本篇論文提出一個遠端虛擬控制的釣魚系統。利用特製的穿戴
式裝置再搭配慣性及磁性感測器(加速度計與電子羅盤)，量測出人
體手臂關節的角度資訊，並透過 SPI 協定(Serial Peripheral 
Interface)的無線傳輸技術，遠端控制三軸的虛擬釣魚平台。為了
達到及時的目標，本文利用核心為 ARM (Advanced RISC Machine) 
Cortex-M3 之微處理器 STM32F103 平台實現分時多工及多執行緒的
機制，並將更新頻率設為 10Hz，有效提升處理速度。實驗結果證實
此系統之可行性。

This thesis presents an inertial-sensor-based remote control of a virtual robot arm for fishing. A sleeve with built-in inertial and magnetic sensors (accelerometer and electronic compass) is utilized to capture human arm posture. Then the collected kinematic data is transmitted through a wireless transmission technology to remote control a tri-axial virtual robot arm for restoring human arm posture on fishing.
    For the purpose of real-time control, the microcontroller STM32F103VC that incorporates the high-performance ARM Cortex-M3 RISC processor core is adopted to implement the time division multiplexing and multi-threading mechanisms on the remote control system. With the frequency setting updated to be 10Hz, the response speed of the system is satisfactory. Experiment shows the viability of the proposed system.

目錄
中文摘要............................................................................................................I
英文摘要..........................................................................................................II
目錄.................................................................................................................III
圖目錄..............................................................................................................V
表目錄.............................................................................................................IX
第一章 緒論………………...……………………………….…….……..…1
1.1 研究動機……………………….………………………………...…1
1.2 文獻回顧與探討…………………………………………..…...…2
1.3 論文綱要……………………………………………..……..…...…5
第二章 背景知識………………………...………..………….……...………6
2.1 加速度計原理簡介………..………….……..…………………...…6
2.2 電子羅盤….………………….…..….………………….….…...…11
2.3 I2C 同步串列通訊……………………………………………..…14
2.4 U-POWER500D 無線模組…………….…………….………..…18
2.5 SPI 串列通信原理….……….…………………………….…..…20
2.6 MSP430 微處理器………………………….…………….…..…22
2.7 ARM Cortex-M3 STM32F103VC 介紹…………..…….….…..…24
第三章 遠端虛擬控制釣魚系統……………..……….………..…………..26
3.1 系統設計方法……………………………………….....…...…..…26
3.2 穿戴式感應裝置…………………………….……………...…..…29
3.3 感應裝置硬體設計與實現………..….…….…….…..……..….…31
3.4 感應裝置軟體設計…….…………………….……….…...…....…38
3.5 虛擬釣魚裝置……………………….………………..……………44
3.6 移動平均濾波器……………………………….………….........…49
3.7 三軸虛擬釣魚機械臂…………………………..…….……...……50
第四章 實驗結果…………….……………......…….………..……..……...56
第五章 結論與未來展望……….....…………..………………………...….60
5.1 結論……………………………….………………….…………....60
5.2 未來展望………………………….…………………..………..….61
參考文獻………………………….…….………..……………..………..….63

圖目錄
圖 2.1 壓阻式加速度為零………………………………………….………7
圖2.2 慣性力產生電阻變化…………………………………….…………7
圖2.3 電容式加速度為零……………………………….…………………8
圖2.4 慣性力產生電容變化……………………………….………………8
圖2.5 LSM303DLH架構圖……………..………….……………………10
圖2.6 加速度計移動前…………………...………………………………10
圖2.7 移動後產生傾斜角度θ……………………………………………10
圖2.8 AMR 感測器內部結構..…………..………………………………12
圖2.9 I2C 信號線連接方式..…………..……………...…………………15
圖2.10 I2C 開始信號與停止信號……………….…………..……………16
圖2.11 I2C Master 與 Slave SDA 資料信號交換………..……..………16
圖2.12 完整I2C資料轉換………………...………………………………17
圖2.13 U-POWER500D 無線模組……………..…………………………18
圖2.14 UZ2400 內部架構圖..…………………………….………….……19
圖2.15 SPI 連接方式………………..……………………………….……21
圖2.16 SPI 多Slave 連接方式…………….…………………….………22
圖2.17 MSP430F2274 內部架構圖……………………..……….………23
圖2.18 STM32F103VC 架構圖……………..……..……………………..25
圖3.1 情境模擬的示意圖…………………………........…………………27
圖3.2 系統架構圖…………..…..…………………………………………28
圖3.3 系統功能圖…….…………………………...………………………28
圖3.4 人體手臂座標圖………..………..……………....…………………29
圖3.5 人體手臂移動示意圖………………..…..…………………………30
圖3.6 穿戴式感應裝置實體圖……..……………………..………………30
圖3.7 感測器裝置基本架構………..……………………..………………31
圖3.8 感測器I2C接線方式………………………………….……………32
圖3.9 虛擬釣魚系統無線網路架構…………...….……...…….…………33
圖3.10 MSP430 與UZ2400 的接線方式 ….………......…………………33
圖3.11 電池電壓偵測電路………………….……….……………………35
圖3.12 手臂感測器裝置電路圖……………….……….…………………36
圖3.13 手臂感測器裝置………………………………..…………………37
圖3.14 無線網路傳輸方式……………..…………………………………39
圖3.15 感應器裝置狀態機…………………….…...……………………..40
圖3.16 手部感應裝置所傳送資料封包格式………….…………...……..42
圖3.17 IAR 軟體開發環境……………………………………………..…43
圖3.18 MSP-FET430UIF 線上偵錯與燒錄……….……………………...43
圖3.19 STM32F103VC 開發板………….…..……………………………44
圖3.20 被控端之架構圖……….……..………………………………...…45
圖3.21 被控端之狀態機………….….…………...………….……………46
圖3.22 利用DMA透過UART傳輸資料到電腦………….…..….………48
圖3.23 直接由ARM 核心處理UART 所需要的資料……….…………48
圖3.24 移動平均濾波器視窗移動………….…………..……..….………49
圖3.25 移動平均濾波器遮罩………….…..…..………….....……………50
圖3.26 三軸虛擬釣魚機械臂…………...….…………….……….………51
圖3.27 deploytool 建立專案轉成.NET 之dll…………..………..………52
圖3.28 C# 將dll 加入參考並使用………………..…..………….………52
圖3.29 虛擬釣魚平台GUI……………………………….…..…….......…53
圖3.30 方位角換算流程圖…………….………………….………………54
圖3.31 禁止區域示意圖……………..…......………..……………………55
圖4.1 遠端操控三軸虛擬釣魚平台………………………..…………..…56
圖4.2 濾波器效能實驗……………….………………………………...…57
圖4.3 拋竿時第三軸(手腕)軌跡追蹤結果……………..…………..….…58
圖4.4 拋竿時第二軸(手肘)軌跡追蹤結果………..….………..…..…..…58
圖4.5 左右移動時第一軸軌跡追蹤結果…………..……..…………....…59

表目錄
表 2.1 壓阻式與電容式加速度計特性比較表……………………………9
表 2.2 加速度計及電子羅盤之特性比較表………….……………..…14
表 2.3 I2C 裝置定義………..…………….………………………….……15
表 3.1 MSP430 IO Port 列表…………….………………………………38

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