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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
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dc.contributor.advisor | 康仕仲(Shih-Chung Kang) | |
dc.contributor.author | Yu-Cheng Chang | en |
dc.contributor.author | 張育誠 | zh_TW |
dc.date.accessioned | 2021-05-20T21:50:29Z | - |
dc.date.available | 2010-08-06 | |
dc.date.available | 2021-05-20T21:50:29Z | - |
dc.date.copyright | 2010-08-06 | |
dc.date.issued | 2010 | |
dc.date.submitted | 2010-07-30 | |
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[2] Ali, M. S., Babu, N. R. and Varghese, K. (2005). 'Collision free path planning of cooperative crane manipulators using genetic algorithm.' Journal of Computing in Civil Engineering, 19(2), 182-193. [3] Brooks, R. A. and Lozano-Perez, T. (1982). 'A subdivision algorithm in configuration space for findpath with rotation.' AI Memos No. 684. [4] Choset, H., Lynch, K. M., Hutchinson, S., Kantor, G., Burgard, W., Kavraki L. E. and Thrun, S. (2005). 'Principles of robot motion: theory, algorithms, and implementations.' The MIT Press. [5] Daily, R. and Bevly, D.M. (2008). 'Harmonic potential field path planning for high speed vehicles.' American Control Conference, Seattle, WA, June, 4609-4614. [6] Goldberg, D. E. and Holland, J. H. (1988). 'Genetic algorithms and machine learning.' Machine Learning, 3(2), 95-99. [7] Guibas L. J., Latombe J. C., Lavalle S. M., Lin D. and Motwani R. (1999). 'A visibility-based pursuit-evasion problem.' International Journal of Computational Geometry and Applications, 9(4), 471-493. [8] Guldner, J. (1995). 'Sliding mode control for gradient tracking and robot navigationusing artificial potential fields.' IEEE Transactions on Robotics and Automation, 11(2), 247-254. [9] Hornaday, W. C. and Haas, C. T. (1993). 'Computer-aided planning for heavy lifts.' Journal of Construction Engineering and Management, 119(3), 498-515. [10] Hou, E. S. H., Ansari, N. and Ren, H. (1994). 'A genetic algorithm for multiprocessor scheduling.' IEEE Transactions on Parallel and Distributed System, 2(5), 113-120. [11] Kang, S. C. and Miranda, E. (2006). 'Planning and visualization for automated robotic crane erection processes in construction.' Automation in Construction, 15(4), 398-414. [12] Kavraki, L.E., Svestka, P., Latombe, J.C. and Overmars, M.H. (1996). 'Probabilistic roadmaps for path planning in high-dimensional configuration spaces.' IEEE Transactions on Robotics and Automation, 12(4), 556-580. [13] Khatib, O. (1986). 'Real-time obstacle avoidance for manipulators and mobile robots.' The International Journal of Robotics Research, 5(1), 90-98. [14] Ladd, A.M. and Kavraki, L.E. (2004). 'Measure theoretic analysis of probabilistic path planning.' IEEE Transactions on Robotics and Automation, 20(2), 229-242. [15] Lewis, R. A. and Bejczy, A. K. (1973). 'Planning considerations for a roving robot with arm.' Proceedings of the 3rd international joint conference on Artificial intelligence, Stanford, August, 308-316. [16] Lozano-Perez, T. and Wesley, M. A. (1979). 'An algorithm for planning collision-free paths among polyhedral obstacles.' Communications of the ACM, 22(10), 560-570. [17] Li, Y., Ng, K. C. Murray-Smith, D. J. and Sharman, K. C. (1996). 'Genetic algorithm automated approach to design of sliding mode control systems.' International journal of control, 63(4), 721-739. [18] Lin, K. L. and Haas, C. T. (1996). 'Multiple heavy lifts optimization.' Journal of Construction Engineering and Management, 122(4), 354-362. [19] Liu Y. and Arimoto S. (1992). 'Path planning using a tangent graph for mobile robots among polygonal and curved obstacles.' International Journal of Robotics Research, 11(4), 376-382. [20] Lozano-Perez, T. (1983). 'Spatial planning: a configuration space approach.' IEEE transactions on computers, 32(2), 108-120. [21]Microsoft. (2009). XNA. Retrieved 6 16, 2010, from MSDN:http://msdn.microsoft.com/en-us/aa937791.aspx [22] Mitchell, M. (1996). 'An introduction to genetic algorithms.' Massachusetts Institute of Technology, London, England. [23] Mohri, A., Yamamoto, M. and Hirano, G. (1996). 'Cooperative path planning for two manipulators.' IEEE International Conference on Robotics and Automation, Minneapolis, MN, April, 2853-2858. [24]NVIDIA. (2008). NVDIA PhysX SDK 2.8 – Introduction. Santa Clara. [25] Oommen, B., Iyengar, S., Rao, N. and Kashyap, R. (1987). 'Robot navigation in unknown terrains using learned visibility graphs.' IEEE Transactions on Robotics and Automation, 3(6), 672-681. [26] Peurifoy , R. L., Schexnayder, C. J. and Shapira A. (2006). 