跳到主要內容

臺灣博碩士論文加值系統

(3.95.131.146) 您好!臺灣時間:2021/07/29 00:50
字體大小: 字級放大   字級縮小   預設字形  
回查詢結果 :::

詳目顯示

我願授權國圖
: 
twitterline
研究生:鍾炤宇
研究生(外文):Chao-Yu Chung
論文名稱:核能電廠無線監測系統之研究
論文名稱(外文):A Study of Wireless Monitoring System for Nuclear Power Plants
指導教授:林顯易
口試委員:王多柏洪祖全鄭群星
口試日期:2012-07-25
學位類別:碩士
校院名稱:國立臺北科技大學
系所名稱:自動化科技研究所
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2012
畢業學年度:100
語文別:中文
論文頁數:106
中文關鍵詞:無線感測網路粒子濾波器移動式機器人核能電廠無線射頻辨識系統
外文關鍵詞:Mobile RobotZigBeeRFIDParticle FilterFriedman test
相關次數:
  • 被引用被引用:0
  • 點閱點閱:177
  • 評分評分:
  • 下載下載:0
  • 收藏至我的研究室書目清單書目收藏:0
本論文的動機是基於在核能電廠環境中,人類並不會隨時去偵測自身周圍的輻射劑量,若進入高輻射環境底下時,很可能就會造成傷害。而若使用攜帶型輻射偵檢器(Electronic Personal Dosemeter, EPD)雖然可以知道目前的環境輻射含量狀況,但卻無法即時的讓核電廠的監控端人員掌握已發生危險的區域。
本論文提出利用ZigBee無線網路結合攜帶型輻射偵檢器做工作人員的安全監控,同時可以做人員定位並得知人員所接受到的輻射劑量。若配合使用安裝輻射偵檢器的移動式機器人做巡邏,可取代人類去做核能電廠各個可能危險區域的輻射狀況檢測並提供區域輻射資料至系統端,協助監控廠內各區域輻射濃度狀況,以確保工作人員安全,並且可省去另外添購大量的輻射偵檢器安置在核能電廠環境中的成本。
本論文使用ZigBee模組之無線訊號接收強度與移動機器人身上的攝影機配合粒子濾波器(Particle Filter)對移動式機器人的位置做估測模擬。在避免人類接觸的環境區域,例如低放射性廢棄物的場所,可利用RFID(Radio Frequency Identification,RFID)管制低放射性廢棄物,而機器人巡邏完核電廠之後,也可切換為人員操作的方式過去查看廢棄物放置區域的狀況,透過RFID讀取器得知貼附在廢棄物桶上標籤的詳細資訊內容。
本論文實際去龍門電廠測試無線訊號的傳遞狀況,評估人員定位的可行性,並模擬測試移動機器人利用無線訊號強度做自我定位,得到不錯的結果。最後對核能電廠將使用的RFID系統做低放射性廢棄物管理的RFID標籤做初步的實驗與評估。


Interest in this study is inspired by the fact that under the environment of nuclear power plants it would be harmful to expose human bodies to the high radiation situations since people cannot all the time to detect the hazards of surroundings. The use of the Electronic Personal Dosemeter (EPD) may afford the count of radiation in present situation, yet cannot immediately alert the monitors in nuclear power plants about where the real danger lies.
In this study, the suggestion is advanced that the ZigBee wireless network combined with the EPD can be employed not only to monitor the staff’s safety but also to identify the staff’s positions and received radiation dose. While mobile robots equipped with the combined EPDs patrol in a nuclear power plant, they can replace humans to detect radioactive states in the potentially hazardous zones, transmit the local radiation information to the system side, assist in monitoring the regional radiation intensity, and ensure the safety of staff, as well as make the costs cut back dramatically on purchasing and setting up masses of EPDs.
In this thesis, the position of a mobile robot is estimated through both the Received Signal Strength Indication (RSSI) of the ZigBee module and the camera carried by the robot aligned with the Particle Filter. In the area where people strictly avoid to be exposed, such as the low-level radioactive waste yard, the Radio Frequency Identification (RFID) can be used to control low-level radioactive waste. After patrolling a nuclear power plant, robots can be replaced by humans to check the conditions of the waste yard through the RFID reader to get access to the detailed information which trash bins are tagged with.
By testing the transmission of wireless signals, assessing the feasibility of staff’s positioning, and examining the self-positioning of the mobile robot via wireless signal on-site in the Lungmen Nuclear Power Plant, this study acquires positive conclusions. Finally, the RFID system that will be used to control low-level radioactive waste in the nuclear power plant is also experimented and evaluated preliminarily.


