Jyun-Sheng Fu, 傅鈞笙

碩士 / 國立臺灣大學 / 電機工程學研究所 / 106 / In this thesis, a system structure for Unmanned Aerial Vehicle (UAV) quadrotor navigation and exploration is proposed. The system is composed of five nodes running in parallel, each responsible for different tasks. First of all, a pose controller continuously sends control commands to the quadrotor. This enables the quadrotor to continue in pose controlling even when other nodes are waiting for their computations to complete. The Large Scale Direct SLAM (LSD-SLAM) ...

Guen-Jou Chen, 陳冠州

碩士 / 國立臺北科技大學 / 機電整合研究所 / 93 / In this thesis, we have developed an implement image process method using watershed transformation and mathematical morphology to detect road by hue, saturation and intensity information. Then we use binocular stereovision system and artificial intelligence (AI) policy to the autonomous land vehicle (ALV) can be navigated at the campus and the pavement. The system is divided into local navigation and global navigation. Before the navigation, the camera calibration ...

Yan-Zhong Huang, 黃彥中

碩士 / 國立虎尾科技大學 / 電機工程系碩士班 / 105 / In recent years, automatic navigation of mobile robots has been studied by many scholars. In this study, we move the robot to the target location into two behavior. One is the Compensatory Fuzzy Controller (CFC) that uses the Reinforcement Learning (RL) method after the Grouped Teaching Learning Based Optimization (GTLBO) learn, which is called the target search behavior. In this section, we will introduce two Fuzzy Logic Controllers (FLC) for obstacle avoidance ...

Yao-Cheng Tsai, 蔡耀正

碩士 / 國立虎尾科技大學 / 電機工程研究所 / 103 / This dissertation proposes novel behavior-based soft computing approaches for mobile robot navigation in an unknown environment. The behavior were divided three types, and each behavior was assigned a unique task. The first behavior was a multiple strategy artificial bee colony (MSABC) algorithm for designing a compensatory neuro-fuzzy controller (CNFC) to complete an actual mobile robot navigation task. For the second behavior, we designed a wall-following fuzzy ...

Ching-Yu Chou, 周勍宇

碩士 / 國立中興大學 / 電機工程學系所 / 106 / This thesis proposes a fast navigation scheme of a wheeled robot in unknown environments. The navigation scheme consists of Obstacle Boundary Following (OBF), Target Seeking (TS), Convex Point Seeking (CPS) behaviors, and a behavior supervisor. Especially, the new behavior of CPS is proposed to shorten the navigation route and reduce navigation time. The OBF behavior not only endows the robot a collision-free behavior but also enables the robot to detour round obsta...

Tseng, Chien-Hao, 曾建澔

博士 / 國立交通大學 / 電控工程研究所 / 105 / The objective of this dissertation is to design an adaptive motion-compensated scheme to manage non-Gaussian measurement errors and modeling errors using the Huber M-estimation methodology and a fuzzy logic adaptive system (FLAS), respectively. In practical navigation problems, it is assumed that navigation filters are concerned with the estimation of a dynamical system from noisy measurements, and that dynamic and measurement processes can be approximated by Gaussi...

Yuan-Bang Cheng, 鄭元棓

博士 / 國立臺灣科技大學 / 資訊管理系 / 107 / In recent years, there are abundant researches in artificial intelligence and deep learning. At the same time, Google Street View images are often used by us. We can use Google Street View to look up the scene views of destination where we want to go to. However, there is not much work that can automatically transform Google Street View images directly to a navigation video with the functionalities of object detection and image inpainting, and there is also not much...

Chang-Jiun Chen, 陳長鈞

碩士 / 國立臺灣大學 / 電機工程學研究所 / 105 / Recent researches have made service robots capable of navigating through complex and clustered indoor environments. However, such techniques require prebuilt maps and cannot be applied to unknown environments. By contrast, when entering an unknown environment, humans can ask someone for directions to figure out how to get to a specific location, and further navigate to the destination by following the instructions. Present mobile robots lack the ability of navigati...