'Construction, planning, equipment, and methods.' Seventh Ed., Mc Graw Hill, New York. [27]Reddy, H. R. and Varghese, K. (2002). 'Automated path planning for mobile crane lifts.' Computer-Aided Civil and Infrastructure Engineering, 17(6), 439-448. [28] Shapiro, H. I., Shapiro, J. P. and Shapiro, L. K. (1991). 'Cranes and derricks.' Second Ed., Mc Graw Hill, New York. [29] Song, P. and Kumar, V. (2002). 'A potential field based approach to multi-robot manipulation.' IEEE International Conference on Robotics and Automation, Washington D.C, May, 1217-1222. [30] Zhang, J., Lo, W. L. and Chung, H. (2006). 'Pseudo-coevolutionary genetic algorithms for power electronic circuits optimization.' IEEE Transactions on Systems, Man, and Cybernetics, 36(4), 590-598. | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/10692 | - |
dc.description.abstract | 在現代營建工程中,吊車往往扮演舉足輕重的地位,舉凡鋼筋結構物、混凝土建材、機電設備等等都需仰賴吊車的搬運,然而吊車在吊裝作業的過程中有許多操作上的危險,如碰撞與承載荷重問題,為了確保吊裝作業的安全進行,通常會以事先進行吊裝路徑的規劃來避免上述問題的發生。但是吊裝路徑規劃並不是一件容易的事,規劃者必須有相當之經驗與耐心,才能規劃出完全無碰撞且符合安全荷重範圍的吊裝路徑。
因此本研究利用電腦技術發展自動化的吊裝路徑規劃方法,其方法主要可分為兩個階段:第一階段,我們將吊裝環境以組態空間(Configuration Space, C-space)的方式來表示,此空間表示吊車、吊物、與障礙物之間的碰撞關係,並考量吊車承載荷重的安全上限值;第二階段,我們使用probabilistic road map (PRM)路徑規劃方法於組態空間中規劃出無碰撞且符合安全荷重範圍之吊裝路徑。 為了驗證本研究所提出的吊裝路徑規劃方法,我們分別進行了三項實驗:實驗一驗證本研究方法於單吊車吊裝作業的可行性;實驗二驗證本研究方法於雙吊車協同吊裝作業的可行性;實驗三進行效能測試,測試本研究方法的計算效率與路徑的操作性。由實驗結果顯示,本研究方法可適用於單吊車與雙吊車協同吊裝作業,且以接近即時的計算時間完成吊裝路徑規劃,並提供易於操作且有效率的吊裝路徑。 | zh_TW |
dc.description.abstract | Cranes are essential equipment for lifting objects in construction projects. There are many challenges in an erection progress such as collision avoidance and retaining the safe weight loading. To ensure the safety of entire crane erection process, it needs a precise erection plan for crane operations. However, to have a good erection plan is a difficult task, which requires rich experience and many of the detailed considerations. Engineers need to consider the capacity of crane and avoid all the possible collisions during the erection.
Therefore this research aims at developing a method for automatically finding the erection path by utilizing the computer technology. The proposed method is composed of two steps: The first step is to convert the scene of crane erection into a configuration space, in which the capacity of the crane loading and the obstacles in the environment has been considered; The second step is to find a collision free path in the configuration space by using probabilistic road map (PRM) method. We conducted three tests to validate the proposed method in this research: The first test and the second test are used to test the feasibility of the proposed planning method for single crane erections and dual crane erection, respectively; In the third test, we conducted two scenarios to test the efficiency of the proposed method and the operational effectiveness of generated path in dual crane erections. The result shows that the proposed method is efficient and can generate effective erection path for operating in near real-time. The method can be appropriately used for both single and dual crane erection, which can help engineers to easily plan and verify the erection strategies. | en |
dc.description.provenance | Made available in DSpace on 2021-05-20T21:50:29Z (GMT). No. of bitstreams: 1 ntu-99-R97521604-1.pdf: 2105182 bytes, checksum: e67c06cdac49990d19572ec745a522f5 (MD5) Previous issue date: 2010 | en |
dc.description.tableofcontents | 第一章 導論 1
1.1 研究背景 1 1.2 吊裝規劃的困難 2 1.3 路徑規劃於吊裝作業之應用 2 1.4 研究目的 3 第二章 相關研究 4 2.1 路徑規劃方法 4 2.2 組態空間C-space (Configuration Space)建構方法 7 第三章 單吊車吊裝作業路徑規劃方法 9 3.1 研究假設 9 3.2 吊裝路徑規劃流程 10 3.3 單吊車組態空間建構 11 3.4 單吊車路徑規劃 16 3.5 單吊車繩索長度規劃 20 3.6 本研究吊裝路徑規劃方法之特色 23 第四章 雙吊車協同吊裝作業路徑規劃方法 24 4.1 雙吊車組態空間建構 24 4.2 雙吊車路徑規劃 26 4.3 雙吊車繩索長度規劃 33 第五章 程式實作 35 5.1 開發環境 35 5.2 軟體架構 36 第六章 實驗結果與討論 41 6.1 實驗一:單吊車吊裝作業路徑規劃測試 41 6.2 實驗二:雙吊車協同吊裝作業路徑規劃測試 44 6.3 實驗三:效能測試 48 6.3.1 場景一 48 6.3.2 場景二 51 6.4實驗結果討論 53 第七章 研究貢獻與結論 56 7.1 研究貢獻 56 7.2 結論 57 參考文獻 58 | |
dc.language.iso | zh-TW | |
dc.title | 快速單吊車與雙吊車協同吊裝作業路徑規劃方法 | zh_TW |
dc.title | A Fast Path Planning Method for Single and Dual Crane Erections | en |
dc.type | Thesis | |
dc.date.schoolyear | 98-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 謝尚賢,陳鴻銘,陳正忠 | |
dc.subject.keyword | 工程吊車,路徑規劃,吊裝計畫,雙吊車協同作業,機器人學, | zh_TW |
dc.subject.keyword | construction crane,path planning,erection actively,dual crane,robotic, | en |
dc.relation.page | 62 | |
dc.rights.note | 同意授權(全球公開) | |
dc.date.accepted | 2010-07-30 | |
dc.contributor.author-college | 工學院 | zh_TW |
dc.contributor.author-dept | 土木工程學研究所 | zh_TW |
顯示於系所單位: | 土木工程學系 |
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