國立臺南大學教師基本資料

基本資料
姓名 朱明毅
系所 資訊工程學系
職稱 副教授
校內分機 7802
傳真 (06)2606125
辦公室/研究室 XC309-1
E-mail myju@mail.nutn.edu.tw
網址 http://mail.nutn.edu.tw/myju
專長/研究領域 機器人學、軟式計算、嵌入式系統
 

畢業學校國別主修學門學位修業期間
大同工學院中華民國電機工程系 學士1993
國立中正大學中華民國電機工程研究所博士2001

服務機關部門 / 系所職稱服務期間
中央研究院資訊科學研究所研究助理1999/03~2000/02
義守大學資訊工程學系助理教授2003/08~2006/07
國立臺南大學電子計算機中心資訊系統組組長2007/08~2008/07
國立臺南大學電子計算機中心行政及服務組組長2009/02~2010/07

著作
名稱黃國勝, 林知行, 朱明毅, 楊晴和, 模組式機器人之機電製作實務, 1998
年度1998
類別專書
摘要 
關鍵字 
名稱K. S. Hwang, M. D. Tsai, and M. Y. Ju, “Constant speed trajectory planning of two-link mobile robots,” Journal of Control Systems and Technology, vol. 4, no. 1, pp. 13-22, 1996 (EI)
年度1996
類別期刊論文
摘要 
關鍵字 
名稱K. S. Hwang, M. Y. Ju, and C. F. Chang, “Systematic transformation between coordinate specifications for robotic system,” Journal of The Chinese Institute of Electrical Engineering, vol. 4, no. 4, pp. 327-335, Nov. 1997 (EI)
年度1997
類別期刊論文
摘要 
關鍵字 
名稱K. S. Hwang and M. Y. Ju, and S. P. Hsu, “Polymorphic autonomous architecture for mobile robot navigation,” Journal of Information Science and Engineering, vol. 15, no. 5, pp. 737-761, 1999 (SCIE)
年度1999
類別期刊論文
摘要 
關鍵字 
名稱K. S. Hwang and M. Y. Ju, “Rule base refactoring design for fuzzy logic controllers,” Journal of Intelligent Automation and Soft Computing, vol. 7, no. 4 , pp. 221-231, 2001 (SCIE)
年度2001
類別期刊論文
摘要 
關鍵字 
名稱M. Y. Ju, J. S. Liu, S. P. Shiang, Y. R. Chien, K. S. Hwang and W. C. Lee, “Fast and accurate collision detection based on enclosed ellipsoid,” Robotica, vol. 19, pp. 381-394, 2001 (SCIE)
年度2001
類別期刊論文
摘要 
關鍵字 
名稱K. S. Hwang and M. Y. Ju, “3D collision-free motion planning based on collision index,” Journal of Intelligent and Robotic Systems, vol. 33, no. 1, pp. 45-60, 2002 (SCIE)
年度2002
類別期刊論文
摘要 
關鍵字 
名稱K. S. Hwang and M. Y. Ju, “A propagating interface model strategy for global trajectory planning among moving obstacles,” IEEE Transactions on Industrial Electronics, vol. 49, no. 6, pp. 1313-1322, 2002 (SCI)
年度2002
類別期刊論文
摘要 
關鍵字 
名稱M. Y. Ju, J. S. Liu and K. S. Hwang, “Real-time velocity alteration strategy for collision-free trajectory planning of two articulated robot manipulators,” Journal of Intelligent and Robotic Systems, vol. 33, no. 2, pp. 167-186, 2002 (SCIE)
年度2002
類別期刊論文
摘要 
關鍵字 
名稱K. S. Hwang and M. Y. Ju, “Speed planning for a maneuvering motion,” Journal of Intelligent and Robotic Systems, vol. 33, no. 1, pp. 25-44, 2002 (SCIE)
年度2002
類別期刊論文
摘要 
關鍵字 
名稱Speed alteration strategy for multijoint robots in co-working environment
年度2003
類別期刊論文
摘要
關鍵字
名稱Learning fuzzy concept hierarchy and measurement with node labeling
年度2009
類別期刊論文
摘要
關鍵字
名稱Ontology-based information retrieval using fuzzy concept documentation
年度2010
類別期刊論文
摘要
關鍵字
名稱李健興, 郭怡鈴, 王元良, 梁鴻德, 林雅雯, 陳彥良, 王美慧, 朱明毅
年度2010
類別期刊論文
摘要
關鍵字
名稱Changing the Diameter in a Diagonal Mesh Network
年度2013
類別期刊論文
摘要Communication speed in a parallel and distributed system is related to the diameter of its underlying graph. The diameter of a graph can be affected by the addition or deletion of edges. In this paper we study how the diameter variability problem arises from change of edges of an m × n diagonal mesh, where m and n are not both even integers. We show that the least number of edges whose deletion from an m × n diagonal mesh will increase the diameter is no more than 2, and that the least number of edges whose addition to an m × n diagonal mesh causes the diameter to decrease is no more than m/2n.