Chih-Ming Chang, 張智銘

博士 / 國立臺灣大學 / 醫學工程學研究所 / 105 / Functional endoscopic sinus surgery has gained wide application in the management of sinus disease since the 1980s. The use of computer-aided surgery (CAS) technology was developed to assist surgeons in identifying anatomic landmarks during sinus surgery since the 1990s. In CAS, a correlation between a stored preoperative image data set and specific landmarks in the surgical area is required. However, studies on the performance of surface registration and compariso...

Shun-MinWang, 王舜民

博士 / 國立成功大學 / 系統及船舶機電工程學系 / 105 / This dissertation proposes integrating an H∞ controller with an artificial potential field method (APFM) to solve collision avoidance and navigation issues in an autonomous underwater vehicle (AUV). We applied APFM in designing three types of control algorithms—altitude, depth, and heading; the AUV used the proposed control algorithms to navigate in unknown three-dimensional static environment and avoid collisions with obstacles. The depth-control algorithm invo...

Yu Jen Chang, 張毓仁

碩士 / 長庚大學 / 顱顏口腔醫學研究所 / 104 / Objective 3D simulated navigation in OGS is a technique that provides support during surgery and provides a bony "guiding splint" to precisely place the bony segments into the planned position. The aim of this study was to analyze the pre- and post-surgical soft-tissue and hard-tissue correlations, ratios, and regressions of patients following our Computer-Aided Three-Dimensional Simulation and Navigation in OGS (CASNOS) procedures. Material/Methods Forty adul...

Samuel Simon, SamuelSimon

碩士 / 國立臺北科技大學 / 電機工程系研究所 / 100 / This thesis presents a high-precision simultaneous localization and mapping of mobile robot in unknown large-scale surveillance environments. Utilizing ceiling-mounted PTZ surveillance cameras, additional correction step is integrated into the EKF-SLAM system to ensure high-precision localization and mapping. The 3D sparse map is transformed into 3D and 2D navigation maps. Based on the navigation maps, robot trajectory can be generated using Bezier spline curve...

Yu-Da Wang, 王鈺達

碩士 / 國立臺北科技大學 / 自動化科技研究所 / 100 / In this thesis, we present an approach for environment recognition in automatic land vehicle (ALV). By using block matching for the two ground plane alignment images, we can obtain the disparity map. In the map, we can clearly detect obstacles from ground plane, and calculate the height and depth information of the obstacles. To sufficient environment information, we can obtain the features of the road (like colors, textures, etc.) from the original image. By the...

Huang, Jheng-Kuei, 黃政揆

碩士 / 國立交通大學 / 多媒體工程研究所 / 98 / With the progress of development in computer vision technologies, 3D stereo cameras nowadays become more popular than in the past. In this study, a new imaging device and new guidance techniques are proposed to construct an autonomous vehicle for use as a robot guide dog navigating on sidewalks to guide the blind people. A general formula for designing a new stereo camera consisting of two mirrors and a single conventional projective camera is proposed. People can...

Wan-Yu Chang, 張宛瑜

碩士 / 逢甲大學 / 資訊電機工程碩士在職專班 / 98 / Traveling Blogs consists of a collection of posts presented in form of Photoblogs, Videoblogs and text-based blogs, which enables travelers to update and share their traveling experiences with others. Most traveling blogs require a complex process to upload information onto the web and the process usually was done after the trip, moreover done manually. So the information are not timely shown and shared. In this paper we introduce Mashup Mobile Information System ...

Rui-Chih Liu, 劉睿智

碩士 / 國立交通大學 / 資訊科學系 / 89 / An effective vision-based approach to security patrolling in building corridors using vehicle navigation is proposed in this study. A commercial vehicle mounted with multi-cameras is designed to navigate and patrol in building corridors. The information of the location of the vehicle and the environment conditions can be transmitted to a security monitor site through the wireless network. Two modes of vehicle guidance, remote control and automatic guidance, are propose...

