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研究生:陳正澤
研究生(外文):Cheng-Tse Chen
論文名稱:雙向即時可變焦影像傳輸系統應用於機器人遠距照護之研究
論文名稱(外文):Two-way Real-Time and Variable Image Focus Communication System for Robotics Tele-Medicare Applications
指導教授:羅仁權羅仁權引用關係
學位類別:碩士
校院名稱:國立中正大學
系所名稱:電機工程所
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2009
畢業學年度:97
語文別:英文
論文頁數:105
中文關鍵詞:遠距控制服務型機器人居家照護
外文關鍵詞:Remote-controlHealth-careService Robot
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於人口老齡化越來越多影響到社會,老齡化社會不僅成為一個重要的社會問題,醫療保健也將成為一個重要的問題。為了彌補專業護理人員的短缺,和減輕護理工作的壓力,眾多的研究小組正在研究機器人領域,希望可以有更好的人與機器人的互動並且希望機器人能夠把更加美好的生活帶給人類。目前有許多陪伴機器人,幫助維持老年人的精神健康,並促進其獨立生活的可能性。機器人的層面更加廣泛的同時,也將帶動國際間機器人研究團隊更加熱烈的研究風潮,並且蘊含著廣大的商機。
本論文的主要內容是是採用雙向即時通信系統(two-way real-time communication system),應用於遠距醫療機器人。遠程醫療機器人的雙向實時通信系統包括多媒體傳輸,可以跟遠端進行語音、影像的互動,並結合人臉特徵檢測與識別,使得醫護人員可以快速觀察特定器官並結合問診來做為病狀的判別。
機器人身上的的雙向即時通信系統主要採用H.263影像壓縮技術及Real-Time Protocol,有效的降低資料量,使得影像品質可以在兩端流暢的傳輸,醫生藉由遠距醫療機器人,可以得到遠端的資訊,包含視覺及聽覺,便可遠端診斷病人或者與遠端的醫生,護士和輔助人員由遠端的影像資訊討論病況,協助醫療。
本文將說明這些問題和實驗結果。我們致力於雙向實時通信系統的遠距醫療機器人,並讓遠距醫療機器人可以很容易地提供服務給人類。
Since the aging population is increasingly affecting the society, not only aging program becoming an important social issue but also health care will become an important issue. In order to compensate for the shortages of nurses and reduce the stress of nursing work, numerous research groups are studying in the field of human-robot interaction and hoping to bring a better life to humankind.
Many companion robots were developed to assist elderly people’s mental health and promote their independence.While the phenomenon which uses the intelligent robot is more extensive, it will promote the robotic research of international agitation, and contain the vast business opportunity.
The main content of this thesis is to employ two-way real-time communication system to apply in the Tele-Medicare Robot. The two-way real-time communication system consists of multi-media transmission, facial feature detection and recognition.
The multi-media transmission system, which is based on the H.263 codec and real-time protocol, is employed to compress the image data and transmit data.
The H.263 codec provides good video quality at substantially lower bit rates. Robot is capable of real-time transmission video data, Doctor can make diagnosis for the patient remotely or discuss patient sickness situation with medical practitioners, nurses and paramedical personnel remotely by visual information and friendly human-robot interface. In this paper, we receive the remotely image through the communication system. Meanwhile, robot carries out facial feature detection with camshift algorithm. According to the output of the facial feature tracker, the image focused on the face. Also, Robot can recognize other interesting regions in Tele-Medicare applications.
This thesis illustrates these and shows the experimental results both diversely and successfully. We devote to promote the two-way real-time communication system of Tele-Medicare Robot, and let Tele-Medicare Robot can easily provide the service to the human beings as needed.
誌 謝 I
中文摘要 II
Abstract III
Acknowledgements V
List of Figures IX
List of Tables XII
Chapter 1 Introduction 1
1.1 Motivation 1
1.2 Objectives 4
1.3 Major Issues and Challenges 5
Chapter 2 Literature Review 7
2.1 Review of Intelligent Medical Robot System 7
2.1.1 Talking Cuddling Robot for Elderly of Ifbot 7
2.1.2 A Medical and Surgical Robot of HOSPI 9
2.2 Review of Networked Intelligent Robots through the Internet 13
2.2.1 Category of the Networked Intelligent Robots through the Internet 14
2.2.2 The hardware configuration of the Networked Intelligent Robots through the Internet 19
2.2.3 Some applications of Networked Intelligent Robots through the Internet 24
2.3 Review of Behavior Based Programming Remote Control System 31
2.3.1 Concept of Behavior Programming Remote Control System 31
2.3.2 Architecture for Behavior Programming Remote Control System 34
Chapter 3 Design of Multisensor based HomMed Robot 36
3.1 Introduction 36
3.2 Main Controller and Architecture 39
3.2.1 Hardware Architecture 39
3.2.2 Software Architecture 40
3.3 Sensory System 42
3.3.1 Ultrasonic Sensor Detection 43
3.3.2 CCD Sensor Detection 45
3.3.3 3D Laser Range Finder Sensor Detection 45
3.3.4 Fire Sensor Detection 46
3.4 Communication System 48
3.4.1 Wireless LAN 48
3.4.2 IPC (Inter-Process Communication) 53
3.4.3 HR-Sock (HomMed-Robot Socket) 54
3.5 Motion Control System 55
3.6 Power Management System 58
Chapter 4 Two-Way Real-Time and Variable Focus Image Communication System 63
4.1 Introduction 63
4.1.2 H.263 Video Encoder 66
4.1.4 Remote Control Station 68
4.1.1 Streaming Multi-Media Information Using Real-Time Protocol (RTP) 69
4.2 Auto focus System 77
4.3 Human Facial Feature Detect & Recognition 78
4.3.1 Skin Color Based Face Detection in HSI Color Space 78
4.3.2 Facial feature tracking 79
4.3.3 Face Feature Recognition using Principle Component Analysis 81
4.4 Auto Vary Focus Strategy 85
4.5 Experiment Results 87
Chapter 5 Conclusions and Contributions 94
5.1 Conclusions 94
5.2 Contributions 96
Reference 97
VITA 105
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