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MRI醫學影像分析與電腦輔助醫療系統開發;Analysis of MRI Image and Development for Computer Aided Surgery System
No full text[[abstract]]本研究針對MRI影像進行組織萃取並建立其三維模型，透過該三維模型建立電腦輔助系統，使醫師得以於脊椎手術中，利用該系統進行手術規劃，並將規劃完成之手術路徑傳送至機械手臂，使機械手臂輔助醫師進行手術。而在機械手臂驗證部分則會製作假體脊椎模型進行驗證規劃，並利用相機影像擷取系統使假體脊椎模型與機械手臂系統進行連結。在研究中，主要是針對脊椎周遭組織進行建模，因此首先需針對MRI影像進行主動式輪廓運算，圈選出目標組織，並分析輪廓內之像素點資訊位置，接著將點資訊利用等值面提取建構出實際之三維模型，並設計應用於脊椎手術之電腦輔助系統，使醫師可以於系統中，按照步驟規劃手術路徑，並將手術路徑資訊傳送至機械手臂系統，使之移動至目標位置以輔助醫師進行手術。而實驗驗證部分，由於市售假體模型無法拍攝MRI影像，因此將製作一3D列印假體脊椎模型並拍攝MRI影像，透過該影像進行三維建模，並規劃以座標標記點與相機影像擷取系統為溝通媒介，並使機械手臂移動至目標位置之手術流程。
This purpose of this study was extracting spinal tissue from magnetic resonance imaging(MRI), reconstruct the 3D model and design a computer aided system (CAS) that can provide surgeon with the preoperative planning and robot-guided positioning of path. The end effector of the 5DOF robot would be automatically positioned correctly to assist surgeon to perform an operation while obtaining the data of the path placement planed in CAS system. The reference marks need to be set on the dummy during MRI scan, and the image system is set up to establish the transformation between the two coordinates of the CAS system and 5DOF robot system.In practice, the extraction of MRI image will use the active contour model to extract tissue which we want(ex: spinal cord、artery、vein). The 3D reconstruction will use the iso-surface extraction to build up the 3D model. The dummy which we made was made by 3D printer and fill up the water and oil to make sure it will image in MRI image. In addition, the 5DOF robot system composes of the Delta robot with three translational DOF and RCM mechanism with two rotational DOF, and the RCM mechanism is installed on the end effector of the Delta robot
多層高分子薄膜之自調式刮刀塗佈研究與其在大面積高分子發光二極體照明製程之應用;
No full text[[abstract]]本論文針對吳宥翰學長製作的大面積照明元件所觀察到的細暗紋、大型暗塊、濕膜揮發不均等問題進行探討且提出有效的製程與設備改良方法，並建立自調式刮刀膜厚預測模型，最後製作出無細條紋與大型暗塊的照明元件。 細暗紋的成因為刮刀表面不平整，在多層塗佈時，刮塗掉上一層薄膜，在元件點亮後，在運動方向呈現整面約70 μm的細暗紋；為此我們將刮刀更換為刀鋒平整的矽晶圓刮刀，解決了此細暗紋問題。大型暗塊與濕膜揮發不均乃是因為加熱系統的溫度分佈不均導致溶液有表面張力梯度，產生Marangoni effect而出現濕膜揮發不均的現象，為此我們改善紅外線燈管的溫度均勻度，有效抑制Marangoni effect對膜厚均勻度的影響。並且在單層塗佈發光材料Poly[9,9-dioctylfluorenyl-2,7-diyl] – End capped with N,N-Bis(4-methylphenyl)-aniline(PFO)在40 225 mm範圍內，達到平均膜厚為103 nm，標準差僅3.94 nm，膜厚變異百分比3.83 %的高品質薄膜。自調式刮刀膜厚預測模型由固定式刮刀塗佈理論出發，透過Navier-Stokes Eq.與Continuity Eq.加上適當假設，求得最終膜厚預估，再利用力矩平衡與不可壓縮流體積不變原則，得到膜厚預測模型的統御方程式，計算過後與實驗結果做定性的比較，得到膜厚趨勢一致。最終，製作大面積照明元件遇到雙層塗佈與ITO膨脹問題，在探討排除原因後，以雙層塗佈電洞傳輸層(PEDOT:PSS)以及發光層(Poly[9,9-dioctylfluorenyl-2,7-diyl]-End capped with N,N-Bis(4-methylphenyl)-aniline)，製作無細條紋與暗塊的照明元件。
In this thesis, we discuss the problems such as dark fine stripe, large-scale dark block and uneven evaporation of the wet film, which were observed by large-scale PLED lighting of Yo Han Wu. These issues were discussed and I propose the effective approaches to improve the equipment. And then I build the film thickness prediction model of the self-adjusting blade coating as a trend indicator to adjust the thickness parameters. After the exclusion of double coating and ITO expansion problems, I made a lighting device without the problems of dark fine stripe and large-scale dark blocks