關鍵字diameter, diagonal mesh network, torus, vertex-disjoint path, hypercube
名稱Path Planning Using a Hybrid Evolutionary Algorithm Based on Tree Structure Encoding
年度2014
類別期刊論文
摘要A hybrid evolutionary algorithm using scalable encoding method for path planning is proposed in this paper. The scalable representation is based on binary tree structure encoding. To solve the problem of hybrid genetic algorithm and particle swarm optimization, the “dummy node” is added into the binary trees to deal with the different lengths of representations.The experimental results show that the proposed hybrid method demonstrates using fewer turning points than traditional evolutionary algorithms to generate shorter collision-free paths for mobile robot navigation.
關鍵字
名稱Diameter Variability of Hypercubes
年度2014
類別期刊論文
摘要A parallel and distributed system is usually represented by a graph. The maximum communication delay between any pair of processors in a parallel and distributed system can be determined by the diameter of its underlying graph. The diameter of a graph can be affected by the addition or deletion of edges. In this paper, we show that the diameter of an n-dimensional hypercube can be decreased by k with the addition of 22k?1 edges for 1 ? k ? n/2.
關鍵字Diameter, Hypercube, Folded hypercube, Supergraph
名稱A Virtual Torque-Based Approach to Kinematic Control of Redundant Manipulators
年度2017
類別期刊論文
摘要This paper presents an inverse kinematics algorithm for a redundant manipulator. The proposed approach combines analytical and numerical methods to solve generalized inverse kinematics problems simultaneously in both free and constrained working spaces. The method introduces a virtual repulsive torque imposed by the topological configuration of robot links, joint limits, and obstacles with motion trajectories. The method calculates the shortest distances between joint limit, links, and obstacles. Links of manipulator and obstacles are modeled in ellipsoids so as to evaluate the minimum distances between obstacles and links of a redundant robot. Virtual repulsive torques imposed on links are estimated based on the shortest distances between these ellipsoidal objects. A numerical method obtains the tendency of major joints movements and calculates their potential velocities by composing these acting torques. In trajectory tracking, collision avoidance occurring on links can finally be achieved by utilizing the characteristics of joint redundancy. The validity and efficiency of the proposed method are measured in simulations of movement along trajectories in terms of a defined index of motion availability, by which it verifies that the method is not only feasible to constrained motions but also has better performances in free motions than inverse Jacobian techniques.
關鍵字 Redundant Manipulators, Manipulator Kinematics, Collision Avoidance
名稱K. S. Hwang and M. Y. Ju, “A self-organized CMAC for robot manipulator control,” IASTED Int. Conf. Intelligent Systems and Control, pp. 210-213, Halifax, Canada, 1998
年度1998
類別研討會
摘要 
關鍵字 
名稱K. S. Hwang and M. Y. Ju, “Auto-agent: a behavior-based architecture for mobile navigation,” SPIE Vol. 3523, Sensor Fusion and Decentralized Control in Robotic Systems, pp. 48-56, 1998
年度1998
類別研討會
摘要 
關鍵字 
名稱K. S. Hwang and M. Y. Ju, “Global path planning of mobile robots based on propagating interface technique,” IEEE Int. Conf. on System, Man, and Cybernetics, vol. 4, pp. 662-667, Tokyo, Japan, 1999
年度1999
類別研討會
摘要 
關鍵字 
名稱K. S. Hwang and M. Y. Ju, “Collision free speed profile generation for a maneuvering motion,” IEEE Int. Conf. on System, Man, and Cybernetics, vol. 4, pp. 708-713, Tokyo, Japan, 1999
年度1999
類別研討會
摘要 
關鍵字 
