Anjana Kumar, Anjana Kumar

碩士 / 國立臺灣科技大學 / 電機工程系 / 106 / Recent developments in the area of deep learning and GPU computing have benefited researchers to obtain information rich features to tackle various computer vision and localization problems and have aided in the development of various smart assistance systems such as driver assistance systems, surveillance systems etc. to ensure safety. This thesis presents a single camera based Advanced Driver Assistance System (ADAS) for navigation in highway. The main objective o...

Chih-Yuan Yu, 于志遠

碩士 / 元智大學 / 電機工程學系 / 106 / This paper proposes a multirobot navigation method for unknown environments containing complex obstacles or dynamic obstacles. The multirobot system uses leader-follower relationship to maintain their formation. A leader aims to guide the robot team to the destination with three basic behaviors: go-to-goal, avoid-obstacle and follow-the-wall, and making decisions of leader selection and formation switching. A follower aims to follow the leader and keep a safe distance ...

Tsung-HsiaoYang, 楊宗効

碩士 / 國立成功大學 / 測量及空間資訊學系 / 106 / Navigation has been used by civilians for couples of years. Navigation is composed of GNSS and inertial sensors. Two kinds of techniques are used to aid with each other for the outside navigation. The advantage of GNSS is that it can calculate the reference solutions, on the other hand inertial sensors are used to calculate the integrated results which are relative solutions. When the users are in the buildings the signals will be blocked so that the GNSS solutio...

Chung Hung Hsieh, 謝中閎

博士 / 長庚大學 / 電機工程學系 / 105

ALAA MOHAMED MAHMOUD AHMED, ALAA MOHAMED MAHMOUD AHMED

碩士 / 國立臺灣科技大學 / 機械工程系 / 106 / The three-dimensional (3D) reconstruction of real objects is a very important research sector required for inspection, navigation, medical and reverse engineering, security, object identifications, visualizations, and animations. It can be achieved via different methods through different sensors. In fact, choosing the optimal reconstruction method and sensor is not an easy task. It requires a lot of experience and trials and errors. In this work, three applications ...

Chung-Yuan Chen, 陳重源

碩士 / 國立臺灣大學 / 電信工程學研究所 / 107 / Here we propose a novel robot system which can navigate in indoor environments with spatial cues from the binaural sound. The system receives audio signals with a set of binaural microphones that has a pair of 3-D printed ear mockups for realistically acoustic effect. Afterwards, a series of neural models imitating human''s auditory pathway process the sound signal into neural signals of various stages, e.g., cochlea, superior olivary complex, inferior co...

Indah Yessi Kairupan, Indah Yessi Kairupan

碩士 / 長庚大學 / 資訊工程學系 / 104 / This work proposes a framework to provide emergency navigation for people within flooding events. Real-time data from weather stations are downloaded for the flooding simulation in our framework. Sensors are disposed along the river, and the collected sensor data can be used to update our simulation results to provide more accurate estimation of flooding events. After flooding models are constructed, this work further includes and modfies the Dijkstra algorithm for the...

Po-Han Lu, 呂柏翰

碩士 / 國立臺灣科技大學 / 自動化及控制研究所 / 100 / The research area of mobile robots has grabbed lots of research interests in recent years and has successfully demonstrated many concepts for solve people’s daily problems such as clean robots, entertainment robots, and the most industrial robots. Home care system has been proposed by some countries with finite medical resources to provide better cares especially to elderly and disabled people. However, the key technologies of an autonomous home care mobile robo...

Chia-yu Shih, 石佳玉

碩士 / 國立臺灣科技大學 / 自動化及控制研究所 / 100 / Autonomous mobile robot is one of the advanced technology that has been used for various purposes in many application fields include home care, transportation, exploration, industry, service, education, etc. In above tasks the autonomous navigation of the mobile robot in an unknown and unstructured environment is one of the most challenging problems. Health monitoring and healthcare provisioning at home have received increasingly attention for addressing the pro...

