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    Title: 救援機器人系統的設計與實現-總計畫兼子計畫一:救援機器人系統的設計與實現
    Other Titles: Design and Implementation of Rescue Robot Systems
    Authors: 翁慶昌;江正雄;李世安;蔡奇謚;劉寅春
    Contributors: 淡江大學電機工程學系
    Keywords: Rescue Robot;Autonomous Exploration and Navigation;Multi-sensors Fusion System;SOPC;Image Recognition Correction;Intelligent Vital Sign Recognition;Rescue Task Scheduling
    Date: 2011
    Issue Date: 2012-05-22 21:54:21 (UTC+8)
    Abstract: 本整合型計畫係整合五項子計畫並且規劃三年時間來設計與開發一套具有兩台履帶型救 援機器人的救援機器人系統,系統的研製主要有機器人本身與操控者監控系統兩大部分。本整 合計畫的研究目的是所研製的救援機器人系統可以完成RoboCup Rescue 所舉辦之救援機器人 競賽項目,最終可以參與災難現場之實際救援行動。三年的規劃概述如下: 第一年,本整合計畫擬設計實現一台可以用於低複雜環境之履帶型救援機器人。主要的設 計包含履帶型底盤及多維度手臂設計、低複雜地形之姿態控制器設計、二維地圖建置、多重感 測器系統設計、螢幕顯示加速器電路設計、嵌入式系統建置、複雜地形之影像防震、號誌與洞 穴辨識、方向性離散小波轉換、影像的三維模型繪製、影像動態範圍壓縮、立體視覺模組校正、 立體影像扭正與誤差模型建立、纜線通訊系統、系統切換機制建立、生命徵象分析、與圖形化 概念驗證及硬體模組設計。 第二年,本整合計畫擬設計實現一台可以用於高複雜環境之履帶型救援機器人。主要的設 計包含變化型機構設計、高複雜地形姿態控制、定位與地圖建置、最佳安全路徑規劃、聲音源 定位辨識電路設計、機器人端觸控式人機介面設計、火源與光源干擾、煙霧遮避校正、複雜環 境受難者辨識、複雜環境的三維影像重建、特徵萃取及左右特徵點匹配、左右特徵配追蹤及離 群點移除、無線接收模組設計、生命徵象與環境狀態指標、與軟體平台實現與硬體模組實現。 第三年,本整合計畫擬設計實現一台可以自主適應環境之履帶型救援機器人。主要的設計 包含可適應各式環境機構、自主適應地形姿態控制器、多機器人系統地圖建置與未知環境自主 移動探索、SOPC 平台設計、卡曼濾波器電路設計、網路傳輸加速器設計、多重干擾源的影像 校正、真實環境強健辨識的研究、壓縮演算法與三維影像重建演算法的軟硬體共同設計、寬景 影像生成、三維地標建置及區域地圖繪製、相機移動估測、混合型通訊系統、智慧型工作排程 模組、介面最佳化整合、與硬體模組驗證。
    The main purpose of this project is to design and implement rescue robot systems with two crawler-type robots and a remote monitoring and control system so that the implemented rescue robots can successfully accomplish the competition events of RoboCup Rescue league and do some real rescue actions. This project is organized three years. They are described as follows: In the first year, the purpose is to implement a rescue robot system with a crawler-type chassis that can be used in a low complication terrain. Main design topics include: crawler-type chassis design, multi-degree-of-freedom robot arm design, attitude controller design in a low complex terrain, 2-dimensional mapping, multiple sensor fusion system design by SOPC, circuit design of a panel display accelerator, embedded system construction, image shockproof in complex environment, symbol and cave identification, directional discrete wavelet transform, Imagery generation of 3-D image modeling, compressing image of dynamic range, stereo camera calibration, stereo image rectification and error modeling, tethered communication system, system switching mechanism, vital sign recognition, and verification of graphical user interface concept and hardware module design. In second year, the purpose is to implement a rescue robot system with a crawler-type chassis and four crawler-type arms that can be used in high complication terrain. Main design topics include: crawler-type chassis with crawler-type arms design, robot arm design with multi-degrees of freedom, attitude controller design in a high complex terrain, 3-dimensional mapping, optimization of path planning, a recognition circuit design for a sound source localization, a touching control design of a human interface in the robot terminal, disturbance from flaming and light source, smoke mask correction, victim recognition in complex environment, 3-dimational reconstruction in a complex environment, feature extraction and matching, feature tracking and outliers rejection, wireless receiver module design, vital sign and environmental indices, and software platform and hardware module realization. In the third, the purpose is to implement a rescue robot system with track vehicle that can self-adapt to the terrain. Main design topics include: self-adapt crawler-type mechanism design, self-adapt attitude controller design, multi-robot mapping, autonomous exploration in an unknown environment, SOPC platform design, Kalman filter circuit design, accelerator design for Ethernet transmission, multiple sources of interference image correction, real world image research with robust identification, hardware and software co-design of compression algorithm and 3-D image reconstruction algorithm, panoramic image generation, 3-dimensional landmark detection and local map-building, camera motion estimation, hybrid communication system, intelligent task scheduler module, optimal interface integration, and hardware modules verification,
    Appears in Collections:[電機工程學系暨研究所] 研究報告

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