| Summary: | 博士 === 大同大學 === 機械工程學系(所) === 98 === The binocular vision effect is used to modify the motion of a stereo vision manipulator. The exact distance between the system platform and the object determined by aligning the binocular focus and applying an algorithm that is derived to find the distance of the monocular image. This method shows that a servomotor can be applied to correct the image error while the object is set at the center of the image. If the object can be observed only at one single location, the monocular method can be also used to estimate its action.
The distance between the object and the image lens can be instantaneously determined by adopting the structure of this monocular system and trusting the image data by a vision algorithm. However, for binocular measurement, we can trace the object under a general environment and compare the monocular measurement error and the binocular one.
This second purpose of this thesis is to improve the efficiency of a control system using a multithread digital control design. In this system, the management of a computer’s input and output information is handled appropriately by using a program language. Multithread digital control design is used in the robotic arm’s tracking system. The advantage of this multithread digital control design is to that it activates each procedure running simultaneously when transient overload of the information’s input and output in the control system occurs. Therefore, the time required in the multithread system is shorter than that in a traditional non-thread system in which each procedure is queued for running. In this thesis, case studies of multithread applications used in image tracking and robot control are presented. The results reveal that the speed of the tracking system can be improved by using the multithread technique under an immediate procedure plan. Recently, the multithread technique, which is superior in improving tracking speed, has become essential for feedback control systems in which many signals are transmitted, resulting in a time lag in the system’s response.
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