) / UT51-2000-J27 / 京都大学大学院工学研究科土木工学専攻 / (主査)教授 小林 潔司, 教授 飯田 恭敬, 教授 北村 隆一 / 学位規則第4条第1項該当

Pei-Huai Ciou, 邱沛淮

碩士 / 國立臺灣大學 / 電機工程學研究所 / 105 / For service robot, the navigation movement that only considers the metrics such as minimum path is not enough. In the environment that robot and human coexist, the robot not only needs to consider such metric but also to let the human think its navigation movement is natural enough. In order to following such ’social norms’ in the environment, using learning method to make robot learn how to navigate is easier than tediously designing handcrafted rules. Recently, d...

Shih-Hsi Hsu, 徐世曦

碩士 / 國立臺灣大學 / 電機工程學研究所 / 105 / In the traditional vision based indoor navigation domain, the problem is usually described as how to convert the visual perception to control policy. The main research can be categorized into two types, one of which is the method using pre-constructed map and current perception to accomplish indoor visual navigation. This type of methods can easily achieve global optimal path planning, however, mapping algorithm is usually time-consuming and needs a lot of computat...

Yi-Lin Hsiao, 蕭義麟

碩士 / 國立成功大學 / 機械工程學系碩博士班 / 93 / Facing strong business competition and expensive labor costs, companies pursue flexibility and quick response to fit the strong demand associated with short life cycle, small-volume and wide-variety of the products in production lines. Regarding diverse and flexible production patterns, materials transportation routes should be adjusted rapidly for new production lines. Mobile manipulators, which comprise a mobile base and a robot manipulator equipped with a visio...

Chiu, Te-Cheng, 邱德正

博士 / 國立交通大學 / 資訊科學與工程研究所 / 104 / Studies on spatial navigation reliably demonstrate that the retrosplenial complex (RSC) is crucial for allocentric information process for a translation function by transform egocentric spatial information into allocentric spatial reference frames (SRF) and vice versa. However, most of these studies are imaging studies. High temporal resolution measures such as electroencephalography (EEG) are missing. Besides, the interaction between RSC and other brain cortex f...

Morimoto, Eiji

Kyoto University (京都大学) / 0048 / 新制・課程博士 / 博士(農学) / 甲第10255号 / 農博第1327号 / 新制||農||866(附属図書館) / 学位論文||H15||N3776(農学部図書室) / UT51-2003-H676 / 京都大学大学院農学研究科地域環境科学専攻 / (主査)教授 梅田 幹雄, 教授 笈田 昭, 教授 池田 善郎 / 学位規則第4条第1項該当

Shih-Hung Wang, 王世泓

碩士 / 國立中興大學 / 電機工程學系所 / 97 / This thesis presents techniques for motion control and human-aware navigation of a two-wheeled self-balancing mobile robot. Based on the nonlinear mathematical modeling, a motion commands generator and two sliding-mode controllers are designed to achieve speed tracking, yaw rate control and desired trajectory tracking. The human-aware navigation combines an obstacle-avoidance method and skin color detection, in order to provide desired socially acceptable path betwee...

Yi-HsuanLee, 李怡萱

碩士 / 國立成功大學 / 測量及空間資訊學系碩博士班 / 100 / Nowadays, the importance of navigation technology is increasing and widely applied not only in real time vehicles’ navigation but kinematic positioning for post processing circumstances. The Global Positioning System (GPS) plays an important role in the navigation purpose recently because of the stability and universality providing the position information, whereas the GPS can’t make precise position information due to the blockage of signal. For this reason, ...

Pei-JinHe, 何佩瑾

碩士 / 國立成功大學 / 電腦與通信工程研究所 / 100 / Nowadays, traffic congestion arises to be a very serious problem especially in metropolitan cities. It makes drivers to spend more time to their destinations. In this work, by leveraging the techniques of Vehicular Ad-hoc Networks (VANET) a dynamic navigation protocol, called STN, is proposed for individual vehicles to find time-efficient paths toward their given destinations. The trajectory information of vehicles is maintained in server to assist the planning o...

Jiun-Yi Li, 李俊毅

碩士 / 國立臺灣大學 / 電機工程學研究所 / 99 / This thesis proposes a new navigation framework for mobile robot to maneuver in an unknown and populated environment. Without being given the knowledge of the surrounding environment, the robot has to use reactive mechanism to deal with unforeseen circumstances. To achieve this, we develop a context-aware navigation scheme that enables the robot to perceive the current context of the environment and make an appropriate reaction. The robot will actively detect humans...

