Browsing by Author "Hsiao, Jen-Pin"

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Remote Control Realization of Distributed Rescue Robots via the Wireless Network
(2008-01-01)
Yeh, Syh-Shiuh
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Hsu, Cheng-Chung
;
Shih, Tzu-Chiang
;
Hsiao, Jen-Pin
;
Hsu, Pau-Lo
Applications of wireless sensor network (WSN) have been widely developed recently. This paper represents distributed rescue robots applying the techniques of WSN to achieve remote control and monitoring through different sensing devices by integrating the ZigBee and 802.11g. The communication channel between the rescued target and the remote host for transmitting video and voice signals through the 802.11g is established for further motion detection to effectively discover victims.
TARGET POSITION ESTIMATION USING MULTI-VISION SYSTEM IMPLEMENTED ON DISTRIBUTED MOBILE ROBOTS
(2013)
Hsiao, Jen-Pin
;
Yeh, Syh-Shiuh
;
Hsu, Pau-Lo
;
電機工程學系
;
Department of Electrical and Computer Engineering
In this study, a multi-vision system implemented on distributed mobile robots to estimate the target position of an object in the real world was developed. A triangulation method using the colour feature of an object was applied to develop the target position estimation method. The geometrical relationship among mobile robots affects the accuracy of target position estimation; thus, the effects induced by the geometrical relationship were analysed and a fusion method to obtain accurate estimation results was developed. Moreover, a video stabilization method that integrates the block matching method, weighs averaging method, and the Kalman filter design was developed to provide stabilized images to improve the target position estimation accuracy when the distributed mobile robots move on an uneven ground. A method for detecting and eliminating incorrect estimations was further developed to reduce the adverse effects induced by ill-conditioned image quality. Finally, an application related to the cooperative motions of multiple mobile robots demonstrated the feasibility of the multi-vision system and the approaches developed in this study using image- and position-visual servoing techniques.