臺灣博碩士論文加值系統

　　本研究利用「光機電系統控制實驗室」於歷年來研究之微夾持器，進行設計改良與微小化，並配合形狀記憶合金以致動高分子微夾持器與顯微鏡、機械臂整合為一微夾持系統，並利用機構設計改良系統之功能，達成隔離環境微物件操作之需求。

　　藉由視訊壓縮之技術以提供操作者影像之資訊，並運用影像處理技術，獲取影像特徵，進一步建構虛擬場景，作為輔助使用者之介面。遠端操作部分則在伺服端與客戶端使用各種訊息加以溝通，藉此可以實現隔離環境之微物件遠端操作。

　In this thesis, the size of micro-compliant gripper developed by “Opto-Mechatronic System Control Laboratory” has been reduced and its design has been improved. By integrating optical microscope, manipulator, and micro-compliant gripper actuated by SMA, then it becomes a micro-manipulation system. Using mechanical design to enhance the function of system, and achieve the requirement of micro-manipulation in isolated environment.

　Utilizing the video compression technique can provide video information for operator. Using image processing technique to obtain the feature of image and then virtual scene could be established. Virtual scene and video information are auxiliary interfaces which can help operator to manipulate micro gripper. For remote operation, using various messages to communicate with server site and client site, then tele-manipulation of micro-object in isolated VR environment can be achieved.

中文摘要.......................................I
ABSTRACT......................................II
誌謝.........................................III
目錄..........................................IV
圖目錄.......................................VII
表目錄........................................XI
符號表.......................................XII
第一章 緒論....................................1
1-1 前言.......................................1
1-2 文獻回顧...................................2
1-3 研究目標...................................7
1-4 研究方法...................................7
1-5 本文架構...................................8
第二章 網路遠端操作系統........................9
2-1 時間基準控制理論...........................9
2-2 非時間基準控制理論........................10
2-3 網路概要..................................12
2-3-1 通訊協定................................12
2-3-2 客戶端/伺服器模型.......................15
2-4 Windows sockets API.......................17
第三章 微撓性夾持系統.........................22
3-1 微夾持器設計..............................23
3-2 機械臂控制................................24
3-3 搖桿控制..................................25
3-4 顯微鏡Z軸致動機構設計.....................26
第四章 視訊壓縮與影像校準.....................30
4-1 視訊擷取..................................30
4-2 畫面繪製..................................31
4-3 色彩轉換..................................32
4-4 視訊壓縮..................................33
4-4-1 H.263...................................33
4-4-2 H.263編碼架構...........................35
4-4-3 預測編碼(Predictive Coding) ............36
4-4-4 離散餘弦轉換............................38
4-4-5 量化(Quantization) .....................39
4-4-6 可變長度編碼(Variable Length Coding) ...40
4-4-7 H.263 解碼流程..........................41
4-4 光源調控..................................41
4-6 影像解析度校準............................42
4-7 機械臂座標校準............................45
第五章 影像參數估測與虛擬場景之建立...........48
5-1 夾持器位置估測............................48
5-2 微粒子參數估測............................50
5-3 OpenGL應用程式介面........................52
5-4 3D實體模型................................53
5-5 利用 Stencil緩衝區實現CSG模型.............54
5-6 場景亮度調控與視角轉換....................59
5-7 夾持器運動分析............................60
第六章 系統整合與實現.........................63
6-1 系統之軟體設計............................63
6-2 伺服端與客戶端之訊息溝通..................64
6-3 伺服端之微操縱系統環境....................66
6-4 遠端控制程式流程..........................67
6-5 場景測試..................................67
6-6 微操作之夾持流程..........................69
第七章 結論與未來展望.........................75
參考文獻......................................77
附錄..........................................81
自述..........................................83

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