名稱M. Y. Ju, J. S. Liu, S. P. Shiang, Y. R. Chien, K. S. Hwang and W. C. Lee, “Fast and accurate collision detection based on enclosed ellipsoids,” The Sixth International Conference on Control, Automation, Robotics and Vision (ICARCV2000), pp. TM7.6#273, Singapore, 2000
年度2000
類別研討會
摘要 
關鍵字 
名稱5. M. Y. Ju, J. S. Liu and K. S. Hwang, “Velocity alteration strategy for collision-free trajectory planning of two robots,” The International Computer Symposium: Workshop on Artificial Intelligence, pp. 187-194, Chaiyi, Taiwan, 2000
年度2000
類別研討會
摘要 
關鍵字 
名稱M. Y. Ju, J. S. Liu, S. P. Shiang, Y. R. Chien, K. S. Hwang and W. C. Lee, “A novel collision detection method based on enclosed ellipsoids,” IEEE Int. Conf. on Robotics and Automation, vol. 3, pp. 2897-2902, Korea, 2001
年度2001
類別研討會
摘要 
關鍵字 
名稱K. S. Hwang , J. Y. Chiou, M.Y. Ju, and Y. S. Chu, “Navigation based on sonar sensing in a partially structured environment,” IEEE Int. Conf. Neural Networks & Signal Processing, vol. 1, pp. 454-456, Nanjing, China, 2003
年度2003
類別研討會
摘要 
關鍵字 
名稱1. M. H. Jing, M. Y. Ju, C. S. Lee, J. L. Lee, and Y. C. Lin, “The study of a handy development set for an automatic inspection system,” AOI Forum & Show 2004, pp. 31-32, NCTU, Hsinchu, Taiwan, 2004
年度2004
類別研討會
摘要 
關鍵字 
名稱C. H. Hu, M. Y. Ju and B. C. Chien, Learning Fuzzy Taxonomy for Ontology Construction from Semi-Structured Data, in Proceedings of 2006 Multimedia and Networking Systems Conference, Kaohsiung, Taiwan, Dec. 16, 2006
年度2006
類別研討會
摘要 
關鍵字 
名稱B. C. Chien, C. H. Hu and M. Y. Ju, "Intelligent Information Retrieval Applying Automatic Constructed Fuzzy Ontology," in Proceedings of The 6th international Conference on Machine Learning and Cybernetics, Aug. 19-22, 2007, Hong-Kong.
年度2007
類別研討會
摘要
關鍵字
名稱B. C. Chien, C. H. Hu and M. Y. Ju, "Learning Fuzzy Concept Hierarchy and Measurement with Node Labeling," in Proceedings of the 2007 International Workshop on Intelligent Systems and Smart Home, joint with the Fifth International Symposium on Parallel and Distributed Processing and Applications, pp. 163-172, Niagara Falls, Canada, Aug. 28- Sept. 1, 2007.
年度2007
類別研討會
摘要
關鍵字
名稱An Adaptive Biometric System Based on Palm Texture Feature and LVQ Neural Network
年度2009
類別研討會
摘要
關鍵字
名稱以視覺為基礎之高速公路交通資訊擷取系統研究
年度2009
類別研討會
摘要
關鍵字
名稱基於知識本體之EPG知識管理之研究
年度2010
類別研討會
摘要
關鍵字
名稱Mean Shift Tracking Using Fuzzy Color Histogram
年度2010
類別研討會
摘要
關鍵字
名稱Smooth Path planning Using Genetic Algorithms
年度2011
類別研討會
摘要
關鍵字
名稱基於手勢辨識之人機介面研究
年度2011
類別研討會
摘要
關鍵字
名稱家用行動機器人遠端控制系統設計與實作
年度2011
類別研討會
摘要
關鍵字
名稱複合型演化式演算法於路徑規劃之研究
年度2011
類別研討會
摘要
關鍵字
名稱Vision-based mobile robot navigation using active learning concept
年度2013
類別研討會
摘要
關鍵字
名稱使用微軟Kinect實現移動式機器人之環境感知與導航功能
年度2013
類別研討會
摘要
關鍵字
名稱A Closed-Form Approach to Trajectory Tracking for 7-DOF Articulated Robots
年度2014
類別研討會
摘要A hybrid evolutionary algorithm using scalable encoding method for path planning is proposed in this paper. The scalable representation is based on binary tree structure encoding. To solve the problem of hybrid genetic algorithm and particle swarm optimization, the “dummy node” is added into the binary trees to deal with the different lengths of representations.The experimental results show that the proposed hybrid method demonstrates using fewer turning points than traditional evolutionary algorithms to generate shorter collision-free paths for mobile robot navigation.
關鍵字
名稱M. Y. Ju, J. S. Liu, S. P. Shiang, Y. R. Chien, K. S. Hwang and W. C. Lee, Fast and accurate collision detection based on enclosed ellipsoid, Academia Sinica, 2000
年度2000
類別技術報告
摘要 
關鍵字 
名稱M. Y. Ju, J. S. Liu and K. S. Hwang, Ellipsoid modeling for articulated robot manipulators for interactive motion planning, Academia Sinica, 2000
年度2000
類別技術報告
摘要 
關鍵字