國立臺南大學專任教師基本資料
姓名朱明毅
系所資訊工程學系
校內分機7802
EMAILmyju@mail.nutn.edu.tw
辦公室XC309-1
網址http://mail.nutn.edu.tw/myju
專長/研究領域智慧型機器人系統、機器人視覺、機器學習、最佳化理論
學位畢業學校國別主修學門修業期間
學士大同工學院中華民國電機工程系 1993
博士國立中正大學中華民國電機工程研究所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： 學術專書
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著作名稱：A fuzzy CMAC Learning Approach to Image Based Visual Servoing System
年度：2021
類別： 期刊論文 Information Sciences
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著作名稱：A Virtual Torque-Based Approach to Kinematic Control of Redundant Manipulators
年度：2017
類別： 期刊論文 IEEE Transactions on Industrial Electronics
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
著作名稱：Diameter Variability of Hypercubes
年度：2014
類別： 期刊論文 Theoretical Computer Science
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
著作名稱：Speed alteration strategy for multijoint robots in co-working environment
年度：2003
類別： 期刊論文 IEEE Transactions on Industrial Electronics
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著作名稱：A propagating interface model strategy for global trajectory planning among moving obstacles
年度：2002
類別： 期刊論文 IEEE Transactions on Industrial Electronics
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著作名稱：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
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著作名稱：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
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著作名稱：Policy Sharing using Aggregation Trees for Q-learning in a Continuous State and Action Spaces
年度：2020
類別： 期刊論文 IEEE Transactions on Cognitive and Developmental Systems
摘要：Q-learning is a generic approach that uses a finite discrete state and an action domain to estimate action values using tabular or function approximation methods. An intelligent agent eventually learns policies from continuous sensory inputs and encodes these environmental inputs onto a discrete state space. The application of Q-learning in a continuous state/action domain is the subject of many studies. This study uses a tree structure to approximate a Q-function using in a continuous state domain. The agent selects a discretized action with a maximum Q-value and this discretized action is then extended to a continuous action using an action bias function. Reinforcement learning is difficult for a single agent when the state space is huge. This proposed architecture is also applied to a multi-agent system, wherein an individual agent transfers its useful Q-values to other agents to accelerate the learning process. Policy is shared between agents by grafting the branches of trees in which Q-values are stored to other trees. The results for simulation show that the proposed architecture performs better than tabular Q-learning and significantly accelerates the learning process because all agents use the sharing mechanisms to cooperate with each other.
關鍵字：Q-learning , Policy sharing , Tree structure , Multi-agent system
著作名稱：A Neuro-Fuzzy Visual Servoing Controller for an Articulated Manipulator
年度：2018
類別： 期刊論文 IEEE Access
摘要：The challenges of selecting appropriate image features, optimizing complex nonlinear computations and minimizing the approximation errors always exist in visual servoing. A fuzzy neural network controller is developed for a six-degrees-of-freedom robot manipulator to perform visual servoing is proposed to tackle these problems. To increase the accuracy of the image preprocesses, a synthetic image process performs feature extraction for the controller. The method combines a support vector machine contour recognition algorithm and a color-based feature recognition algorithm. For visual servoing, a control method based on the fuzzy cerebellar model articulation controller with the Takagi–Sugeno framework (FCMAC-T-S) is proposed to directly map an image feature error vector to a desired robot end-effector velocity. This approach achieves visual servoing control without the need of computing the inverse interaction matrix. The control variables are learned and updated by the T-S fuzzy inference. This simplifies the implementation of visual servoing in real-time applications. The proposed control method is used to control an articulated manipulator with an eye-in-hand configuration. The results of simulations and experiments demonstrate that the proposed visual servoing controller has good performance, in terms of stability and convergence.
關鍵字：CMAC, robotic manipulator, T-S fuzzy, visual servoing
著作名稱：Path Planning Using a Hybrid Evolutionary AlgorithmBased on Tree Structure Encoding
年度：2014
類別： 期刊論文 Scientific World Journal
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.
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著作名稱：Changing the Diameter in a Diagonal Mesh Network
年度：2013
類別： 期刊論文 Journal of Information Science and Engineering
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
著作名稱：Ontology-based information retrieval using fuzzy concept documentation
年度：2010
類別： 期刊論文 Cybernetics and Systems: An International Journal
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著作名稱：Learning fuzzy concept hierarchy and measurement with node labeling
年度：2009
類別： 期刊論文 Information Systems Frontiers
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著作名稱：3D Collision-free Motion Planning based on Collision Index
年度：2002
類別： 期刊論文 Journal of Intelligent and Robotic Systems
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著作名稱：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
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著作名稱：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
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著作名稱：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
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著作名稱：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
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著作名稱：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
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著作名稱：Implementation of Odometry with EKF in Hector SLAM Methods
年度：2018
類別： 期刊論文 International Journal of Automation and Smart Technology
摘要：Map building for plain spatial soundings, such as a long and straight corridor in simultaneous localization and mapping (SLAM) is a challenging problem because of lacks of distinguishable landmarks. Such an environment is highly possible to induce erroneous mapping results, such as alias problems. This paper presents a scan matching algorithm with odometer prediction using Extended Kalman Filter (EKF) and an optimal path planning based on regression subgoals. The scan matching process can relax the problems of local minima by means of an effective correction in the odometrical information. By iterating odometrical corrections in each step of running motion model, the matching result can be better than one only believes in individual information from scanning or odometry. Meanwhile, an optimal path planning utilizing an A* algorithm with a regression method is introduced to ensure a mobile robot be able to move elaborately around the corner and speed up along a straight line. Experiments in an indoor environment have been conducted to verify the effectiveness and validation of the proposed techniques.
關鍵字：SLAM, Autonomous robot, Extended Kalman Filter, Path planning, Regression
著作名稱：基於CMMI資訊安全管理系統之研究
年度：2010
類別： 期刊論文 臺南大學理工研究學報
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著作名稱：A Closed-Form Approach to Trajectory Tracking for 7-DOF Articulated Robots
年度：2014
類別： 會議論文
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.
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著作名稱：Vision-based mobile robot navigation using active learning concept
年度：2013
類別： 會議論文
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著作名稱：Smooth Path planning Using Genetic Algorithms
年度：2011
類別： 會議論文
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著作名稱：Mean Shift Tracking Using Fuzzy Color Histogram
年度：2010
類別： 會議論文
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著作名稱：An Adaptive Biometric System Based on Palm Texture Feature and LVQ Neural Network
年度：2009
類別： 會議論文
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著作名稱：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： 會議論文
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著作名稱：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： 會議論文
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著作名稱：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： 會議論文
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著作名稱：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： 會議論文
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著作名稱：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： 會議論文
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著作名稱：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： 會議論文
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著作名稱：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： 會議論文
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著作名稱：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： 會議論文
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著作名稱：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： 會議論文
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著作名稱：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： 會議論文
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著作名稱：基於手勢辨識之人機介面研究
年度：2011
類別： 會議論文
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著作名稱：家用行動機器人遠端控制系統設計與實作
年度：2011
類別： 會議論文
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著作名稱：複合型演化式演算法於路徑規劃之研究
年度：2011
類別： 會議論文
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著作名稱：基於知識本體之EPG知識管理之研究
年度：2010
類別： 會議論文
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著作名稱：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： 會議論文
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著作名稱：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： 會議論文
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著作名稱：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： 會議論文
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著作名稱：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： 會議論文
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著作名稱：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： 研究計畫成果報告
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著作名稱：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： 研究計畫成果報告
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