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http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/31446完整後設資料紀錄
| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 周瑞仁(Jui-Jen Chou) | |
| dc.contributor.author | Cheng-Chung Wei | en |
| dc.contributor.author | 魏正宗 | zh_TW |
| dc.date.accessioned | 2021-06-13T03:13:08Z | - |
| dc.date.available | 2008-08-30 | |
| dc.date.copyright | 2006-08-30 | |
| dc.date.issued | 2006 | |
| dc.date.submitted | 2006-08-29 | |
| dc.identifier.citation | 1. 尖端科技 簡述無線通訊技術. On-line available at
http://www.narl.org.tw/chinese/publication/5/2005NARL%20Jan-05-03.pdf. Accessed 20 April, 2006. 2. 交通部電信總局. On-line available at http://www.dgt.gov.tw. Accessed 1 July, 2006. 3. 林彥誠。2004。以彈性體連結之機器蛇的開發與其動力分析。碩士論文。台北：國立台灣大學生物產業機電工程學研究所。 4. 陳義祥。2005。GSM與GPS遠端微氣候觀測系統之研製與運用。碩士論文。台北：國立台灣大學生物產業機電工程學研究所。 5. 無線影音傳輸器. On-line available at http://www.homway.com/sale/show.asp?id=51&tname=%B5L%BDu%BCv%AD%B5%B6%C7%BF%E9%A8t%B2%CE. Accessed 1 July, 2006. 6. 影像顯示器規格. On-line available at http://tw.f5.page.bid.yahoo.com/tw/auction/e13899992. Accessed 8 July, 2006. 7. AI motor 701 Datasheet. On-line available at http://www.robotshop.ca/PDF/rbmeg01_AIMOTOR_701.pdf. Accessed 3 July, 2006. 8. ATMEL 89C51 Datasheet. On-line available at http://www.atmel.com/dyn/resources/prod_documents/doc0265.pdf#search=%22at89c51%22. Accessed 5 July, 2006. 9. Brown, H. B., J. M. Vande Weghe, C. A. Bererton and P. K. Khosla. 2002. Millibot trains for enhanced mobility. IEEE/ASME Transactions on Mechatronics, 7(4): 452-461. 10. Dowling, K. 1997. Limbless locomotion: learning to crawl. Ph.D. Thesis, Carnegie Mel-Ion University, Pittsburgh, PA. 11. Granosik, G., M. Hansen and J. Borenstein. 2005. The OmniTread serpentine robot for industrial inspection and surveillance. International Journal on Industrial Robots, Special Issue on Mobile Robots, 32(2): 139-148. 12. Hirose Robotic Lab. On-line available at http://www-robot.mes.titech.ac.jp/robot/snake_e.html. Accessed 30 March, 2006. 13. Hirose, S. 1993. Biologically Inspired Robots(Snake-like Locomotor and Manipulator), Oxford University Press. 14. IC8870 Datasheet. On-line available at http://www.ortodoxism.ro/datasheets/clare/M-8870-01SMTR.pdf. Accessed 24 May, 2006. 15. IEEE 802.11標準. On-line available at http://www.etuni.com/news/content.asp?id=2755&word1=%E4%BB%80%E4%B9%88%E6%98%AF. Accessed 30 May, 2006. 16. Introduction of GMD. On-line available at http://www.ais.fraunhofer.de/~worst/papers/arbeitspapier1061.pdf. Accessed 21 April, 2006. 17. JK-007A Datasheet. On-line available at http://www.tehnoclub.ru/prod76.htm. Accessed 25 June, 2006. 18. Kimura, H. and S. Hirose. 2002. Development of Genbu: active wheel passive joint articulated mobile robot. In “Proc. of 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems”, 823-828, Lausanne, Switzerland. 