Yu-cheng Chang, 張雨錚

碩士 / 國立臺灣科技大學 / 自動化及控制研究所 / 100 / Visual servo system has been applied for real homecare system widely. How to navigate robot and finish missions in a real indoor homecare system by using some basic vision devices become the challenging problems. Commonly the global ceiling visual sensor is used in the homecare application but it exist the hidden problem because of the furniture etc. The navigation system is not robust and stable enough if it only relies on the global vision. To add a local visu...

Henry Roncancio Velandia

This research project took part in the SENA project (Autonomous Embedded Navigation System), which was developed at the Mobile Robotics Lab of the Mechatronics Group at the Engineering School of São Carlos, University of São Paulo (EESC - USP) in collaboration with the São Carlos Institute of Physics. Aiming for an autonomous behavior in the prototype vehicle this dissertation focused on deploying some machine learning algorithms to support its perception. These algorithms enabled the vehicle to...

Sheng-Wei Huang, 黃盛煒

碩士 / 國立臺灣大學 / 工程科學及海洋工程學研究所 / 96 / Unmanned Underwater Vehicles (UUVs) have been employed in tasks such as hydrographic survey, underwater surveillance. UUVs are stable sensor platforms with positioning capabilities. However, navigation of UUV in unstructured environments is a still challenging problem due to the lack of predefined landmarks on the sea floor. Developing real time seafloor features detection capability will be beneficial for the UUV navigation. The aim of this work is the develop...

Wang, Chi-Hsiang, 王祈翔

碩士 / 國立交通大學 / 生醫工程研究所 / 99 / Previous studies of EEG changes in decision-making process, often focus on the event-related potential related to feedback, and the content of the experimental is usually purely numeric gambling task. We build a virtual environment for participants to acquire spatial information and to form the inner map of the maze by navigating inside. A binary choice task is perform after the training session. Participants have to use the spatial information, memory retrieval to ...

Kai-Wen Lo, 羅凱文

碩士 / 國立中央大學 / 資訊工程研究所 / 96 / The robotic navigation system is one of the most important and fundamental components of the successful robots. A navigation system of a robot is the key to the excellent motion of the robot. In this thesis, a navigation system for autonomous mobile robot is proposed. Our navigation system is a hybrid of behavior-based and model-based navigation systems. In our system, behavior-based subsystem is in charge of low-level reactive actions, and model-based subsystem is r...

Chan-Hung Lin, 林展弘

碩士 / 國立中興大學 / 電機工程學系所 / 103 / This thesis proposes a novel multi-objective ant colony optimization (ACO) algorithm to optimize a fuzzy system (FS) with application to robot navigation control. The novel algorithm is called multi-objective cooperative continuous ACO with auxiliary colony optimization (MO-CC2ACO). The MO-CC2ACO consists of sub-colonies which cooperatively optimize an FS consisting of rules, where a sub-colony is only responsible for optimizing a single fuzzy rule. In addition, ...

Hsin-Yin Hsu, 許馨尹

碩士 / 國立臺灣科技大學 / 工業管理系 / 98 / Nowadays, the technology on Advanced Traveler Information Systems (ATIS) becomes more and more progressive. This well-developed technology not only keeps travelers from getting lost, but greatly decreases the time people spend on searching the routes to destination. Navigation system provides drivers some choices on selecting routes, for example, shortest time, shortest distance, use of freeways, etc. However, the path which system provides is not always the “optimal...

Yu-JenChen, 陳宥仁

碩士 / 國立成功大學 / 電機工程學系專班 / 98 / This thesis presents the design and implementation of a sensor fusion system for navigation and control of an autonomous electric vehicle. The system integrates signals of laser range finders, magnetometers and inertial measurement units (IMUs). The system keeps the vehicle moving on the desired trajectory. Using Kalman filter with fuzzy-logic module, we are able to get the state of the vehicle and decide the behavior of the vehicle by a fuzzy controller. To enhance...

