以頭部姿勢辨識應用於家電與足型機器人之研究; Application of Head Posture Recognition Control in Home Electric Appliance and Hexapod Robot

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Title:	以頭部姿勢辨識應用於家電與足型機器人之研究;Application of Head Posture Recognition Control in Home Electric Appliance and Hexapod Robot
Authors:	陳俊達;Jun-Da Chen
Contributors:	電機工程研究所
Keywords:	殘障輔具;足型機器人;二維線性鑑別分析;主成份分析;人臉偵測;影像處理;Assistive Technology;Hexapod Robot;Two-dimensional Linear Discriminant Analysis;Principle Component Analysis;Face Detection;Image Processing
Date:	2009-06-22
Issue Date:	2009-09-22 12:17:52 (UTC+8)
Publisher:	國立中央大學圖書館
Abstract:	本篇論文提出以頭部轉動姿勢為控制訊號來控制家電與足型機器人的方法，主要是利用影像處理技巧來偵測出人臉所在區塊與多變量分析法中的二維線性鑑別分析法(Two-Dimensional Linear Discriminant Analysis, TDLDA)來擷取出頭部姿勢特徵，然後利用辨識出的頭部姿勢結果，如頭部正面、朝上、朝下、朝左、朝右，搭配家電控制流程機制，來控制電視的開關、音量與頻道切換，或者控制冷氣的開關、溫度的設定。以及應用頭部姿勢方向透過無線通訊模組來傳送電腦的控制命令，來控制順從式足型機器人的停止、前進、後退、左轉及右轉的動作。讓肢體障礙者可能因生病或意外傷害而失去其自由行動的能力，尤其是手部或足部功能有障礙的人士，利用本套家電自動化控制系統，可以輕鬆的控制家電使得居家生活更為便利。並且利用足型機人來模擬電動輪椅的控制，使無法行動或行動不便者也能夠利用本控制系統自由的行動。 The goal of this paper is to develop a head-pose recognition system to control the home electric appliance and a hexapod robot. The techniques of image processing and two-dimensional linear discriminant analysis are used to recognize the pose of head, such as front, up, down, left and right, to control by the process of electrical control. Then it can be used to control the switch, volume and channel of TV, or the power and temperature of AC. Otherwise it can also be used to operate the movement of a hexapod robot like stop, go forward or backward, turn left and turn right by using wireless equipments to deliver the order. For some disabled people who suffered from illness or accident, especially hands and feet injury, this system can help them to control home electric appliances easily. Besides we can invent electrical wheelchairs which are simulated by hexapod robot, combine with the system introduced in this paper. People who have trouble with moving can use this new wheelchair to move easily and conveniently.
Appears in Collections:	[Graduate Institute of Electrical Engineering] Electronic Thesis & Dissertation

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