19. Klaassen, B. and K. L. Paap. 1999. GMD-SNAKE2:a snake-like robot driven by wheels and a method for motion control. In “Proc. of 1999 IEEE Conference on Robotics and Automation”, 3014-3019, Detroit, Michigan. 20. Masayuki, A., T. Takayama and S. Hirose. 2004. Development of 'Souryu-III': connected crawler vehicle for inspection inside narrow and winding spaces. In “Proc. of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems”, 143-148, Sendai, Japan. 21. Mori, M. and S. Hirose. 2001. Develop of active cord mechanism ACM-R3 with agile 3D mobility. In “Proc. of 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems”, 1552-1557, Maui, Hawaii, USA. 22. NASA _snakebot. On-line available at http://history.arc.nasa.gov/Astrogram/Astrogram_2000_10_16.pdf. Accessed 10 April, 2006. 23. Ohno, H. and S. Hirose. 2001. Design of slim slime robot and its gait of locomotion, In “Proc. of 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems”, 707-715, Maui, Hawaii, USA. 24. Osuka, K. and H. Kitajima. 2003. Development of mobile inspection robot for rescue activities : MOIRA, In “Proc. of 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems”, 3373-3377, Las Vegas, Nevada. 25. Paap, Karl L., M. Dehlwisch and Bernhard Klassen. 1996. GMD-Snake: a semi-autonomous snake-like robot. 3rd International Symposium on Distributed Autonomous Robotik Systems, RIKEN, Saitama, Japan. 26. Paljug, E., T. Ohm and S. Hayati. 1995. The JPL serpentine robot: a 12-DOF system for inspection, In “Proc. of 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems”, 3143–3148, Nagoya, Japan. 27. SANYO Ni-MH battery. On-line available at http://www.pc-shop.hr/addprod.asp?src=5&Kat=H03&ID=H0301010. Accessed 20 June, 2006. 28. Takayama, T and S. Hirose. 2000. Development of Souryu-I connected crawler vehicle for inspection of narrow and winding space. Industrial Electronics Society, 26th Annual Conference of the IEEE, 52- 57 29. Tetsushi K., T. Yamasaki, H. Igarashi and F. Matsuno. 2004. Development of the snake-like rescue robot “KOHGA”. In “Proc. of 2004 IEEE Conference on Robotics and Automation”, 5081-5086, New Orleans, LA. 30. WAVECOM M1206 Datasheet. On-line available at http://www.ozeki.hu/attachments/588/M1206B_Manual.pdf. Accessed 25 June, 2006. 31. WAVECOM AT-command. On-line available at http://www.bauschdatacom.nl/productdata/DINBOXGPRSMA_AT%20commands%20Interface%20Guide%20-%20009.pdf. Accessed 1 July, 2006. | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/31446 | - |
| dc.description.abstract | 本研究發展一套以GSM遙控與具影像回傳功能之機器蛇與其階梯攀爬演算法，並作初步的分析與測試。機器蛇本體主要由AI Motor所組成，節數可彈性組合；通訊方式利用基礎建設已相當完善而普及的GSM系統，其通訊方式、距離、品質及頻寬均佳；控制器則採用功能不錯價格低廉的ATMEL 89C51；此外還有影像回傳系統。為了提高攀爬成功率與效率，本研究利用重心法則並考慮機構與空間限制規劃出一套有效率的攀爬階梯演算法，係由攀爬階梯步態、前進校正步態以及平移校正步態來完成，可因應不同尺寸的階梯地形而調整。根據此攀爬階梯演算法測試結果，其攀爬成功率可達100％。 | zh_TW |