Hung The Nguyen, 阮世雄

碩士 / 國立臺灣科技大學 / 自動化及控制研究所 / 102 / Disaster search and rescue, environment monitoring, and security surveillance are the fields that had strong boost in utilization of Unmanned Aerial Vehicle (UAV) in recent years. The flat wing platform cannot provide hovering ability because of mechanical structure and be restricted by visual resolution at high altitude. The ground mobile robots can use local sensors like sonar or laser range finder to navigate but need to identify the target beforehand. This ...

Po-Sheng Chiu, 邱柏昇

碩士 / 國立臺灣大學 / 工程科學及海洋工程學研究所 / 100 / This work describes a localization algorithm for a fish robot by utilization of stereo fisheye cameras, a compass, and an accelerometer in a known underwater environment. A theory of the stereo fisheye cameras calibration is introduced. Classifiers which use Haar-like features are trained by discrete AdaBoost algorithm and they are used to recognize known landmarks in the underwater environment. Relative distances betwe...

Yu-Chi Su, 蘇郁琪

博士 / 國立臺灣大學 / 電機工程學研究所 / 101 / Recently, vision technologies are gradually introduced to electronic aids to assist elder people or the visually-impaired. The most commonly used mobility tools - guide dogs and white canes, are inconvenient and expensive, and have limited usability in recognizing surrounding objects. Electronic vision-based visually impaired aids are smarter as navigation tools that can perceive rich visual information of the environment for the user. However, state-of-the-arts ar...

Chang, Te-Li, 張德勵

碩士 / 國立中正大學 / 資訊工程研究所 / 102 / We present an interactive guidance and navigation system that assists users in acquiring pictures for image based 3D modeling. To reconstruct an object’s 3D model, users follow our instruction to take a set of images for an object in different angles; we therefore calculate their relative viewing positions and spare point cloud data using structure from motion technique. After we obtain sufficient number of images, we use Patch-based Multi-View Stereo (PMVS)[1] soft...

Po-Wei Wu, 吳柏葳

碩士 / 國立臺灣大學 / 工程科學及海洋工程學研究所 / 101 / This article describes a localization and navigation algorithm in a known underwater environment for a biomimetic robotic fish. The navigation algorithm combines information out of a monocular camera, an electronic compass, and accelerometers. The method of localization finds the relative position and orientation of a monocular camera with respect to an environment object by classifying the object in the image color space, then using edge detection to identify...

BUI QUANG HUY, BUI QUANG HUY

碩士 / 國立臺灣科技大學 / 機械工程系 / 101 / Indoor Robot Navigation System is the problem of integrating sensor measurements to determine the robot and landmarks location using SLAM technique. Indoor navigation in an unknown environment for a robot can be realized by using Visual SLAM technique, in which image sensor measurements taken at different locations with respect to various landmarks are integrated with other robot motion sensors to determine the robot and landmark positions simultaneously. This is t...

Hsieh, Meng-Yuan, 謝孟原

碩士 / 國立交通大學 / 多媒體工程研究所 / 100 / When people visit new indoor places or complicated indoor environments, there usually needs a navigation system to guide them to desired destinations. In this study, an indoor navigation system based on augmented reality (AR) and computer vision techniques by the use of a mobile device like an HTC Flyer or an iPad is proposed. At first, an indoor vision infra-structure is set up by attaching fisheye cameras on the ceiling of the navigation environment. The user’s l...

Yuan-RongSih, 司元榮

碩士 / 國立成功大學 / 測量及空間資訊學系 / 102 / Photogrammetry research generally uses the collinearity condition to establish relations between object and image points and calculate absolute orientation parameters. Given that the collinearity condition is a nonlinear system, appropriate initial values of unknown absolute orientation parameters must be set up first in the iterative least-squares solution. This research proposes using the coplanarity condition to solve relative orientation parameters as well as ...