Wei-ZheLi, 李維哲

碩士 / 國立成功大學 / 工程科學系碩博士班 / 101 / In recent years, due to the rapidly changing use of mobile phones, indoor navigation for places such as large markets, museums and airports, etc. have become a global need. However, we have observed that in Taiwan the development of indoor navigation systems for the domestic market is limited in terms of database and navigation technology. Therefore, there is a paucity of research regarding the development and application of this technology. This thesis address...

Bo-cheng Chou, 周柏丞

碩士 / 國立臺灣科技大學 / 自動化及控制研究所 / 101 / In recent years, Unmanned Aerial Vehicles (UAVs) have experienced a strong boost in performance, especially in environment monitoring, disaster surveillance and target search. However, the flat-wing aircraft cannot hover and provide enough resolution at high altitude because of the mechanical structure. Although ground mobile robots can navigate their way by using sonar and laser, they could not get the global position. This thesis proposed joint operation archi...

Sung-Ling Wang, 王菘麟

碩士 / 國立成功大學 / 航空太空工程學系碩博士班 / 94 / This thesis investigates a new fused indoor position determination technique. The fused position determination technique takes the advantages of position information from measurements of Inertial Measurement Unit (IMU) and the distance prediction based positioning algorithm in a wireless sensor network. The goal of this thesis is to obtain an accurate, drift-free positioning method indoors by utilizing the technique mentioned above. In this thesis, the dista...

Kiyota, Yoji

As computers and their networks continue to be developed, our day-to-day lives are being surrounded by increasingly more complex instruments, and we often have to ask questions about using them. At the same time, large collections of texts to answer these questions are being gathered. Therefore, there are potential answers to many of our questions that exist as texts somewhere. However, there are various gaps between our various questions and the texts, and these prevent us from accessing approp...

Yu-Hsiang Lin, 林鈺翔

碩士 / 國立成功大學 / 航空太空工程學系碩博士班 / 97 / In recent years, the unmanned helicopter plays more important role in different countries; it is used in many aspects of military and civil applications broadly. This thesis focuses on the design of an integrated system for navigation and guidance of an unmanned helicopter. The integrated system is constructed of two systems: the Flight Path Planning System (FPPS) and the Flight Control System (FCS). The A-Star (A*) algorithm is utilized to develop a FPPS, an...

Yung-Fu Tsai, 蔡永富

博士 / 國立成功大學 / 電機工程學系碩博士班 / 97 / The first generation satellite based navigation system, GPS (Global Positioning System), has become one of the most important navigation systems today. GPS is also a useful tool for mapping, land surveying, commerce, and scientific uses. In addition to GPS and GLONASS, several satellite based navigation systems including Europe’s Galileo system, China’s Beidou-2 system, Japan’s QZSS (Quasi-Zenith Satellite System), India’s IRNSS (Indian Regional Navigation Satelli...

Jen, Cheng-Lung, 任正隆

博士 / 國立交通大學 / 電控工程研究所 / 101 / In this research, a WLAN based positioning system is proposed to provide the location service for the mobile users. In addition, we also investigate the radio based robot localization and navigation with the low-density WLAN, and the human tracking with wheelchair robots. Since the WLAN received signal strength (RSS) information is available in most wireless technologies, radio localization is being considered a feasible solution. Due to the unpredictability of WLAN...

Yu-ChingMai, 麥耘菁

碩士 / 國立成功大學 / 航空太空工程學系 / 103 / GPS (Global Positioning System) dependent positioning and navigation has been developed over recent years, and has been widely used for outdoor positioning and navigation. However, high-rise buildings or indoor environments can block the satellite signal. Therefore, many indoor positioning methods have been developed to respond to this issue. In addition to measuring the distance using sonar and laser, this research uses monocular simultaneous localization and mapp...

王佑慈

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 by human detection and tracking in indoor environments is proposed. A vehicle with wireless control and a web camera is used as a test bed. A robot arm is equipped on the vehicle to hold the camera at a higher position and is used to change the orientation of the camera. First, a camera calibration method is proposed by use of a technique of angular mapping, which is based on the concept of spherical coordinate...