應用聲射感測器於砂輪填塞現象之感測技術;Monitoring grinding wheel loading phenomenon by using acoustic emission signals
No full text[[abstract]]AE的感測技術已被使用在非破壞性檢測中，可透過監測訊號觀察當材料若破裂或受到應力時所發出的AE訊號，且AE的監測技術應用已使用在加工過程監測，而在學術界的學者也將AE sensor應用在機台加工監測上，在製造業中，AE的技術應用已被建立成為線上即時偵測系統。在磨床工具機中，填塞效應是造成砂輪磨耗普遍現象之一，填塞效應是表示磨床加工中工件切屑黏著於砂輪磨料與黏著劑之間，而這現象會導致砂輪切削能力惡化與極大的磨削力，並且會增加機台振動與溫度變化，因此辨識填塞效應的影響是磨床中一個重要的議題，我們也將藉由本論文的研究，利用 AE sensor 訊號去進行探討與研究，在磨床工具機中發生填塞效應現象所造成的影響，並藉由AE訊號得知磨床加工之機台狀況，最終希望應用於磨床工具機上以便執行線上監控目的，達到 AE 填塞效應預警系統，減少機台加工誤差，並提升磨床加工精度。
Acoustic Emission technique is used for non-destructive testing of materials. We can monitoring acoustic emissions when the material failure or stress produced it. The AE monitoring has application in process monitoring. Many authors deal with the application of AE sensor for process monitoring. In recent years, AE application is more common used in manufacturing to be on-line monitoring systems.Grinding wheel loading is a common phenomenon of grinding-wheel wear. Its meaning grinding chips adheres to the space between grains and bonding materials. The wheel loading would leads to worsening wheel cutting ability and excessive force. It also increases vibration and temperature. Identification of wheel loading is an important issue for grinding processes. This thesis will investigate the wheel loading phenomenon in grinding processes. Then an AE sensor signal will be integrated to monitor the grinding wheel loading and improve the grinding accuracy of the grinding machine tools
臺灣人民之國家認同對我國國家安全之影響;Influences of Taiwanese People’s National Identity on National Security
No full text[[abstract]]由於近來意識型態和國際關係的多元化，不同於過往偏重於軍事層面，目前的國家安全研究趨勢，普遍發現國民的認同感與國家安全之間，有著具體且明顯的交互影響，臺灣人民的認同隨著民主化過程，發展分歧而爭論不休，而兩岸關係和軍事落差變化，對臺灣國家安全的威脅亦造成不小影響；同時，受到國內外情勢影響，臺灣國民的國家認同主張逐漸變化，對於我國國家安全的影響，必須重新討論，因此本文從瞭解我國民國家認同之變遷，釐清國家安全的定義與含括範圍，探討影響臺灣「國家認同」與「國家安全」的因素以及關係，並嘗試透過國際關係建構主義對於安全研究的觀點，探究國家角色、安全文化與認同因素對於當前臺灣國家安全的影響。 本研究發現，臺灣人民之國家認同對國家安全造成影響的原因有：1. 國家認同受政治菁英的建構與催化之影響2. 國家認同受外部因素牽引3. 族群衝突4. 國家認同之轉變關鍵字：國家認同、國家安全、臺灣人民
Due to changes in recent years the diverse transformations in the ideology and international relations that what were once focusing on military, the research in the past years has found that people’s national identity and national security interact upon each other significantly. In Taiwan’s formation of democratization, Taiwanese people’s national identity has always been a topic to debate. The cross-strait relations and the military power gap between Taiwan and China are threats to national security. In the meantime, effected by the situation at home and abroad, the national identity of Taiwan nationals has gradually changed, and we must re-discuss the impact of China's national security. In the study, first we clarify the definition of national security by reading the changes of the Taiwanese national identity. Furthermore, we discuss the reasons of and the relationships between Taiwanese people’s national identity and