Jyun-yan Yang, 楊俊彥

博士 / 國立中央大學 / 資訊工程學系 / 102 / Traffic jams reduce transportation efficiency and increase transportation cost. Traffic jams also cause air pollution and rise global warming. Electric vehicle is the future trend in power saving and CO2 reducing; moreover, electric vehicles embedded with navigation system is an economical solution for reducing traffic jams. Navigation system integrates the global positioning system and electric map to guide vehicles to reach right positions. Currently, navigation sy...

Wang, Mei-Yi, 王美懿

碩士 / 國立清華大學 / 電機工程學系 / 101 / Simultaneous localization and mapping (SLAM) has long been a major topic of research in mobile robot navigation. In an unknown environment, the mobile robot can localize itself and build a map at the same time while navigating. The mobile robot estimates its location through the sensors it equips with. And the sensors for SLAM get more and more accurate from odometry to camera and laser range finder. Besides, there are a variety of methods developed to make SLAM more...

Gustavo Ricarte, 祁谷風

碩士 / 國立臺灣科技大學 / 電機工程系 / 100 / In recent years, an autonomous mobile robot is required for performing several different tasks, such as removal of hazardous mines, exploration of volcano, monitoring nuclear power plants, etc. In general, these tasks are in hazardous and populated environments. A mobile robot must be able to deal with unexpected changes in the environment and to perform complex assignments in a short period of time. In this work, the focus is to provide a method for a mobile robot ...

Kun-JuiLi, 李堃瑞

碩士 / 國立成功大學 / 電機工程學系碩博士班 / 101 / The thesis describes the design, implementation, and test of an autonomous vehicle navigation system using vehicle model and particle filter tracking algorithm. Typically, a vehicle navigation system comprises of real-time environment perception, vehicle localization, collision avoidance, path planning, and path following control. In order to implement the features for intelligent autonomous vehicle, a sensor suite of integrated inertial measurement unit (IMU), G...

Chan, Hung-Ching, 詹鴻慶

碩士 / 國立中正大學 / 電機工程研究所 / 100 / In recent year, more and more robot competitions attract many countries to join, whether the robot is humanoid robot or wheeled robot, and there are many types of competition, such as football competitions, cross-country competitions, and the intelligent service robot competitions. In this thesis, we use a wheeled robot. The main content of my thesis is that we attempted to create the software modules for a service robot, and the module can be successfully implement...

Tsung-Han Tsai, 蔡宗翰

碩士 / 國立成功大學 / 資訊管理研究所 / 96 / Nowadays, there are large number of visual knowledge objects (VKOs) which are widely used by knowledge workers to present their ideas, proposals, findings and reports. An efficient system for searching VKOs and representing their relationships is useful to increase productivity. This thesis proposes a VKOs searching and navigation system against Microsoft Online Clip Art Gallery with ability to show relations between VKOs by using Formal Concept Analysis (FCA). This ...

Lan-ChuanCheng, 鄭蘭娟

碩士 / 國立成功大學 / 測量及空間資訊學系碩博士班 / 98 / Taiwan is known for its dense population and the averaged ratio between the numbers of land vehicle and person reaches four, which means that people in Taiwan depends heavily on the transportation. In fact, traffic jam happens every day and becomes a nightmare to the people who live in the city. Therefore, a robust land vehicular navigation system that can provide the reliable geographic information could solve this problem effectively. Global Positioning Syst...

Hung-YiKuo, 郭鴻毅

碩士 / 國立成功大學 / 航空太空工程學系碩博士班 / 98 / Although Global Positioning System (GPS) has been verified to offer high accuracy positioning, it is constrained by line of sight signals from satellites that indoor applications are not available. Based on signal propagation, different positioning techniques can be applied using time of arrival (TOA), angle of arrival (AOA) and received signal strength (RSS), if a wireless sensor network can be established. In this thesis, a wireless sensor network is establis...

