臺灣博碩士論文加值系統

本文主要探討在控制系統中履行多執行緖之控制方式可提昇系統之性能，其方法是藉由程式語言來即時規劃、處理電腦進出的資訊，使電腦處理資訊時之效率提升。
多執行緒應用於電腦控制系統中，可以讓多個程式同時執行，並減少以往單執行緖要排隊等待執行事件的順序，本文提出一個研究案例，在機械手臂追蹤系統控制流程中採用多執行緖之控制，在追蹤系統應用多執行緖之控制於影像擷取及控制輸出上。
最後，將多執行緒控制系統與單執行緒做比較，多執行緒之即時規劃有助於改善追蹤系統之速度及穩定的時間，特別是影像伺服回授控制時會有大量資料流動，更需以此法來改善系統之執行速度，來達成本研究之目的。

The main purpose of this paper is to promote the efficiency of a control system by using a multithread digital control design. In this system, the management of a computer’s input and output information is handled appropriately by the program language to promote the efficiency when the computer is applied to treat all the information.
The advantage of this multithread digital control design is to activate each procedure running simultaneously and reduce the process when using single-thread to execute events and wait in line. In this paper , case studies of multithread application used in image tracking and robot control are introduced. The multithread digital control design is used in the robotic arm’s tracking system of image capture and control output .
To compare the multithread system with the single-thread system, the results reveal that the speed of the tracking system can be improved by using the multithread technique under an immediate procedure plan. Especially when the image tracing feedback is under control, there will be lots of data under process. That will be more necessary to apply this method in order to improve the system speed and accomplish the goal of this study, purpose that to reach the study.

摘要 I
Abstract II
誌謝 III
第一章 緒論 1
第一節 系統概論 1
一、前言 1
二、研究動機 2
三、研究方法 2
四、系統架構 11
第二章 影像追蹤系統之構成 12
第一節 影像追蹤系統介紹 12
一、系統硬體構成 12
二、兩軸式手臂逆運動學計算 24
三、影像輸入 26
第三章 影像處理 28
第一節 影像掃瞄判斷法則 28
一、影像追蹤判斷法則 28
二、目標物快速掃瞄法則 30
三、有效判斷間距、影像亮度調整 33
第四章 多執行緒控制處理 37
第一節 多執行緒控制架構 37
一、Multithread介紹 37
二、Multithread控制架構 40
第五章 實驗分析與討論 41
第一節 實驗分析 41
一、多執行緒控制實驗 41
第六章 結論、未來展望 51
一、結論 51
二、未來展望 51
參考文獻 52
附錄 54

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