Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/8406
標題: 主動式老年人行動輔助器之定位與智慧型系統操作
Localization and Intelligent System Operation of an Active Mobile Robotic Assistant for the Elderly People
作者: 王郁昇
Wang, Yu-Sheng
關鍵字: Localization;智慧型系統操作;Intelligent System Operation;Elderly People;Tom;老年人;定位
出版社: 電機工程學系所
引用: References [1] http://www.irobot.com/ [2] http://www.sony.net/Sonyinfo/AIBO/ [3] K. Wada, T. Shibata, T. Saito, and K. Tanie, “Effects of Robot-Assisted Activity for Elderly People and Nurses at a Day Service Cente, ” in Proc. IEEE International Conference on Robotics & Automation, vol. 92, no.11, November 2004. [4] http://www.sony.net/Sonyinfo/QRIO/ [5] M.Pollack, S. Engberg, J/T. Matthews, S. Thrun, L. Brown, D. Colbry, C.Orosz, B.Peintner, S. Ramakrishnan, J. Dunbar-Jacob, C. McCarthy, M. Montemerlo, J. Pineau and N. Roy, “Pearl: A Mobile Robotic Assistant for the Elderly,” Workshop on Automation as Caregiver : the Role of Intelligent Technology in Elderly Care (AAAI), August 2002. [6] B.Graf, M. Hans and R. Schraft “Care-O-bot II—Development of a Next Generation Robotic Home Assistant,” Autonomous Robots, vol. 16, pp.193-205, 2004. [7] http://www.mhi.co.jp/kobe/wakamaru/english/index.html [8] K. H. Park, H. E. Lee, Y. Kim, and Z. Z. Bien, “A Steward Robot for Human-Friendly Human-Machine Interaction in a Smart House Environment” IEEE Transactions on Automation Science and Engineering, vol. 5, no. 1, January 2008 [9] J. A. Castellanos, J. Neira, and J. D. Tardós, “Multisensor Fusion for Simultaneous Localization and Map Building,” IEEE Transactions on Robotics and Automation, vol. 17, no. 6, pp.908 - 914, December 2001 [10] J. Neira, J. D. Tard´os, J. Horn, and G.. Schmidt, “Fusing Range and Intensity Images for Mobile Robot Localization,” IEEE Transactions on Robotics and Automation, vol. 15, no. 1, pp.76-84, February 1999 [11] K. O. Arras, N. Tomatis, R.Siegwart,“Multi-sensor On-the-Fly Localization Using Laser and Vision,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2000. [12] M. J. Mataric, “Integration of representation into goal-driven behaviorbased robots,” IEEE Trans. Robot. Automat., vol. 8, pp. 304-321, June 1992. [13] R. Siegwrt and I. R. Nourbakhsh, Introduction to Autonomous Mobile Robots, A Bradford Book, The MIT Press. [14] K. H. Wong, Laser-Based Pose-Tracking, M.S. Thesis. Department of Electrical Engineering, National Chung-Cheng University, June 2004. [15] P. Jensfelt and H. I. Christensen, “Pose Tracking using Laser Scanning and Minimalistic Environmental Models,” IEEE Transactions on Robotics and Automation, vol. 17, no. 2, pp. 138-147, April 2001. [16] P. S. Maybeck, Stochastic Models, Estimation, and Control, vol.1, New York, Academic Press, 1979. [17] D. Kurth, G. A. Kantor and S. Singh, ”Experimental results in range-only localization with radio,” IEEE/RSJ International Conference on Intelligent Robots and System, vol.1, pp. 974-979, 2003. [18] G. A. Kantor and S. Singh, “Preliminary results in range-only localization and mapping,” Proceedings of the IEEE Conference on Robotics and Automation (ICRA'02), May 2002. [19] D. Kurth, G. A. Kantor and S. Singh, “Experimental Results in Range-Only Localization with Radio,” Proceedings of the 2003 IEEE/RSJ Int. Conference on Intelligent Robotics and Systems (IROS'03), vol.1, pp.974-979, October 2003. [20] T. Tsukiyama, “Navigation system for mobile robots using RFID tags,” IEEE International Conference on Advanced Robotics, pp.TIV-4-1, 2003. [21] D. Hahnel, W. Burgard, D. Fox, K.Fishkin, and M. Philipose, “ Mapping and Localization with RFID Technology,” Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2004. [22] Y.S. Haung, Design and Implementation of a Nursing-Care Walking Assistant for the Elderly, M.S. Thesis, Department of Electrical Engineering, National Chung-Hsing University, June 2005. [23] Y.C. Wang, Mapping and Navigation of a Mobile Robot Assistant for the Elderly People, M.S. Thesis, Department of Electrical Engineering, National Chung-Hsing University, June 2006. [24] E. Prassler, D. Bank, B. Kluge, and M. Hagele, “Key technologies in robot assistants: Motion coordination between a human and a mobile robot,” Proc. 32nd Int. Symp. Robotics, pp. 410-415, 2001. [25] A. Clerentin, L. Delahoche, E. Brassart and C. Drocourt, “Self localization: a new uncertainty propagation architecture,” Journal of Robotics and Autonomous Systems, vol. 52, no.2-3, pp. 151-166, 2005. [26] J. Forsberg, U. Larsson, and A. Wernersson, “Mobile robot navigation using the Range-Weighted Hough transform,” IEEE Robotics and Automation Magazine, vol.2, no.1, pp. 18-26, 1995. [27] D. Kurth, G. A. Kantor and S. Singh, ”Experimental results in range-only localization with radio,” IEEE/RSJ International Conference on Intelligent Robots and System, vol.1, pp. 974-979, 2003. [28] D. W. Burgard, D. Fox, K. Fishkin, and M. Philipose, “Mapping and localization with RFID technology,” IEEE International Conference on Robotics and Automation, pp.1015-1020, 2004. [29] T. Tsukiyama, “Navigation system for mobile robots using RFID tags,” IEEE International Conference on Advanced Robotics, pp.TIV-4-1, 2003. [30] C. J. Wu and C. C. Tsai, “Localization of an autonomous mobile robot based on ultrasonic sensory information,” Journal of Intelligent and Robotic Systems 30, pp. 267-277, 2001. [31] H. H. Lin, C. C. Tsai, and S. M. Hu, “Automatic mapping for an indoor mobile robot assistant using RFID and laser scanner,” Proceeding of the 2007 SICE Annual Conference, Takamatsu, Japan, pp.2102-2108, September 17-20, 2007. [32] A. H. Levesque, and K. Pahlavan, Wireless Information Networks, New York Wiley, 1995. [33] P. T. Szemes, H. Hashimoto, and P. Korondi, “Pedestrian-behavior-based mobile agent control in intelligent space,” IEEE Transactions on Instrumentation and Measurement, vol. 54, no. 6, pp. 2250-2257, 2005. [34] Hung-Hsing Lin, Localization of an Autonomous Mobile Robot Using Fuzzy Extended Information Filters, Ph.D. Thesis, Department of Electrical Engineering, National Chung Hsing University, Taichung, Taiwan, January 2007. [35] S.M. Hu , Multi-Sensory Hybrid Navigation and Human-Robot Interaction of an Active Mobile Robotic Assistant for the Elderly People, M.S. Thesis, Department of Electrical Engineering, National Chung-Hsing University, Taichung, Taiwan, July 2007. [36] K. Kong and D. Jeon “Design and control of an exoskeleton for the elderly and patients,” IEEE/ASME Transactions on Mechatronics, vol.11, no. 4, August 2006.
摘要: 
中文摘要
本論文主旨在發展主動式老年人行動輔助器之定位與智慧型操作系統。RFID系統被應用於建立一智慧型工作環境,智慧型工作環境整合地圖資訊與各個子空間的關聯性,搭配即時的RFID定位方法,得知主動式老年人行動輔助器在空間中的位置與方向角。雷射掃瞄環境資料與即時RFID的資料數據搭配里程計數據,運用FEIF演算法可進一步運算得更精確的機器人定位。RFID系統除了執行定位外,還可運用於使用者身分辨識,建立資料庫針對特定使用者執行事件提醒功能。最後,本文發展一活潑有趣的人機互動系統,搭配使用情境模式,使用者可以藉由觸控螢幕或鍵盤下達指令執行任務。當使用者不舒服或發生意外時,可透過佩戴式Tag 的開關發射緊急訊號,老年人行動輔助器與遠端電腦會即時接收到訊息,相關人員將迅速前往處理。基於操作安全因素,本系統還具備有模糊適應速度遠端監控的功能,透過CCD camera傳送影像至遠端電腦,遠端監視者可隨時觀察使用者情況,意外即將發生時可切換成遙控模式操作老年人行動輔助器避開危險。