Neri, Pierre

La navigation par satellite, Global Navigation Satellite System, a été reconnue comme une solution prometteuse afin de fournir des services de navigation aux utilisateurs de l'Aviation Civile. Ces dernières années, le GNSS est devenu l'un des moyens de navigation de référence, son principal avantage étant sa couverture mondiale. Cette tendance globale est visible à bord des avions civils puisqu'une majorité d'entre eux est désormais équipée de récepteurs GNSS. Cependant, les exigences de l'Aviat...

Wolf, Sébastien

La première partie de cette thèse présente une revue historique sur les méthodes d'enregistrements d'activité neuronale, suivie par une étude sur une nouvelle technique d'imagerie pour le poisson zèbre : la microscopie par nappe laser 2 photon. En combinant, les avantages de la microscopie 2 photon et l'imagerie par nappe de lumière, le microscope par nappe laser 2 photon garantie des enregistrements à haute vitesse avec un faible taux de lésions photoniques et permet d'éviter l'une des principa...

Bao-Xian Tsai, 蔡寶賢

碩士 / 國立成功大學 / 電機工程學系碩博士班 / 90 / In this thesis, we propose an effective obstacle detection and avoidance approach for navigating an autonomous vehicle in an indoor environment, where the internet-based remote control ability is also developed. The whole system not only guides the vehicle automatically but also gets the security information by JAVA techniques. The DSP chip and FPGA chip mounted on the robot will be responsible for the image processing and motion control. Firstly, the structure of...

Chiu-TengTsai, 蔡秋藤

博士 / 國立成功大學 / 電機工程學系 / 103 / Satellite communication and navigation play essential roles in modern society. As more and more satellites being deployed into operation, the limitation of spectral resource makes the satellite communication development toward versatile trends. In the future, the ideal satellite communication system should have extensive bandwidth and be able to cope with any kinds of signals. Therefore, this dissertation develops a reconfigurable TT＆C system for microsatellites. Fur...

Wen-Cheng Chang, 張文政

碩士 / 國立海洋大學 / 導航與通訊系碩士班 / 91 / The Kalman filter is a popular estimation tool and can be applied to GPS Navigation design. Although the Kalman filter is the optimal filter but it has some assumptions and limits in use. The Kalman filtering process contains the state equation and measurement equation. The process and measurement errors are assumed to be zero mean Gaussian white noise and independent each other in the derivation of Kalman filtering. In practice, the pseudorange error is...

Hung-Chih Huang, 黃宏誌

碩士 / 國立海洋大學 / 導航與通訊系碩士班 / 91 / Every navigation system has its drawbacks and this will limit its application. Integration of GPS and INS gains benefit at the technique and price than alone navigation system was used in particular missions and can produce a system performance superior to either one acting alone. In general, the navigation information has been processed by Kalman filter. The noise covariance matrix must be precise for obtaining optimal (minimum RMS error) solution. In filtering pr...

Tsai-Hsin Chang, 張在欣

碩士 / 國立海洋大學 / 導航與通訊系碩士班 / 91 / In this thesis, developing a full carrier phase DGPS/INS (tightly-coupled system) integration technique for attitude determination is a main object; in addition, the associate crux techniques are researched. Employing multiple antennas configure and Kalman filter approach estimates static and dynamic attitude information in the stand-alone GPS system. Integrate GPS and INS system to enhance accuracy of the attitude determination mechanism. In which, the double diff...

Chih-Ming Huang, 黃志明

博士 / 國立交通大學 / 資訊工程研究所 / 81 / This dissertation is concerned with approaches to planning collsion-free paths in unknown environment for a mobile robot. In the first part, the problem of incremental terrain acquisition is addressed. Through a systematic planning of movements in an unknown terrain filled with polygonal obstacles, a sensor- based robot is shown to be able to i...

Cheng-Min Huang, 黃正銘

碩士 / 國立臺灣海洋大學 / 通訊與導航工程系 / 95 / Abstract The well-known Kalman filtering is a form of optimal estimation characterized by recursive evaluation, which has been widely applied to the integrated navigation designs. The Kalman filter requires that all the plant dynamics and noise processes are completely known, and the noise process is zero mean white noise. If the theoretical becavior of a filter and its actual behavior do not agree, divergence problems will tend to occur. The adaptive algorithm h...

