臺灣博碩士論文加值系統

本論文主要目的在於建立一套類似人類觸覺的感測系統，並應用於機器玩偶之訊號感測。我們發展的感測系統包括壓力及溫度感測，壓力部分採用導電橡膠製成的電阻式壓力感測單元，溫度部分則採用類比式溫度感測器AD590J。為了達到高解析度的量測，吾人使用感測陣列，每一個感測器陣列分別利用單晶片微處理器、多工器及Analog-to-Digital Converter (ADC)組成的電路進行掃描及訊號轉換。為了能夠同時量測玩偶各部變化，我們發展一套包含多組感測器陣列的系統。吾人首先建立一套以桌上型電腦為核心的系統 (PC-Based System)，用以測試感測陣列的正確性；並進而採用以ARM9 (S3C2410 MCU)為核心建立的嵌入式系統，以達到可攜性、低功耗的目標。嵌入式系統的發展，係以WINDOWS CE.NET 5.0為核心，使用Embedded Visual C++ ( EVC )撰寫程式，透過串列埠連接感測陣列，並使用此感測器資訊作後續的反應控制。

This thesis describe the development of a detection system to mimic human’s skin and applied into a companion robot. Two kinds of sensors, namely temperature and tactile sensors, were utilized to measure the environmental changes. We selected AD590J as the analog temperature sensors, and pressure sensitive electric conductive rubber CS57-7RSC (CSA) as the tactile sensors. Furthermore, the sensor networks were employed to detect sensor signals in high resolutions. Each sensor network consisted an 8-by-8 sensor array and a scanning circuit to acquire the individual data. The sensor signals were detected through Digital Signal Processor (DSP) boards and transmitted to the process systems by RS232. In order to measure the temperature and pressure variations simultaneously on different parts of the robot, we developed a multi-network system. This system was established on a PC-based system with another embedded system to process the sensor signals. For the former, Visual C++ was utilized to illustrate the sensor signals by 3D graphics in order to verify the sensors’ situations. Furthermore, we chose an embedded system development kit (A9M2410) and utilized Embedded Visual C++ (EVC) on Windows CE.NET 5.0 to minimize the central control unit.

口試委員會審定書……………………i
誌謝…………………………...... ii
中文摘要…………………...….. iii
英文摘要………………………….. iv
目錄………………………………… vi
圖目錄…………………………….. ix
表目錄…………………………… xiv

第一章 介紹………………………………….……..…... 1
1.1研究緣起與目標………………………………….…..……. 1
1.2相關文獻與技術………………………………….…..……. 2
1.2.1人類皮膚………………………………………….…... 2
1.2.2嵌入式系統架構…………………………………………4
1.2.3被動式陣列…………………………………………………………..…... 6
1.2.4主動式陣列…………………………………………………………..…... 9
1.2.5壓力感測系統……………………………………………………..……. 12
1.2.6溫度感測系統………………………………………………..…………. 14
1.3論文整體架構介紹………………………………………………..….……... 15
1.4貢獻………………………………………………………………..….……... 17
第二章 溫度感測器與其掃瞄電路………………………………………..….……. 19
2.1溫度感測器的選取…………………………………………………....…….. 19
2.1.1 AD590J…………………………………………………………..…….. 19
2.1.2 AD590J特性測試………………………………………………..……. 22
2.2感測器陣列………………………………………………………….…...….. 25
2.3掃瞄電路………………………………………………………………….….. 27
2.3.1 ADC類比轉數位………………………………………………...….…. 27
2.3.2多工器掃瞄………………………………………………………...…... 28
2.3.3溫度感測器陣列掃瞄電路的實現.......................................................... 29
第三章 壓力感測器與其掃瞄電路............................................................................ 32
3.1 壓力感測器的選取………………………………………………….…..….. 32
3.1.1 CSA…………………………………………………………………..... 32
3.1.2 CSA特性測試…………………………………………………..…….. 37
3.2 感測器陣列…………………………………………………………...…….. 42
3.3 掃瞄電路……………………………………………………………...…….. 44
3.3.1電阻干擾效應……………………………………………………..…... 45
3.3.2壓力感測器陣列掃瞄電路………………………………………..…... 46
第四章 多組感測器陣列的架設………………………………………………..….. 50
4.1 序列埠多工………………………………………………………….……… 50
4.1.1 邏輯電路的使用……………………………………………………….. 50
4.1.2 簡易實驗結果……………………………………………………..….... 51
4.2 提升掃瞄速度……………………………………………………….…..….. 53
第五章 PC-Based系統…………………………………………………………..…. 55
5.1 感測器訊號狀態圖………………………………………………….…..….. 55
5.1.1 2D圖……………………………………………………………..…..…. 55
5.1.2 單一曲線圖………………………………………………………......… 56
5.1.3 3D圖………………………………………………………………....…. 57
5.2 圖形圓滑處理………………………………………………………….....… 58
5.2.1最近相鄰內插法(nearest-neighbor interpolation)………….................... 59
5.2.2雙線性內插法(bilinear interpolation)……………………..………..….. 60
5.2.3雙立方內插法(bicubic interpolation)……………………..……….......... 61
5.3 感測器壞點表示………………………………………………………....…. 66
5.4資料儲存測試.................................................................................................. 67
第六章 嵌入式系統………………………………………………………….……... 70
6.1 嵌入式系統硬體……………………………………………………...…..… 70
6.1.1 A9M2410模組…………………………………………………….....…. 70
6.2 嵌入式系統軟體……………………………………………………….....… 74
6.2.1 Windows CE……………………………………………………….…..... 74
6.2.2 Platform Builder………………………………………………................ 74
6.3.3 Embedded Visual C++……………………………………………........... 75
6.2.4 TFTP…………………………………………………………………...... 76
6.2.5 FTP Server………………………………………………………............. 77
6.3 感測器訊號狀態觀察…………………………………………………...….. 77
6.4 嵌入式系統之人工皮膚應用實例……………………………………..…... 80
第七章 結論與未來展望……………………………………………………..…..… 81
7.1 結論…………………………………………………………………….…… 82
7.2 未來展望…………………………………………………………….....…… 83


參考文獻……………………………………………………………………………… 84
附錄A............................................................................................................................. 87

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