Peng-FenChen, 陳鵬芬

碩士 / 國立成功大學 / 工業設計學系碩博士班 / 101 / Internet technology advanced the diversification of Internet devices. Different devices had their specific physical restrictions which emerged the phenomenon of platforms. Website was one of examples. Mobile website displayed its stationary webpage on small screen. In order to fit in with screen size, webpage would be changed a lot. However, the user who had stationary website usage habit encountered usage gap on mobile website. Up to this point, while there has ...

Ming-Yang Yu, 游名揚

碩士 / 國立臺灣大學 / 資訊網路與多媒體研究所 / 98 / In this paper, we present D-Folder, a new file navigation tool to facilitate users to locate a file with the file browser. D-Folder combines deeper folder with icon highlighting to facilitate the access of certain file icon in the file browser. The goal of D-Folder is to improve both hierarchical and spatial file navigation. Deeper folder allows the user to browse one deeper level of the current folder at once and reduces the hierarchical navigation time and the possi...

Franklin, Marianne, 1960-

Thesis (Ph. D.)--Texas A&M University, 2005. / "Major Subject: Anthropology" Title from author supplied metadata (automated record created on Apr. 14, 2006.) Vita. Abstract. Includes bibliographical references.

Guan-Yu Chen, 陳冠宇

博士 / 國立交通大學 / 資訊科學系 / 88 / Model-based guidance approaches are often employed in autonomous land vehicle navigation. However, the establishment of environment models is a time-consuming work. It is thus desired to design a process for automatic modeling of navigation envi-ronment. With automatic environment learning, the flexibility of certain ALV navigation systems is increased. Besides, the learned environment models can also be used for vir-tual reality scene construction and other applicatio...

Yi-Min Chang, 張以民

碩士 / 國立中正大學 / 電機工程研究所 / 90 / A navigation system is an important part of the research for autonomous mobile robots. The real world is a dynamic environment and it is not easy to develop a complete environment model. How the autonomous mobile robot achieves the navigation mission efficiently and safely in dynamic and partially known environments is a challenging task. In this thesis, we introduce a navigation method for an autonomous mobile robot by using a hybrid architecture that combines a hig...

Bo-Jhang Huang, 黃柏彰

碩士 / 朝陽科技大學 / 網路與通訊研究所 / 95 / The main goal of vehicle navigation systems is to determine the optimal routing path for achieving the least travel time and exhausted gasoline. Most navigation systems use the static shortest path routing algorithm based on a digital geographic map or use optional traffic information broadcasted by a centralized Traffic Information Center (TIC) to avoid routing to heavy traffic load roads. Since the traffic information may be gathered from few monitoring devices th...

CHIU TE-CHENG, 邱德正

博士 / 國立交通大學 / 資訊科學與工程研究所 / 96 / The aim of this study was to investigate the differences of brain dynamics between the use of allocentric reference frames and egocentric reference frames during spatial navigation. A tunnel task was designed to classify subjects into allocentric or egocentric spatial representation users. Despite of the differences of mental spatial representation, behavioral performance in general were compatible between the two strategies subjects in the tunnel task. Task-relat...

Wei-Yuan Cheng, 鄭惟元

碩士 / 國立臺北科技大學 / 電腦通訊與控制研究所 / 89 / In this thesis, we have developed a binocular stereovision system to navigate an autonomous land vehicle. The main objective of the vision system is utilizing the similarity of the image features captured from left and right cameras to estimate world coordinate system. Hence, the system needs four steps: 1. Camera calibration We employ eight corner points of the corridor to do the duty as calibration object and derive these intrinsic and ex...

Yi-Chieh Chen, 陳逸傑

碩士 / 國立交通大學 / 資訊科學系所 / 92 / A vision-based fuzzy-guidance approach to autonomous vehicle navigation in indoor environments with a capability of avoiding obstacles appearing in planned paths is proposed. A small vehicle with wireless control and image grabbing capabilities is used as a test bed. A simple learning strategy is designed for flexible and effective non-visual learning of reachable spots in rooms without rules or restrictions. Through this simple learning strategy, a planned path is ob...

Bruni, Danilo <1978>

Restoring a correct implant kinematics and providing a good ligament balance and patellar tracking is mandatory to improve clinical and functional outcome after a Total Knee Replacement. Surgical navigation systems are a reliable and accurate tool to help the surgeon in achieving these goals. The aim of the present study was to use navigation system with an intra-operative surgical protocol to evaluate and determine an optimal implant kinematics during a Total Knee Replacement.

Chi-Lin Yang, 楊奇林

博士 / 臺灣大學 / 醫學工程學研究所 / 98 / Computed Tomography (CT)-guided intervention has become an integral component of modern patient care. However, due to the lack of real-time visualization feedback, the workflow of the CT-guided intervention involves repeated CT scans, that often lead to prolong operation time and higher radiation dose to the patient. The objective of this dissertation is to propose a navigation system to streamline the current CT-guided intervention workflow. The goal is to develop a ...