摘 要 i
ABSTRACT iii
目錄 vi
表目錄 ix
圖目錄 x
第一章 緒論 1
1.1 研究背景與動機 1
1.2 文獻回顧 4
1.3 論文章節介紹 6
第二章 無線定位技術相關研究 7
2.1 無線定位技術 7
2.1.1 抵達時間定位法 7
2.1.2 抵達時間差定位法 10
2.1.3 到達角度定位法 11
2.1.4 訊號強度定位法 12
2.1.5 觸發點定位 13
2.1.6 ROCRSSI 14
2.1.7 Cell Based 15
2.1.8 Dv-Hop 16
2.1.9 LANDMARC 17
2.1.10 VIRE 18
2.2 影響無線定位精度的因素 20
2.2.1 環境因素 20
2.2.2 訊號干擾因素 20
2.2.3 硬體因素 22
2.3 本章結論 23
第三章 移動式機器人定位設計 26
3.1 前言 26
3.2 貝氏濾波器 26
3.3 粒子濾波器 29
3.4 移動式機器人介紹以及定位設計 33
3.4.1 移動式機器人介紹 33
3.4.2 定位原理設計 36
第四章 RFID貼附材質與環境測試 39
4.1 前言 39
4.2 RFID系統組成 40
4.2.1 RFID電子標籤 41
4.2.2 RFID讀取器 42
4.2.3 電腦應用系統 42
4.2.4 天線 42
4.3 RFID實驗環境設計 43
4.3.1 RFID讀取器與標籤的擺放方式 43
4.3.2 最遠距離量測 44
4.3.3 改變環境方式 45
4.4 統計分析 52
4.4.1 Friedman無母數分析 53
4.4.2 標籤穩定性 54
第五章 實際環境測試與數據分析結果 55
5.1 電廠內部測試 55
5.1.1 ZigBee無線工具 55
5.1.2 龍門電廠內部牆壁訊號穿透測試 57
5.1.3 電廠內部實驗結論 64
5.2 移動式機器人 67
5.2.1正方形路徑模擬 68
5.2.2 移動式機器人的結果探討 72
5.3 RFID實驗 73
5.3.1 實驗器材 73
5.3.2 顯著性分析 77
5.3.3 標籤變異係數分析 86
5.3.4 雷達圖 91
5.3.5 RFID標籤在個環境因子底下的實驗結論 96
第六章 結論與未來展望 100
參考文獻 102
附錄 106