Wei Tseng, 曾偉

碩士 / 國立成功大學 / 航空太空工程學系專班 / 96 / In this thesis, the fuzzy logic control is used to accomplish the autonomous flight with a chosen vehicle by simulation, and develop the algorithm of shifting waypoints to constrain the UAVs always fly in a designed flight formation. The controlled UAVs flight follows the updating waypoints in sequence. Besides, the limited form and the throttle con-troller are employed to implement the formation flight completely. The architecture of the real-time simulation plat...

Jun-Min Lo, 駱俊閔

碩士 / 國立臺北科技大學 / 自動化科技研究所 / 101 / In this paper, we take the left and right images of binocular camera to do the ground plane cabliration, the disparity values of ground plane is zero after subtracting left image from right image, and then the disparity maps can be obtained by block matching, we can clearly see the ground plane and the objects with certain height, calculate the height which is perpendicular to ground plane and the distance between objects and Autonomous Land Vehicle(ALV) by the m...

Shu-HsienHuang, 黃淑賢

博士 / 國立成功大學 / 工程科學系 / 103 / Mathematic is not only the cornerstones of science but also one of causing anxiety subject. However, mathematic is related to daily life. If we can integrating the real situation with learning, application in daily life would be easier. Furthermore, the game-based learning pedagogy is not only can enhance students' learning willingness, but also to improve their interest in learning. In the learning process, system timely can give informative feedback when the learnin...

DuongThanhTrung, 楊成中

博士 / 國立成功大學 / 測量及空間資訊學系 / 102 / Mobile mapping systems (MMSs) have been widely used to rapidly acquire spatial information. In such a system, the integration of the Inertial Navigation System (INS) and the Global Positioning System (GPS) is popularly applied as a direct geo-referencing system to seamlessly determine the time-variable position and orientation parameters. Given that both INS and GPS are affected by various error sources, these errors deteriorate the overall position and orientatio...

Wu, Hsin-Lin, 吳忻霖

碩士 / 國立交通大學 / 資訊科學與工程研究所 / 101 / Providing real-time traffic information, such as the travel time of each road segment, to road users and coupling this information with navigation system can save traveling time and reduce fuel consumption. With the increasing popularity of smartphones that are embedded with GPS receiver and wireless data communication capability, smartphones on journeying vehicles can collect and exchange the real-time traffic information, and then dynamically choose a time-savi...

Yang, Shu-Lin, 楊舒琳

碩士 / 國立交通大學 / 資訊科學與工程研究所 / 101 / When people enter unfamiliar indoor environments, like shopping malls, supermarkets, grocery stores, etc., they generally have to rely on staff members to guide them to the locations of desired merchandise items. In this study, an indoor multi-user navigation system based on augmented reality (AR) and computer vision techniques by the use of a mobile device like an HTC Flyer is proposed. At first, an indoor vision infra-structure is set up by attaching fisheye ca...

Guan-Hao Li, 李貫豪

碩士 / 國立臺灣大學 / 電機工程學研究所 / 97 / In this thesis, we propose a behavior-based Simultaneous Localization and Map building (bSLAM) approach to deal with the following navigation problem of a Wheeled Mobile Robot (WMR): the behavior fusion, the uncertainty from measurements and modeling and the WMR control. Considering the multiple control objects, i.e., goal approaching and navigation safety, the behavior-based fuzzy path planner is established to deal with the behavior fusion problem in associated wi...

Chi-Pang Lam, 林志鵬

碩士 / 國立臺灣大學 / 電機工程學研究所 / 97 / This paper proposes a navigation algorithm that considers the states of humans and other robots in order to achieve harmonious coexistence between robots and humans. Robot navigation in the presence of humans and other robots is rarely to be considered in the field of robotics so far. When navigating through humans and robots with different functions, a robot should not only pay attention to obstacle avoidance and goal seeking, it should also take care of whether it...