security. Then, from the perspective of constructivism, we explore the role of national roles, safety culture and identity factors in the current national security of Taiwan.The major findings suggested that the reasons influence from Taiwanese’s national identity on national security are listed below.1. The national identity is governed by political elite.2. The national identity is affected by external threats.3. The national identity is affected by ethnic conflict.4. National identity has changed.Keywords: national identity, national security policy,Taiwanese Peopl
海巡機關組織改造與變革對偵防工作之影響;The Influences of the Organizational Reform and Change of the Coast Guard Administration on the Investigation and Prevention Works
No full text[[abstract]]為迎接海洋發展趨勢，行政院海岸巡防署（下稱海巡署）自成立以來，即以「海域執法」、「海事服務」及「海洋事務」為三大核心任務。而在歷經多年運作之後，配合政府組織改造策略，海巡署將隸屬於海洋委員會所屬機構並成立若干單位。雖然組織調整後，海岸巡防業務並未有所新增或移出，但海巡署將由現行二級機關改隸為三級機關，仍不免對組織功能調整、角色定位及人員現況造成影響。 海巡署職司海域及海岸各項執法任務，在此次變革之中將新設立性質屬於中央四級機關暨專業的犯罪偵查機構「偵防分署」，將原本的犯罪偵查單位獨立成為一個自主的機關，可視為此次組織調整中相當重要的一環，亦為組織變革中的產物。另因「偵防分署」其性質同於我國刑事警察局，文末作者另從刑事局組織與任務比較分析，以作為未來「偵防分署」成立運作後之借鏡。關鍵詞：海巡署、偵防分署、組織變革、海域執法、刑事警察局
In the face of the trend of ocean development, the Coast Guard Administration, Executive Yuan (hereinafter the Coast Guard Administration) has been performing its three core missions, “maritime law enforcement”, “marine services”, and “marine affairs” since it was founded. After years of operation, in response to the organizational reform strategy of the government, the Coast Guard Administration was placed under the Council of Marine Affairs and several units were established. Although after the organizational change, there was no new investigation and prevention task created or existing one passed on to another agency for the Coast Guard Administration, the Administration was moved down from a second-level agency to a third-level one. Inevitably, there were influences on functional changes, role positioning, and personnel of the Administration. The Coast Guard Administration is in charge of maritime and coastal law enforcement. A crime investigation unit was separated and reorganized into a new crime investigation agency “Investigation and Prevention Branch”, an autonomous and independent level-four central agency, during this reform. This is one of the important changes made as well as one of the results during this organizational reform.In addition, because the Investigation and Prevention Branch is similar to the Criminal Investigation Bureau in terms of characteristics and nature in Taiwan, the last part of this study is a comparative analysis of the organization and tasks of the Criminal Investigation Bureau. The results can be used as references for the “Investigation and Prevention Branch” in the future after it begins to operate.Keywords: Coast Guard Administration, Investigation and Prevention Branch, organizational reform, maritime law enforcement, Criminal Investigation Burea
臺灣華語音節末鼻音(eng)合流之社會語音變異研究;A Sociolinguistic Study of Phonological Variation of Nasal Coda (eng) Merger in Taiwan Mandarin