Abstract
This thesis presents methodologies and techniques for global localization and intelligent system operation of an active mobile robotic assistant for the elderly people. An intelligent operating environment is setup with RFID system and combines the information of map data and robot position. Via the RFID system to every subspace in the intelligent space, the robot posture will be globally localized. Using RFID system for real-time initial localization method and a laser scanner, it is easy to find position, of the elderly people and the robot in the intelligent space. By integrating the 2-D laser scanning and odometric measurements, the proposed FEIF-based pose estimation method using the well-known wall environment model has been shown capable of keeping track of the continuous poses of the robot navigating on a flat terrain at slow speeds. The RFID system can also be applied to apply to identify the user ID. The robot is also equipped with some event reminder to a specific user. The user can assign commend via touch screen or keyboard and execute the task. When the user feels uncomfortable, he or she will turn on wearing type tag that conveys the signal to remote computer, and then the robot will receive the message immediately, and the security people will go to deal with rapidly. A fuzzy adaptive motion speed is presented to make the robot adapt to the user's speed. For the security reason, the teleoperation by conveying the image to the remote computer through CCD camera is used to avoid some accidents while the robotic autonomous system does not function. Several computer simulations and experimental results are conducted to show the effectiveness and merits of the proposed methods.
URI: http://hdl.handle.net/11455/8406
其他識別: U0005-3107200810432300
Appears in Collections:電機工程學系所

Show full item record
 

Google ScholarTM

Check


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.