Yu-Chih Lin, 林瑜智

碩士 / 臺灣大學 / 電機工程學研究所 / 98 / The thesis discusses a new algorithm about robot mapping and navigation. We call it IMEN (Intuitive Map Extraction Navigation) algorithm. The experiments utilize robot platform equipped with 3 kinds of sensor, camera, ultrasonic array and encoder. Robot can recognize the floor plan map of unstructured environment and navigate itself to the destination. Under the process, robot can also localize the pose of itself. First, it extracts floor plan image from camera for ge...

Horng-Jer Yang, 楊宏哲

碩士 / 朝陽科技大學 / 資訊與通訊系碩士班 / 98 / By using Car-to-car communications and Inter-Vehicle Communications, the Vehicular Ad-hoc Network (VANET) is created for achieving the telematics technology that enables the data sharing and transmission among the peer vehicles. However, the high mobility vehicles, diverse road topologies, and wireless interference significantly affect the connectivity of packet transmissions, and then importantly degrade the performance of telematics technologies and their applica...

HsuanLin, 林萱

博士 / 國立成功大學 / 工業設計學系碩博士班 / 100

Ya-TingLin, 林雅婷

碩士 / 國立成功大學 / 資訊工程學系碩博士班 / 99

Hong-Yu Chen, 陳宏宇

碩士 / 臺灣大學 / 電信工程學研究所 / 95 / Global Navigation Satellite System (GNSS) is the standard generic term for satellite navigation systems that provide autonomous geospatial positioning with global coverage. As of 2007, the United States NAVSTAR Global Positioning System (GPS) is the only fully operational GNSS. The European Union’s Galileo positioning system is a next generation GNSS in the initial deployment phase, scheduled to be operational in 2010. Galileo system employs modern signal structur...

Yang, Ru-Muh, 楊儒木

碩士 / 國立交通大學 / 電機學院碩士在職專班電信組 / 97 / When implementing a software-GPS-receiver (SGR), few bits analog-to-digital converter (ADC) are usually selected to reduce the required computation and storage. In this thesis, the performance degradation induced by few bits ADC is discussed and an improved structure called post-correlator phase compensation (PCPC) is proposed. The significant feature of the PCPC structure is the improvement of correlator output magnitude because it prevents the quantization ef...

劉明豐

碩士 / 國立臺北科技大學 / 機電整合研究所 / 90 / Due to vast variability of the brightness in outdoor environment, the roads, trees, and lawns usually are not easy to recognize. In this study, we have developed a new navigating approach based on binocular stereovision that has successfully applied to an autonomous land vehicle (ALV) guidance and collision avoidance in outdoor environment. The study topics in the thesis include the information of road learning, stereo corresponding of the sensor-like points, colli...

Fu-I Chang, 張復詒

碩士 / 國立臺灣海洋大學 / 通訊與導航工程系 / 95 / The extended Kalman Filter (EKF) is an important method for eliminating stochastic errors of dynamic position in the Global Positioning System (GPS). One of the adaptive methods is called the Adaptive Fading Kalman filter (AFKF), which employs suboptimal multiple fading factors for limiting the length of memory in an EKF. A scaling factor α has been proposed for increasing the fading factors so as to improve the tracking capability. Traditional approach for select...

Belvedere, Claudio <1974>

In case of severe osteoarthritis at the knee causing pain, deformity, and loss of stability and mobility, the clinicians consider that the substitution of these surfaces by means of joint prostheses. The objectives to be pursued by this surgery are: complete pain elimination, restoration of the normal physiological mobility and joint stability, correction of all deformities and, thus, of limping. The knee surgical navigation systems have bee developed in computer-aided surgery in order to improv...

Franklin, Marianne

In the 10-mer RNA duplex model system a 4-isocyano TEMPO spin-label is individually attached to one strand and two strands are annealed to measure distances. This methodology is limited to systems in which two oligonucleotides are annealed together. To circumvent this limitation and also to explore single-strand dynamics a new methodology was implemented, double spin-labeling. Double spin-labeled single-stranded RNA was investigated as a single-strand and within a duplex via MALDI-TOF-MS, EPR sp...

Kai-YuTsai, 蔡凱宇

碩士 / 國立成功大學 / 工業設計學系 / 107 / During daily life, “moving around” is easy for people who are not vision impairment, but it is the most challenge for visually impairment people. As visually impaired people living independent, the main barrier for them is the difficult of spatial navigation. Visually impaired people usually explore in the indoor and outdoor environment. In order to move the goal, they have to go through these environments or make the route plans before to make a series of decision. ...