No full text[[abstract]]本文主要探討台灣華語音節末鼻音合流的語言變異之現象，分別取樣不同地區、性別等社會因素進行研究分析。前人文獻中指出地域背景是造成台灣華語音節末鼻音合流(ing)和(eng)最重要的因素。然而，在此合流的內部語言因素之研究，前人文獻是探討音節末鼻音合流的方向與鼻音前的母音/i/和/?/，研究結果未能達成一致性。因此，本研究的目的主要探討音節末鼻音(eng)之合流，並以社會因素與語言內部因素兩方向，提出三個研究問題: (1) 音節末鼻音(eng)前的聲母位置是造成語言變異的內部因素嗎? 而外部因素包含年齡、性別、言談風格是否有統計上顯著的差異? (2) 成長區域是否對音節末鼻音(eng)合流也有統計上顯著性差異? 前人假設若為對，台北受測者是此合流的領導者嗎? (3)參與測驗之受測者是否對音節末鼻音之變體[n]採取負面的語言態度? 本文主要分為兩個測驗，第一個測驗邀請台南地區老、中、青三個世代，每個世代男性、女性各五位，其中一位中世代女性未被納入，總共29位受測者參與測驗。採用正式(詞彙表唸讀)和非正式(問題面談)之言談風格蒐集語料。第二個測驗邀請北部與南部地區共26位受測者，透過對話型角色唸讀來調查音節末鼻音(eng)合流之語言變異現象，完成第二測驗的受測將填寫關於自身的語言行為與對變體語言態度之問卷。最後，收集的語料經標記以GOLDVARB (a logistic regression program)進行量化的語言變異分析，並找出統計上最顯著性差異之影響變異因素。 研究結果顯著性差異因素為下: (1) 內部語言因素“聲母”呈現統計上最顯著性差異，且兩個測驗皆達到一致性的結果；音節末鼻音(eng)前之子音為舌冠音是造成音(eng)合流最主要的因素。(2)第二個顯著性差異之因素為言談風格，如同前人文獻顯示語言使用者在正式場合會採用較為優越、標準之的語言行為;反之，則使用非優勢音。(3) 性別在本研究中兩個測驗皆顯示為統計上顯著影響其鼻音合流，男性相較於女性更喜愛使用[n]變體。再者，(4) 成長區域在音節末鼻音(eng)合流也扮演舉足輕重的影響，此結果與先前文獻研究一致，亦即，北部人傾向於使用[n]變體的頻率較南部人來的高。此外，年齡未達顯著性差異。最後，語言態度與[n]變體的使用有程度上的關聯性，結果顯示大部分受測者對台灣華語音節末鼻音合流的變異現象採取正面的語言態度。因此，正面的語言態度也是造成此合流因素之一。
This study primarily explores the phonological variation of nasal coda in Taiwan Mandarin with the design of sampling from different regions and genders. Previous studies indicate that place of origin is a curial factor to influence the nasal coda (ing) and (eng) merger. However, the previous study focuses on the merger direction and the preceding vowels /i/ and /?/ of the nasal coda, but the results cannot reach the consensus. Thus, the purpose of this study concentrates on the (eng) merger of Taiwan Mandarin, and examines the variation with three research questions from the perspectives of internal linguistic and external social variables: (1) Do language internal factor of syllable onset account for the variation of nasal codas (eng)? Do external factors, such as age, gender and formal vs. informal style account for the variation of (eng) in Taiwan Mandarin? (2) Does the variable “regional origin” account for the variation of the syllable-final nasal (eng)? If yes, do Taipei residents lead the merger type? (3) Do the participants have negative attitudes towards the [n] variant of the nasal coda (eng)? Two tasks are involved in this study. Twenty-nine participants recruited in the first task, divided into generation with five participants of males and females. One of middle age females was eliminated. Tokens are collected by the formal context (word-list reading) and the informal context (question-interview). The second task invited 26 participants from northern and southern residents to read dialogues. The participants of the second task were asked to fill out a questionnaire regarding their language performance and attitudes toward the variant at the end of task. All collected data was analyzed by GOLDVARB (a logistic regression program) for quantitative analysis. The statistically significant results of this study are as follows: (1) Internal variable of the coronal onset consonant is the most important effect on the variation and both tasks reveal the same finding. (2) Styles of formality; as