2018
PI-bot: autonomous paving instant detection robot
PI-bot, an autonomous inspection method for pavements is proposed. Two major contributions of this research are described. The first is the development of an autonomous, intelligent robot which carries inspection equipment in the field. The robot is equipped with a GPS receiver, an inertial measurement unit (IMU), a laser rangefinder, and an inspection module. The test results show that PI-bot is effectively at performing a short range and small area pavement inspection task. The second contribution is the Chromatic Dual-Light Inspection (CDLI) method, a distress identification method suitable for automatic inspection. With the CDLI method integrated into PI-bot, the proposed real-time autonomous pavement inspection system is demonstrated to work effectively to execute pavement inspection tasks.
本研究提出了一種自主式的鋪面檢測方法，也就是 PI-bot。在本論文研究中提到了兩大貢獻中，第一個為開發自主式之智能機器人，主要是檢測儀器搭載及運動之用途。此機器人搭載了全球定位系統、慣性測量單元、雷射測距儀以及一個鋪面檢測的模組。其測試之結果也顯示此PI-bot系統能夠在短距、小範圍的鋪面檢測上正常運作。第二個則是我們所研發適用於機器人檢測的彩色雙光源檢測方法(CDLI)，此破損辨識方法適合於自動式的檢測。在將彩色雙光源檢測方法與PI-bot進行整合後，本研究也證明此即時自主式鋪面檢測系統可有效地執行鋪面檢測工作。
Swinging reduction control system on rotary cranes
During crane lifting, the sway of the hanged object will affect the efficiency of the projects. While many previous studies have also addressed the problem of swaying objects, few studies have discussed the technique of reducing swaying applied to rotary cranes. Therefore, we have developed a method to reduce the swing, guiding the novice crane operator to control the boom to reduce the sway of the object and increase the operating efficiency. This method includes (1) crane start-stop type reducing swing strategy (2) hanging object image sensing method (3) crane operator guiding method. The experimental results show that the sway is reduced by 56.5% when the oscillating device guides the novice crane operator, and the sway of the object \by the old crane operator is reduced by 14.5%.
吊車吊裝中被吊物晃動影響工程專案的執行效率。有許多以前的研究雖然也在解決被吊物晃動問題，但很少討論減少晃動的技術應用在常見的旋轉式的吊車上。因此我們開發一個減盪方法，引導新手吊車手控制吊臂減少被吊物晃動而增加操作效率。此方法包含了(1)吊車起停式減盪策略(2)被吊物影像感測法(3)吊車手引導操控方法。實驗結果顯示在減盪裝置引導新手吊車手減盪結束時，晃動被減少56.5%，而老手吊車手操作的被吊物晃動則是減少了 14.5%，自然擺動之對照組則是減少2.5%晃動
Visual Awareness on Surface Flow Measurement
Flow velocity is one of the key factors in hydrology. Considering workers’ on-site safety, non-contact methods have become the major approach for flow velocity measurement. We proposed a surface flow measurement method that takes advantage of human visual awareness to measure flow velocity. People can mark the flow features on images using the measurement tool we developed to acquire flow velocity.
流速是水文學的關鍵因子之一。考慮到現場工人的安全性，無接觸式方法已成為流速測量的主要途徑。我們提出了一種表面流量測量方法，該方法利用人類視覺感知來測量流速。人們可以使用我們開發的測量工具標記圖像上的流動特徵以獲取流速。
UAV Path Planning Method for Digital Terrain Model Reconstruction - a Debris Fan Example
This research develops an unmanned aerial vehicle (UAV) path-planning method that aims to ensure the required image overlap and optimize the flying routes when applying the UAV for digital terrain model's (DTM) reconstruction. The developed method is validated to be able to help operators to sufficiently use the limited UAV batteries and evaluate the efficiency of the image collection process. It also confirms that applying the method on an actual debris fan can guarantee the required image overlapping and generate a complete DTM without model breaking.
為了確保在應用無人機進行數字地形模型（DTM）重建時所需的重疊圖像並優化飛行路線，本研究開發了一種無人機（UAV）路徑規劃方法。此開發方法經驗證能夠幫助操作者充分使用有限的UAV電池並評估圖像採集過程的效率。此外，該方法也能確實地應用於實際的沖積扇地形，可以取得所需的重疊圖像並生成完整的DTM而不破壞模型。
Teleyes: A Telepresence System based on Stereoscopic Vision and Head Motion Tracking
This study develops a telepresence system, Teleyes, to reduce visual distortion in remote environments. The primary objective of this research is to take advantage of state-of-art three-dimensional (3D) input/outputs technologies and to develop an avatar-like mechanism to synchronize the physical behavior of an operator with a remote system. Two 3D input/output methods are used in this research: stereoscopic vision and motion tracking. The results show that the system has significantly improved the visual experience and operating efficiency, thus having the potential to save resources and expand the application of unmanned vehicle systems (UVSs). The developed system also provides the operator with a realistic first-person view of a UVS and a visual experience similar to being onboard.
本研究開發了遙現系統Teleyes，以減少遠端環境中的視覺失真。研究的主要目的是利用最先進的三維輸入/輸出技術，並開發類似Avatar的機制，使操作者的物理行為與遠端系統同步。本研究使用了兩種三維輸入/輸出方法：立體視覺和動態追蹤。結果顯示，該系統顯著的提高了視覺體驗和運行效率，從而具有節約資源和擴展無人駕駛車輛系統（UVS）應用的潛力。開發的系統也為操作者提供了真實的第一人稱UVS視圖和類似於船上的視覺體驗。
Framework of Automated Beam Assembly and Disassembly System for Temporary Bridge Structures
Temporary bridges play an important role in disaster relieving operations. However, available workers and limited time are precious resources during a disaster event. To address these issues during a disaster event, an automated beam assembly approach for temporary bridge segment is proposed in this study. The approach includes a framework for temporary bridge construction to be automated assembled by a crane and a construction process based on the framework. The framework and the construction process are examined with both virtual and small-scale models.
臨時橋樑在減災行動中發揮著重要作用，但是在災難事件中，可用的工人和時間是有限的。為了解決災難事件中的這些問題，本研究提出了一種用於臨時橋樑段的自動梁組裝方法。該方法包括起重機自動組裝臨時橋樑構造的架構和基於該架構的建造過程，並使用虛擬和小規模模型檢查架構和建造過程。
