http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/163 2026-03-10T23:26:36Z 2026-03-10T23:26:36Z Yan-Teng Kuo 郭彥滕 http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/16699 2021-06-07T23:43:56Z 2020-01-01T00:00:00Z

標題: ＮＲ車用網路的安全群播; Reliable Groupcast For NR V2X 作者: Yan-Teng Kuo; 郭彥滕 摘要: 隨著自動駕駛汽車的發展，高可靠性和低延遲的車輛通訊技術變得越來越重要。第三代合作夥伴計劃（3GPP）特別討論新無線（NR）下的邊緣連結（SL）傳輸，目的是滿足低延遲，高可靠性和高流通量的車聯網（V2X）要求。與僅支持廣播方案的長期演進技術（LTE）V2X相比，NR V2X還支持兩種方案：單播和群播。群播方案允許發射機一次與同一群中的多個接收機進行通訊。在本論文中，我們呈現了NR V2X模式2的盲重傳。為了保持傳輸的可靠性，車輛群的大小需要被限制，以避免由於非直視性（NLOS）傳輸而引起的錯誤。並且，為了提高傳輸的可靠性，本文提出了一種優化群接受率的重傳方法，可以使發射機在同一群中分配一個重傳裝置進行重傳。我們設計了一個重傳裝置選擇問題，旨在最大程度地提高NR V2X模式2群播的群接收率（GPRR）。模擬的結果顯示，所提出的重傳方法從GPRR、分組間接收時間（PIR）和可靠性限制下的車輛群大小方面改善了車聯網群播。; With the development of autonomous vehicles, the high reliability and low latency vehicular communication technologies has become more important. The Third Generation Partnership Project (3GPP) specifies the sidelink (SL) transmission based on New Radio (NR) structure, which aims to meet the the low latency, high reliability and high throughout vehicle-to-everything (V2X) requirements. Compared with Long Term Evolution (LTE) V2X which only supports broadcast use cases, NR V2X supports two more scenarios: unicast and groupcast. The groupcast operation allows the transmitter to communicate with multiple receivers in same group at once. In this paper, we present the blind retranmission operation for NR V2X mode 2. To maintain the transmission reliability, the group size for vehicles is restricted to avoid errors due to Non-line-of sight (NLOS) transmission. In order to improve the transmission reliability, this paper proposes a optimized group packet reception ratio retransmission, which allows transmitter to assign a retransmission UE in same group to perform the retransmission. We formulate a retransmission UE selection problem, which aims to maximize the group packet reception ratio (GPRR) for NR V2X mode 2 groupcast. The simulation results show that the proposed retransmission method improves the V2X groupcast in terms of GPRR, packet inter-reception time (PIR) and the available group size.

2020-01-01T00:00:00Z Shiang-Cong Chen 陳翔琮 http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/47422 2021-06-15T05:59:08Z 2010-01-01T00:00:00Z

標題: 鼠籠式風力發電機串聯動態電壓調整器之設計; Design of a Dynamic Voltage Regulator for a Squirrel-Cage Induction Generator 作者: Shiang-Cong Chen; 陳翔琮 摘要: 由於節能減碳的需求，全球正快速發展與綠色能源相關之技術，「風」為一天然、無污染之資源，風力發電的技術與理論便成為綠色能源發展中最重要的方向與目標之一。 風力發電所使用的電機種類型式眾多，其中又以鼠籠式感應機價格較為低廉，可大量量產並安裝在風力資源豐富之地區。但由於鼠籠式感應機缺乏對無效電力控制的能力，當系統發生負載加載、切載或故障時，無法負擔支撐起系統的責任，風力不穩定時，感應機便成為整個系統中電力潮流的汙染源，影響電力品質。 為了改善上述缺點，本論文在鼠籠式感應機上串聯動態電壓調整器，控制發電機流入系統匯流排之電力潮流，改善電力品質。並在系統發生加載、切載或故障時，進行適當的補償，穩定整個系統電壓。 本論文利用MATLAB○R/Simulink/SimPowerSystems軟體模擬電力系統負載變動以及風速變動時，發電機及負載端電壓。由模擬結果發現動態電壓調整器能有效穩定發電機及負載電壓。諧波失真也都能符合台電諧波管制標準。; To Reduce emission, much effort has been devoted to the development of green energy techniques. Among the various types of green energy generations, wind energy conversion is studied in thesis. Squirrel-cage induction generators have been widely employed for wind energy conversion due to their low costs and high reliability. However, the squirrel-cage induction generators are not capable of providing voltage regulation due to the lack of rotor excitation. To improve the reactive power support and voltage regulation of a squirrel-cage induction generator, a dynamic voltage regulator（DVR） is designed in this thesis. Through the generation or absorption of reactive power, the DVR is capable of stabilizing the generator terminal voltage and the load voltage when the system is subject to load changes or wind speed variations. The effectiveness of the proposed DVR is demonstrated by computer simulations using MATLAB○R/Simulink/SimPowerSystems.