previous studies stated, the more prestigious and standard linguistic form is used in formal context, conversely, non-prestigious form produced in informal context. (3) Gender is a significant variable on the (eng) merger; male speakers have greater frequency of use than females. Also, (4) regional origin plays a substantial role on the variation; the finding of this study is consistent with the previous studies (Fon et al. 2011 and Su 2012). That is, northern residents show higher preference of the [n] variant. In addition, age cannot account for the variation of the merger. Last, there is a correlation between language attitudes toward the [n] variant and language performance to some extent. The result indicates that most participants adopt a more positive attitude toward the variation of nasal coda merger in Taiwan Mandarin. Thus, language attitude is one of the factors on the variation
全英語授課的挑戰與機會;The Challenges and Opportunities of English as a Medium of Instruction
No full text[[abstract]]全英語授課(English as a Medium of Instruction)是近年來多所學校致力發展的課程導向之一，起因於教育部開始宣導的「教育部補助大專院校精進全英語學位學制班別計畫」，而此計畫的目的在於鼓勵大專院校推動全英語學位學程、全英語授課園區、國際學院、國際學程、國際學生專班及其他學制班別計畫，目的為打造一處全英語的授課情境給眾多嚮往於不同語言環境學習的學習者，藉由身歷其境的實感進而使學習者融入其中並鼓勵參與者能夠自然的以英語為通用語(English as a lingua franca)與周遭的同儕、師長進行交流對話。本研究主要致力於探討現今已成為教育界導向之一的全英語授課實際在教學方面對授課者及參與課堂指導的學習者影響何在，因此於研究設計上針對在全英語授課上富有教學經驗的16位授課者進行深度訪談藉此得知這項教學目標對學習者的利弊處抑或授課者能朝向何種方向做出調整使這項教學系統推動更為完善。故研究目標如下：1.探討不同院系的授課者針對全英語授課所反映出的態度2.分析各方授課者面臨形形色色的學習者所採取的應對措施3.思索全英語授課背後所隱含的益處與不完善之處藉由訪談分析共歸納出三項主題予以討論，分別為授課者對全英語授課的態度、授課者所擇取的教學策略以及全英語授課背後的利弊得失。而此次研究結果顯現：1.學習者在面臨己身的英語能力低落便缺乏勇氣修習課程，同時於公開場合怯於表達英語口說能力也致使學習者對全英語授課缺乏意願。在修課興趣方面則會優先考慮與自身專業領域相關的範疇，倘若有所關聯，則無論英語能力好壞仍會義無反顧的修習相關課程。2.外籍學生的課堂參與對台灣的學習者所造成的正面影響不容小覷。3.授課者的教導方式為生動活潑且融入日常生活，並同時傾注適當的鼓勵與教學熱忱皆會直接導致學習者願意修課的意願提高。4.課程內容須提綱挈領，且同時以紙本文獻及電子資源雙重輔助，必要時也可佐以線上教學平台供學習者在授課觀念上更為清晰與條理化。5.學習者於自身專精領域在第一語言及第二語言上的擇取不僅需仰賴授課者於課堂中的語碼挑選，專業知識將來是否與國際接軌以及課程屬性也需一同思慮在內。諸如未來就職產業勢必迎向全球市場的科技業與金融產業。而課程屬性則視在職時面臨的環境如以英語為主，例如外商公司等，以國家考試為衡量目標的學習者則需以第一語言為大宗。6.授課者自身所屬院系會連帶牽動著課程產生不同的授課理念：理工學院、管理學院與法學院的授課者在教學過程中傾向傳達專業知識為首要思索因子；文學院與社科學院的授課者以前者為基礎，同時並重培養批判思考的學習者；教育學院的授課者則會額外注重學習者於多元文化的養成。
English as a Medium of Instruction (EMI) is one of the primary goals that numerous universities and colleges devoted in expanding in recent years. The Ministry of Education (MOE) in Taiwan has already advocated an educational project, called “subsidies of universities and colleges for developing English as a Medium of Instruction degree’s program. In addition to encouraging various universities and colleges to promote English-only degree’s program, EMI courses, International colleges, International degree’s program, and International students’ professional classes, there is a major purpose to construct an EMI surrounding for the learners to pursue and look forward to a multicultural environment. Through blending in with English as a lingua franca environment, learners can have a better conversation with peers and instructors naturally. This research aimed at exploring the educational issue- English as a Medium of Instruction and