Hsien-Yi Chiu, 邱獻億

碩士 / 國立交通大學 / 資訊科學系 / 90 / An integrated approach to autonomous vehicle navigation and parking in building corridors using computer vision and 2D image analysis techniques is proposed. A commercial vehicle mounted with a panoramic camera is designed as the test-bed. A calibration procedure for maintenance of the camera’s horizontal level is first proposed to achieve an invariant property of image angles with respect to real world angles. This property facilitates the computation of image angles ...

Tzu-HaoKuo, 郭子暭

碩士 / 國立成功大學 / 測量及空間資訊學系 / 102 / The highly accurate mechanized platform inertial sensors without any external aiding signals had already achieved the positioning accuracy of 100 m in 1970s. However, this type of inertial sensors is very bulky and power consumption. In addition, these inertial measurement units (IMUs) are complex in the batch fabrication due to multitudinous parts so the cost has been always high. Despite the expensive IMUs, the accuracy requirements only conform to the applicati...

Kuo-Wei Lin, 林國偉

碩士 / 國立成功大學 / 航空太空工程學系碩博士班 / 90 / Grasping recent developments in miniature-sized computer, its peripherals, electronic sensors, and optical sensing equipment at affordable cost, the Unmanned Aerial Vehicle (UAV) with functions of long endurance and flight autonomy beyond the visual range has gradually undertaken an attractive challenge in the university sectors. Based on these specific mission requirements and employing the existing commercial on-the-shelf products, this paper therefore focuses...

Voong, Bin-Sheng, 翁彬勝

碩士 / 國立交通大學 / 機械工程系所 / 104 / In recent years, there is an increased interest on the research of Micro Aerial Vehicles (MAVs). Quadcopter is a class of four-rotored aerial vehicles which has the capabilities to provide stable acrobatic flight, navigate into places that ground robots or human cannot reach and perform tasks which are difficult or dangerous for human being such as agricultural surveillance and explosive landmines detection. The goal of this thesis is to present control systems for t...

Hung-JenPan, 潘泓任

碩士 / 國立成功大學 / 電腦與通信工程研究所 / 104 / Nowadays, with the number of vehicles increasing rapidly, road traffic congestion in urban areas becomes a significant issue. When the accident occurs, it usually causes regional traffic congestion. The big events held in the certain location (e.g., sport games, concert, etc.) also cause regional traffic congestion. In this thesis, a dynamically restricted road segments protocol is proposed for quickly evacuating vehicles from the area and prohibiting vehicles fr...

Yan-Ming Chen, 陳彥銘

碩士 / 國立中興大學 / 電機工程學系所 / 105 / This thesis proposes a mixed neural network (NN) for a hexapod robot locomotion control. The mixed NN consists of a seven-node fully connected recurrent NN (FCRNN) controller for straight forward walking and a two-node sensor-feedback NN (SFNN) controller for obstacle boundary following (OBF). The seven-node FCRNN locomotion controller controls each hip joint of the robot by independent signals to improve the walking performance. The two-node SFNN OBF controller use...

Yoshino, Koichiro

Kyoto University (京都大学) / 0048 / 新制・課程博士 / 博士(情報学) / 甲第18614号 / 情博第538号 / 新制||情||95(附属図書館) / 31514 / 京都大学大学院情報学研究科知能情報学専攻 / (主査)教授 河原 達也, 教授 黒橋 禎夫, 教授 鹿島 久嗣 / 学位規則第4条第1項該当

Misu, Teruhisa

Kyoto University (京都大学) / 0048 / 新制・課程博士 / 博士(情報学) / 甲第13976号 / 情博第291号 / 新制||情||57(附属図書館) / UT51-2008-C892 / 京都大学大学院情報学研究科知能情報学専攻 / (主査)教授 河原 達也, 教授 奥乃 博, 教授 黒橋 禎夫 / 学位規則第4条第1項該当

Chen-An Huang, 黃晨安

碩士 / 國立中興大學 / 電機工程學系所 / 105 / This thesis proposes a new method for the navigation of multiple wheeled mobile robots cooperatively carrying an object in unknown environments. In the navigation course, multiple robots cooperatively perform either an obstacle-boundary-following (OBF) or a target seeking (TS) behavior to reach a target. Evolutionary fuzzy control of two/three robots in executing the cooperative OBF behavior through a data-driven advanced multi-objective continuous ant colony optimi...