2010-01-01T00:00:00Z Yao-Jia Kuo 郭曜嘉 http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/74913 2021-06-17T09:10:10Z 2019-01-01T00:00:00Z

標題: 點對特徵物體姿態估測結合多視角投票方案用於工業機器人隨機取物; Pose Estimation Using Point Pair Features and Combining Multi-View Voting Scheme for Industrial Robotic Random Bin-Picking Applications 作者: Yao-Jia Kuo; 郭曜嘉 摘要: 本篇論文提出了一種基於視覺的機器人隨機取物，該系統可以對物體進行三維姿態估測。提出的辨識演算法可以整合多視角的資訊進而對估測的姿態進行修正，也提出了一個最佳視角估測的策略進而去減少感測或視角所造成的不確定性。 本篇論文提出的辨識系統是基於點對特徵的方法，此方法使用的哈希的技巧和一種有效率投票的機制達成快速的姿態估測。除此之外，此系統使用了一個驗證函數產生一個分數去檢測估測的姿態。如果估測的姿態是錯誤的，本篇論文提出了一個多視角的方案去修復錯誤的估測。這個方案利用了在點對特徵方法上和賀夫相似的的投票機制，從多視角的資訊將會被整合進而去增加系統的穩定性。 再者，為了減少感測的不確定性和環境的不確定性，本篇論文也提出了一個sensor planning的策略去決定下一個最好的相機姿態去觀測環境。這個決策定義了一個成本函數考慮了下個視角所能得到的視野，同時考量了移動的效率和機器人的工作空間，而且這個決策也有逃離區域資訊的能力。 實驗結果首先展示了當多視角的資訊被整合時，提出的多視角的方案可以得到收斂的結果，而且也可以增進驗證函數產生出的分數。再者，實驗也展示了最佳視角估測可以被用來預測下一個含資訊量最多的視角，同時考量了效率和安全性。最後，辨識系統將會被使用在機器人隨機取物的應用上，藉由一個普遍的六軸機械手臂和配備一個相機。; This thesis presents a practical vision-based robotic bin-picking system that performs three-dimensional pose estimation of the object. The proposed recognition algorithm can integrate the multi-view information to refine the estimated pose, and a sensor planning strategy is also proposed to predict the next best view to reduce the uncertain caused by sensors or viewpoints. The proposed recognition system is based on point pair features (PPF) using a hashing technique and an efficient voting scheme to achieve fast pose estimation. In addition, the system uses a verification function to generate a score to check the estimated pose. If the generated hypothesis is not correct, a multi-view scheme is proposed to fix the wrong estimation. The scheme utilizes the Hough-like voting property in PPF, and the multi-view information can be integrated to increase the robustness of the system. Moreover, a sensor planning strategy is also proposed to decide the next best pose of vision sensors to observe the environment for reducing sensing uncertainty or environmental uncertainty. A cost function is defined for the strategy which considers the expected visibility-gain in the next view in the meanwhile ensuring the efficiency in movement, and the workspace constraint of the robot. The strategy also has the ability to escape from the local information. The experimental results first demonstrate the multi-view scheme can get a convergent result to increase robustness when the information from multi-view is integrated. The scheme can also improve the score generated by the verification function. Moreover, the experiment also shows that the next best view strategy can be used to predict the next best viewpoint which contains the most information and considering the efficiency and safety simultaneously. In last, the recognition system will be used for the robotic bin-picking system by a commonly industrial six-degree-of-freedom mounted on an RGB-D camera.

2019-01-01T00:00:00Z Chih-Huan Fang 方智煥 http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/49989 2021-06-15T12:27:19Z 2016-01-01T00:00:00Z

標題: 高頻電源轉換器之寄生元件諧振分析; Analysis of Parasitic Resonance for High Switching-frequency Power Converters 作者: Chih-Huan Fang; 方智煥 摘要: 本論文之研究目的為高頻電源轉換器之寄生元件諧振分析，尋找寄生元件的形成，對寄生元件所形成的諧振分析，並降低電路上的寄生元件以抑制突波對電路。本論文中對於電源轉換器之寄生元件進行分析，著重於寄生電感的影響，回顧電感公式和幾何平均距離方法，將兩者結合後計算複雜形狀迴路的電感值，並使用模擬軟體與實作電路驗證公式的正確性。本論文亦對RLC 諧振進行分析與模擬，並將寄生元件值代入，得到電力級與控制的函數波形，並以實際電路進行驗證。最後提出電路佈線優化設計，對電力級與驅動電路分別提出對策，代入RLC諧振函數波型，並以實作驗證優化對策。; In this thesis, analysis of parasitic resonance for high-switching converter is proposed. Parasitic components are analyzed and the way to reduced parasitic components is discussed. Also the RLC resonant model is formed, and lessen the parasitic components to reduce the effect caused by overshoot. In this thesis, parasitic components are focused on parasitic inductor. The formula of inductor and GMD method is combined to calculated the complex layout parasitic inductor, and the results are verified by both simulation and experiment. The RLC resonant is analyzed and modeled with parasitic components, and verified by experiment. The layout optimization strategy is proposed, both power stage and driver circuit, and RLC model is formed and verified by experiments.

2016-01-01T00:00:00Z