endeavoring to search what is the impact on instructors and learners in Taiwan tertiary education. In-depth interviews were conducted with 16 experienced instructors to comprehend whether the educational achievement is good or not for the learners and the instructors and which educational direction in EMI can lead to a better and more complete educational system.The purposes of this research are as follows:1.What attitudes did instructors demonstrate from various colleges on EMI?2.What strategies did instructors adopt to deal with every single learner from different department?3.What benefits and drawbacks of EMI could transfer to the learners?The findings generalize three topics to deliberate as follows: (1) the learners’ attitudes toward English as a Medium of Instruction, (2) the teaching tactics from instructors, and (3) the merits and disadvantages on English as a Medium of Instruction. The main findings of this research are summarized as follows:1.The learners did not take EMI if their proficiency of English was not high enough. Unless the course was related to their professional field, most of learners were too shy to speak English in public and thus were unwilling to take EMI courses.2.If there were international students taking part in EMI courses, it would have a positive impact on local students.3.If the teaching methods were creative and energetic and if the instructors were passionate and encouraging, the learners would be more willing to take EMI courses.4.The teaching material of EMI should contain main points and make learners easy to comprehend the meaning of textbooks. Besides, the instructors can supply handouts and electronic resources to assist the teaching process. E-learning platform can be beneficial if used properly.5.The instructors had to use their discretion to exploit code-switching in delivery of courses to meet the needs of the different disciplines. EMI is crucial in technology and finance as they are oriented towards global markets.6.The various colleges of instructors had different teaching orientations. For example, the college of sciences, engineering, and law would aim at how to transfer professional knowledge to their learners. The colleges of humanities and social sciences would cultivate critical thinking. The college of education was concerned about cultural diversification
諧波雷達傳感器-蜜蜂搜尋系統的差動微型傳感器及具身分識別之數位差動曼徹斯特碼解碼器的研究;Harmonic Radar Transponder - Research of Differential Miniature Transponder Applied to Bee Searching System and Digital Differential Manchester Decoder for Identification Recognition
No full text[[abstract]]隨著小型生物的研究越來越普遍，諧波雷達系統被廣泛的運用於這些研究實驗之中。然而，為了要從這些小型生物中得到更進一步的資料，諧波傳感器的特性好壞是很關鍵的部分，諸如其能被偵測的範圍、敏感度、或者是否具有身分識別的功能，都會影響著研究是否能順利的進行。因此，本論文針對諧波傳感器進行探討且分為兩個主要的主題，一個是關於蜜蜂搜尋的諧波雷達系統之小型生物傳感器的設計，另一個是關於諧波傳感器之具身分識別功能的數位差動曼徹斯特碼解碼器。關於第一個主題，主要是設計一個新型的諧波傳感器。此新型諧波傳感器成功地降低因蜜蜂身上的液體所造成的轉換率損耗且提升了天線增益。這新型諧波傳感器是設計成差動式，並且有兩個共振腔，共振頻率分別在9.4 和 18.8 GHz。它的尺寸很小，可以黏貼在蜜蜂身上且不影響其飛行。其天線在E-plane的全向性增益是在0 dB以上且因蜜蜂身上的液體所造成的轉換率損耗只有3-4 dB。這幾項改善能有效地擴大蜜蜂雷達的檢測範圍。而關於第二個主題，主要是一個擁有身分識別功能的數位差動曼徹斯特碼解碼器。此數位晶片不僅能從傳送端傳來的差動曼徹斯特碼的訊號解碼出身分資訊，且還能把解碼出的身分碼跟原始身分碼做比較，再依據比較結果回傳訊號給接收端。它的尺寸夠小可以被嵌入在諧波傳感器上，然後也可以更進一步地被使用在諧波雷達系統之中。這項研究能讓傳感器多了身分識別的功能，不再只局限於定位搜尋的功能。