Kuan-Teng Tsai, 蔡寬騰

碩士 / 國立成功大學 / 機械工程學系碩博士班 / 93 / Mobile robots have been increasingly investigated by many researchers, and applied extensively in many fields, such as entertainment, life service, household chores and calamity rescue. This thesis develops a mobile robot that utilizes ultrasonic and machine vision systems to accomplish autonomous navigation and humanoid action in obstacle avoidance. The robot is composed of a mechanical stucture, a sensing system, control and drive systems. 　Notably, the mobile b...

Chih-ChengSun, 孫志成

博士 / 國立成功大學 / 航空太空工程學系碩博士班 / 100 / Nowadays, more than 600 millions of people worldwide rely on the satellite navigation to deliver the Position, Velocity, and Time (PVT) information. Meanwhile, with the developing augmentation system or regional satellite systems, the performance of Global Navigation Satellite System (GNSS) for civil users is extremely improved especially on the error budget from system characteristics. However, unpredictable factors on the ground user environment, such as the...

Hui-Ping Fan, 范惠屏

碩士 / 國立交通大學 / 資訊科學系 / 88 / In applications of virtual reality, it is required, but often time consuming, to establish environment models. If we want to build a virtual environment based on a real one in terms of the traditional method, it is necessary to measure the stereo structure of each part of the environment. In this study, an offline automatic 3-D indoor virtual environment modeling method by the use of an autonomous land vehicle (ALV) navigation system is developed. An ALV is first drive...

Huang, Tzu-Wei, 黃梓瑋

碩士 / 國立交通大學 / 電機與控制工程系所 / 97 / In this study, we aim to design and implement a dynamic path planning and navigation system which can be applied in intelligent robots, and the system offers services for users through integrates handheld devices which connect to the network. The system of path planning can divided in to global and local path planning. Global path planning finds the shortest path with a global view based on a given environment. In the other hand, local path planning is based on the...

Chang, Shu-Yen, 張書彥

碩士 / 國立交通大學 / 生醫工程研究所 / 97 / In this study, we built the 3D virtual environment of simple structure mazes to study the human’s ability of spatial navigation while the human navigated in the virtual mazes by using different typical landmarks. We considered the influence of different typical landmarks without considering the feature of structure. Different typical landmarks affected the performance of navigation. The global landmarks played the role of effective guidance. Subjects wasted more redu...

陳梅芬

碩士 / 國立交通大學 / 多媒體工程研究所 / 97 / An intelligent autonomous vehicle system for learning and vehicle guidance in indoor environments is proposed. The system has several capabilities: learning paths by person following, interaction with humans, path analysis, and navigation as a guide. An autonomous vehicle equipped with ultrasonic sensors is used as a test bed. First, a method for person following in an environment is proposed, which has two fuzzy controllers for following a person dynamically. The f...

蔡雙圓

碩士 / 國立交通大學 / 多媒體工程研究所 / 96 / Two intelligent autonomous vehicle systems for use in indoor environment applications are proposed. One is a vision-based vehicle system for security patrolling which has the capabilities of learning paths by person following, interaction with humans, analyzing 2D images and conducting path planning. Another is an intelligent vehicle system for navigation by analyzing ultrasonic signals. A vehicle equipped with wired control and a web PTZ camera is used as a test be...