[1]核能研究所,各種低碳能源每度電的發電成本,2011。
[2]M. Akorede, H. Hizam, M. Ab Kadir, I. Aris and S. Buba, "Mitigating the Anthropogenic Global Warming in the Electric Power Industry," in Renewable and Sustainable Energy Reviews, vol. 16, pp. 2747-2761, 2012.
[3]K. Chen, H. Tsai, Y. Liu and J. Shuler, "A Radiofrequency Identification (RFID) Temperature-Monitoring System for Extended Maintenance of Nuclear Materials Packaging," in Proceedings of 2009 ASME Pressure Vessels and Piping Division Conference, Czechoslovakia, July, 2009.
[4]Claire Swedberg, "Nuclear Plant Operator Uses RFID to Promote Safety," in RFID Journal, May 18, 2009.
[5]J. Barbaran, M. Diaz, I. Esteve and B. Rubio, " RadMote: A Mobile Framework for Radiation Monitoring in Nuclear Power Plants," in Proceedings of world academy of science, Engineering and technology, May 2007.
[6]J. White, H. Harvey and K. Farnstrom, "Testing of mobile surveillance robot at a nuclear power plant," in Robotics and Automation, pp. 714-719, 1987,.
[7]O. Igarashi, K. Sato, S. Okada, H. Hozumi, H. Shimada, H. Okano and O. Ozaki, "Hierarchical autonomous mobile control system of a patrol robot for nuclear power plants," in IEEE International Conference on Robotics and Automation, Vol. 1, pp. 837 - 842, 1995.
[8]S. Kim, S. H. Jung, S. U. Lee, C. H. Kim, H. C. Shin, Y. C. Seo, N. H. Lee and K. M. Jung, "Application of robotics for the nuclear power plants in Korea," in Applied Robotics for the Power Industry (CARPI), 2010 1st International Conference, pp. 1-5, 2010.
[9]K. Ohno, S. Kawatsuma, T. Okada, E. Takeuchi, K. Higashi and S. Tadokoro," Robotic control vehicle for measuring radiation in Fukushima Daiichi Nuclear Power Plant," in Safety, Security, and Rescue Robotics (SSRR), pp. 38-43, 2011.
[10]陳偉、崔妍、方方 等,基於ZigBee技術的環境γ輻射連續監測系統研究,第四屆中國核學會省市區三核論壇論文集,vol. 28,第89-92頁,2008。
[11]周文林、張國忠、張星 等,基於ZigBee的現場安全溫度在線監控系統,單片機與嵌入式系統應用,第58-61頁,2010。
[12]T. Defeng, L. Shixing, X. Wujun and Z. Yongming, " A Fire Monitoring System in ZigBee Wireless Network," in Cyber-Enabled Distributed Computing and Knowledge Discovery (CyberC), pp. 48-51, 2010.
[13]王安國、林淑惠,影響中共軍隊現代化建設的美軍因素,正修通識教育學報,第1-19頁,,2011。
[14]R. Fante and J. Vaccaro, "Evolution and reduction of multipath-induced bias on GPS time-of-arrival," IEEE Transactions on Aerospace and Electronic Systems, vol. 39, no. 3, pp. 911920-, July 2003.
[15]S. A. Golden and S. S. Bateman, "Sensor measurements for Wi-Fi location with emphasis on time-of-arrival ranging", IEEE Trans. Moblile Comput, vol. 6, pp.1185, 2007.
[16]蔡宜君,用ZigBee實現Room-based室內定位之U化校園服務,國立中山大學資訊工程學系碩士論文,2005。
[17]C. Drane, M. Macnaughtan and C. Scott, "Positioning GSM telephones," in Communications Magazine, vol. 36, pp. 46-54, 59, 1998.
[18]J. Arias, A. Zuloaga, J. Lazaro, J. Andreu and A. Astarloa, "Malguki: an RSSI based ad hoc location algorithm", Microprocessors and Microsystems, volume 28, issue 8, pp. 403-409, 2004.
[19]Y. T. Chen, C. L. Yang, Y. K. Chang and C. P. Chu, "A RSSI-based Algorithm for Indoor LocalizationUsing ZigBee in Wireless Sensor Network," in Proc. of the 15th International Conference on Distributed Multimedia Systems (DMS 2009), pp. 70-75, 2009.
[20]陳志誠,使用無線觸發器之室內特徵定位系統研究,交通大學資訊學院資訊科技產業專班學位論文,2009。
[21]莊承軒,利用ZigBee實現Room-based室內定位之U化校園服務,樹德科技大學資訊工程系碩士班碩士論文,2008。
[22]M. Bouet and G. Pujolle, "A range-free 3-D localization method for RFID tags based on virtual landmarks," in IEEE PIMRC, pp. 1-5, 2008.
[23]S. Park and S. Hashimoto, "Autonomous mobile robot navigation using passive RFID in indoor environment", IEEE Trans. Ind. Electron, vol. 56, pp.2366, 2009.
[24]C. Liu, K. Wu and T. He "Sensor localization with ring overlapping based on comparison of received signal strength indicator", Proc. IEEE MASS, pp.516, 2004.
[25]H. C. Chu and R. H. Jan, "A cell‐based location‐sensing method for wireless networks," in Wireless Communications and Mobile Computing, vol. 3, pp. 455-463, 2003.
[26]D. Niculescu and B. Nath, "DV Based Positioning in Ad Hoc Networks," in Telecommunication Systems, vol. 22, pp. 267-280, 2003.
[27]L. M. Ni, Y. Liu, Y. C. Lau and A. P. Patil, "LANDMARC: Indoor Location Sensing Using Active RFID," in Wireless Networks, vol. 10, pp. 701-710, 2004.
[28]Y. Zhao, Y. Liu and L. M. Ni, "VIRE: Active RFID-based Localization Using Virtual Reference Elimination," in Parallel Processing, pp. 56-56, 2007.
[29]呂志銘,無線射頻系統涵蓋範圍研究,東海大學資訊工程學系研究所碩士論文,2010。
[30]R. W. Woodings and M. Gerrior, "Avoiding Interference in the 2.4-GHz ISM Band," in Microwave Engineering Online, 2005.
[31]鄭群星,RFID原理,台北:全華科技,2011。
[32]林傑斌、林川雄、劉明德,SPSS 12 統計建模與分析程序,台北:文魁資訊,2005。
[33]賴鐵軍、郭祝武,應用統計學,台北:文魁資訊,2003。


電子全文 電子全文(本篇電子全文限研究生所屬學校校內系統及IP範圍內開放)
QRCODE
 
 
 
 
 
                                                                                                                                                                                                                                                                                                                                                                                                               
第一頁 上一頁 下一頁 最後一頁 top