As the study of small creatures becoming more popular, harmonic radar system has been well used in those of the studies. However, in order to get more details from the small creatures, the performances of the harmonic transponder are very important, such as its detection range, sensitivity, or whether it combines identification recognition. Therefore, the harmonic transponder is discussed in this thesis. This thesis has two main topics, one is for a miniature transponder design in harmonic bee searching radar system, and the other one is for a digital differential Manchester decoder with identification recognition system in harmonic transponder. For the first topic, a new 9.4/18.8 GHz harmonic radar transponder for the bee searching radar is proposed. The proposed transponder reduces the degradation of the conversion rate from the loss of the bee’s body effect and promotes the antenna gain. It is designed in the way of differential operation with two resonate frequencies at 9.4 and 18.8 GHz. It also has a smaller size which can be mounted on bees. The omnidirectional gain in E-plane is above 0 dB and the degradation of the conversion rate from the loss of the bee’s body effect is 3-4 dB. This improvement is helpful to extend the detection range of the bee searching radar. For the second topic, a digital differential Manchester decoder with identification recognition system is proposed. The proposed digital chip can not only decode the differential Manchester signal from the transmitting end, but also compare the decoded ID with the original ID and then return back the signal which depends on the compared results. Its size is small enough to be embedded in the harmonic transponder, and further cooperate with the harmonic radar system as well
藉由眼動資訊、九軸感測訊號及生理訊號估測專注度;Attention Estimation using Eye Movement, Nine-axial Sensing and Physiological Signals
No full text[[abstract]]本研究提出以眼動資訊、九軸感測訊號及生理訊號進行專注度估測，透過三種不同難度的持續性操作測驗誘發專注力，實驗進行時，眼球動作、九軸訊號及心電圖資訊會被同步地記錄下來。 於眼動追蹤部分，本研究透過智慧眼鏡之眼球攝影機獲得眼影像，以影像處理方式計算虹膜中心座標，影像處理過程中透過大津演算法取得自適應的二值化閥值，得到二值化影像後再以高斯模糊及形態學方式消除雜訊，接著以霍夫轉換及感興趣區域的條件限制擬合出最正確虹膜中心。最後以紅外線打光之影像比較其視角誤差為3.02度；於九軸部分，使用內建於智慧眼鏡之九軸模組獲得九軸原始數據；於生理資訊部分，邀請具有生醫訊號處理背景的同學協助心電圖訊號的蒐集；透過上述三種訊號蒐集並擷取特徵，擷取出12項眼動特徵、37項九軸特徵及51項生理特徵。本研究以循序浮動正向選取方式對三種訊號特徵進行特徵挑選，再以支持向量機進行專注與放鬆的辨識，並以K-fold方法驗證其可靠度。其三者資訊混合之辨識率雖只有78.3%，但將情境分開討論，兩兩資訊的組合卻能得到不錯的效果，在CPT1及CPT2情境下，眼動資訊加上九軸資訊辨識率可達89.9%及93.4%，而在CPT3情境下，九軸資訊加上生理資訊之辨識率亦可達93.8%。本研究之最大創新點與貢獻度在於將三種不同訊號做同時進行訊號蒐集，並對不同的信號組合進行分析與比較。
This study proposed attention estimation using eye movement, nine-axial sensing and physiological signal. Through three different difficulty of the Continuous Performance Test to induce attention, in the experiment, eye movement, nine-axial signal and ECG information will be recorded synchronously. In the eye movement detection, this study obtains the eye images from the eye camera of the smart glasses, and the iris center coordinates are calculated by image