Kuan-Chieh Chen, 陳冠傑

碩士 / 國立交通大學 / 多媒體工程研究所 / 96 / A vision-based vehicle system for security patrolling in indoor environments using an autonomous vehicle is proposed. A small vehicle with wireless control and a web camera which has the capabilities of panning, tilting, and zooming is used as a test bed. At first, an easy-to-use learning technique is proposed, which has the capability of extracting specific features, including navigation path, floor color, monitored object, and vehicle location with respect to moni...

Min-ChuanTsai, 蔡旻娟

碩士 / 國立成功大學 / 測量及空間資訊學系 / 107 / Indoor navigation as well as pipeline detection has been under attention in recent years due to the device and technology developments with various requirements from urbanization. Thus, GNSS-denied environments are the targets to complete the mapping constructions or positioning applications. In this research, indoor and underground environments are detected and spatial information is acquired by laser scanner as further Simultaneous Localization and Mapping (SLAM...

Yi-TingTien, 田伊婷

碩士 / 國立成功大學 / 測量及空間資訊學系 / 107

Yu-HsinChen, 陳侑炘

碩士 / 國立成功大學 / 電機工程學系 / 107 / With the progress of technology, the vehicles now are equipped with a variety of sensors to make driving safer, more convenient, and even automatically. One of the most critical elements in the vehicle system is the localization system. In general, the Global Navigation Satellite System (GNSS) has been widely applied to provide positioning information. However, the positioning result tends to be unreliable in situations such as urban area, under a bridge or in the mo...

Busse, Harald, Riedel, Tim, Garnov, Nikita, Thörmer, Gregor, Kahn, Thomas, Moche, Michael

Objectives: MRI is of great clinical utility for the guidance of special diagnostic and therapeutic interventions. The majority of such procedures are performed iteratively (\"in-and-out\") in standard, closed-bore MRI systems with control imaging inside the bore and needle adjustments outside the bore. The fundamental limitations of such an approach have led to the development of various assistance techniques, from simple guidance tools to advanced navigation systems. The purpose of this work w...

Chun-Hao Kao, 高俊豪

碩士 / 國立臺北科技大學 / 電腦與通訊研究所 / 96 / In this paper, we have proposed a modified camera self-calibration approach apply to natural environment for autonomous land vehicle (ALV), based on genetic algorithm (GA). In this paper, the approach does not need. Firstly, the acquisition image points which are corresponding between the stereo images (left and right), are coplanar. The population created by GA consisting of the camera parameters. Those parameters are used to reproject the 2D image points onto 3D...

Yang Weng, 翁洋

碩士 / 國立臺灣大學 / 工程科學及海洋工程學研究所 / 106 / The autonomous underwater vehicle (AUV) can be deployed to harvest deep ocean monitoring data from seafloor sensors, which turns out to be an economic method. The underwater optical communication systems that have wide bandwidth and high data rate are utilized in this concept for data mule. In order to optimize the transfer rate, an AUV needs to estimate and locate the center point of optical signal coverage area. The light intensity distribution based navigat...

Wei-Chieh Yang, 楊惟傑

碩士 / 國立虎尾科技大學 / 電機工程系碩士班 / 104 / One of the challenging aspects in mobile robots is the ability to automatic navigation. In this study, we used two behavior to complete navigation task. One is evolving fuzzy controller (EFC) learning by trade-based imperialist competitive algorithm (TICA) in order to achieve mobile robot navigation, namely goal-seeking behavior. In the other behavior, we designed two fuzzy logic controller for obstacle avoiding, left wall-following fuzzy logic controller (LWFLC)...

Wen-You Ho, 何文佑

碩士 / 國立虎尾科技大學 / 電機工程系碩士班 / 104 / This study is divided into two parts. First, we designs two fuzzy logic controllers including an expert-knowledge-based fuzzy logic controller (EKFLC) and an obstacle-configuration-based fuzzy logic controller (OCFLC). The EKFLC uses expert knowledge and experience to design fuzzy rule base for a fuzzy logic controller. The OCFLC uses “obstacle configuration” to design fuzzy rule base for pattern-mapping between quantized ultrasonic sensory data and velocity comm...