| dc.description.provenance | Made available in DSpace on 2021-06-13T03:13:08Z (GMT). No. of bitstreams: 1 ntu-95-R93631024-1.pdf: 4486279 bytes, checksum: 4602414232ada9c824c52dcdb5511425 (MD5) Previous issue date: 2006 | en |
| dc.description.tableofcontents | 致謝 i
摘要 ii Abstract iii 目錄 iv 圖目錄 ix 表目錄 xiii 第一章 前言 1 第二章 文獻回顧 4 2.1以關節旋轉推進之機器蛇 4 2.1.1蛇的身體結構與運動模式 4 2.1.2 ACM系列 6 2.1.3 NASA Snakebot 10 2.1.4 GMD系列 11 2.2以主動輪推進之機器蛇 14 2.2.1 Souryu系列(蒼龍) 14 2.2.2 OmniTread 17 2.3無線通訊系統 23 2.3.1藍芽(Bluetooth) 23 2.3.2 IEEE 802.11 無線通訊協定 24 2.3.2.1 IEEE 802.11b 24 2.3.2.2 IEEE 802.11a 25 2.3.2.3 IEEE 802.11g 26 2.3.3 GSM無線通信技術 26 第三章 材料及方法 28 3.1機器蛇硬體設備 29 3.1.1機器蛇的機構設計與製作 29 3.1.1.1 AI Motor 30 3.1.2機器蛇影像設備 32 3.1.2.1 CCD 32 3.1.2.2無線影音傳輸器 33 3.1.2.3影像顯示器 33 3.1.3機器蛇控制器 34 3.1.4機器蛇之電源 35 3.2機器蛇之遠端操作 36 3.2.1遠端操作之設備 36 3.2.2遠端操控設備之整合 38 3.3機器蛇攀爬階梯之演算法 42 3.3.1機器蛇攀爬階梯之步態 44 3.3.1.1攀爬階梯之步驟一＿前半段之舉昇 44 3.3.1.2攀爬階梯之步驟二＿支撐與攀附 48 3.3.1.3攀爬階梯之步驟三＿機器蛇回復至初始狀態 50 3.3.2機器蛇前進之步態 51 3.3.3機器蛇平移之步態 53 3.4步態之分析 55 3.4.1前進步態之分析 55 3.4.2平移步態之分析 58 3.4.3攀爬步態之分析 60 3.4.3.1攀爬步態與階梯寬度之關係 61 3.4.3.2各動作分析以及與階梯高度和階梯深度之關係 62 3.4.3.2.1動作(1) 63 3.4.3.2.2動作(2) 63 3.4.3.2.3動作(3) 64 3.4.3.2.4動作(4) 65 3.4.3.2.5動作(5) 65 3.4.3.2.6動作(6) 66 3.4.3.2.7動作(7) 67 3.4.3.2.8動作(8) 67 3.4.3.2.9動作(9) 68 3.4.3.2.10動作(10) 70 3.4.3.2.11動作(11) 71 3.4.3.2.12動作(12) 72 3.4.3.2.13動作(13) 72 3.4.3.2.14動作(14) 73 3.4.3.2.15動作(15) 74 3.4.3.2.16動作(16)和動作(17) 75 3.4.3.2.17動作(18) 77 3.4.3.2.18動作(19) 78 3.4.3.2.19動作(20) 78 第四章 結果與討論 82 4.1硬體測試 82 4.1.1影像測試 82 4.1.2電力測試 83 4.1.3通訊測試 84 4.2攀爬階梯之結果與討論 90 4.2.1階梯高度與攀爬成功率之關係 92 4.2.2攀爬所需階梯寬度 93 4.2.3攀爬初始位置與攀爬成功率之關係 94 4.2.4階梯深度與攀爬成功率之關係 95 4.2.4機器蛇總數為奇或偶數與攀爬步態之關係 97 4.2.5前進步態之探討 100 4.2.6平移步態之探討 101 第五章 結論與建議 103 參考文獻 104 | |
| dc.language.iso | zh-TW | |
| dc.subject | 遠端監控 | zh_TW |
| dc.subject | 機器蛇 | zh_TW |
| dc.subject | GSM | zh_TW |
| dc.subject | 攀爬階梯演算法 | zh_TW |
| dc.subject | 步態規劃 | zh_TW |
| dc.subject | snake robot | en |
| dc.subject | remote control | en |
| dc.subject | gait planning | en |
| dc.subject | stair climbing algorithm | en |
| dc.subject | GSM | en |
| dc.title | 透過GSM模組遙控機器蛇之研發與其步態規劃 | zh_TW |
| dc.title | Development of Snake Robot Remotely Controlled
by GSM Module and its Gait Planning | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 94-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 江昭皚(Joe-Air Jiang),黃緒則(Shiuh-Jer Huang) | |
| dc.subject.keyword | 機器蛇,GSM,攀爬階梯演算法,步態規劃,遠端監控, | zh_TW |
| dc.subject.keyword | snake robot,GSM,stair climbing algorithm,gait planning,remote control, | en |
| dc.relation.page | 107 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2006-08-29 | |
| dc.contributor.author-college | 生物資源暨農學院 | zh_TW |
| dc.contributor.author-dept | 生物產業機電工程學研究所 | zh_TW |
| 顯示於系所單位： | 生物機電工程學系 | |
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