processing. In the image processing process, we obtain the adaptive binarization threshold through the Otsu algorithm. When getting binarized images, we use Gaussian blur and Morphology to eliminate noise. Next, through the Hough Transform and the Region Of Interest to fit out of the most correct iris center, and finally, compared with images with infrared light, the angle deviation is 3.02 degrees. In the nine-axial, the raw data of nine-axial can be recorded through the built-in nine-axial sensor module for smart glasses. In the physiological information section, we invite a student who has biomedical signal processing background to assist the collection of ECG signals, We collect and retrieve features from the three signals described above, and produced 12 eye movement characteristics, 37 nine- axial characteristics and 51 physiological characteristics. We use the sequential floating forward selection method for all signals to do feature selection, and then we use support vector machine to identify attention and relax. Finally, we use K-fold cross validation to verify its reliability. Although the accuracy combined three signals only 78.3%, combining two signals can get good effect when the situation is discussed separately. In the CPT1 and CPT2 situation, using eye movement and nine-axial sensor information, the accuracy up to 89.9% and 93.4%. In the CPT3 situation, we use nine-axial sensor and physiological information, the accuracy is 93.8%. The biggest innovation and contribution of this research is to collect three different signals at the same time, and analyzes and compares the signal combination pattern
運用充氣結構形變原理實作球形機器人;Implementation of a mobile spherical robot with shape-changed inflatable structures.
No full text[[abstract]]我們嘗試建構一個大型的機器人（約2米高），其外型為一個球體。該球型機器人可以藉由改變本身的形狀控制其運動。球型機器人的表面是由數個彈性表面結構組成，和內側的氣動系統來控制每個部份的空氣壓力。當機器人靜止時，朝向地面的彈性表面結構將有比較小的空氣壓力，使得其結構中間產生凹陷，藉此使機器人保持靜止。當機器人開始移動，原本朝向地面的部分充氣，而將要朝向地面的部分洩氣，則機器人傾斜朝向下一節並且移動到特定的方向。由於其設計柔軟且重量輕，因此，讓他們在放置在戶外將會很安全。這樣的機器人可以用於室外的監控及各種交通指引或警示。作為這個研究主題的開端，我們實作一個尺寸較小的模型，並針對這樣的運動方式進行一些研究及討論。
We are currently building a big robot (ca. 2m height) that has the shape of a sphere. The robot can be controlled by transforming its shape and thus can move. The structure of the spherical robot has several inflatable sections around the sphere and a pneumatic system inside to control the air pressure of each section. In the static state, the section towards the ground is deflated. Thus, the robot stays at the same position. When the robot shall move forward, the above-mentioned section is inflated while the neighboring section towards the intended direction is deflated. In this way, the robot rolls towards the next section and moves to the particular direction. Due to their design, the robots are very fluffy and light-weighted. Thus, using them in human environment appears to be very safe in spite of their size. So the robot can be used for outdoor surveillance. In parks and also road-works in order to warn traffic. As a beginning to this topic, we implement a model of smaller size