Real-time System Fault Tree Minimal Cut Sets Solving

对于传统系统，实时系统的安全性和可靠性的分析缺乏类似的定量评价方法。故障树分析是已被广泛应用于许多行业的系统可靠性分析方法，然而，由于它的语义表达能力有限，因此不能够在实时系统中进行与复杂顺序依赖和时间约束有关的可靠性分析。文章将故障树的语义进行延伸，使复杂顺序依赖和时间约束可以够被故障树所表示，并使故障树分析方法应用到实时系统中。 但是，故障树的最小割集的不能由传统方法求解在延伸语义之后。针对此问题，文章采用时间自动机对实时系统的故障树进行建模，并在其基础上使用模型检验的方法求解最小割集。验证表明，扩展故障树模型后，模型检验得出时间自动机的最小割集可以适用于实时系统的安全性和可靠性分析。 ...The analysis of the safety and reliability for real-time systems lacks quantitative evaluation methods, which commonly work for traditional systems. The Fault Tree Analysis, a reliability analysis method that has been widely applied to many industry systems, is not considered applicable to reliability analysis for real-time systems, due to its limited expressive capability which is unable to descr...学位：工程硕士院系专业：软件学院_工程硕士(软件工程)学号：X201223105

數位內容著作權管理之研究-以線上學習（e-learning）為例

網際網路的出現對我們的生活造成了重大的改變，我們面臨的是一個全新的世界。不論是工作模式、娛樂型態皆產生極大的變化，那網際網路下一步是什麼？思科系統執行長 錢伯斯（John Chambers）告訴了我們一個答案：「網際網路中成長最巨，而日後也會證實是促進變革的最大動力，就是e-learning。」數位科技使得內容變成了「數位內容」，帶來了相當多的便利，但同時也帶來了許多的改變，不論是產業面、科技面、法律面或是管理面，皆須面臨新的挑戰與新的議題。 本研究除了二手資料的收集外，並針對e-learning個案公司做深入的訪談，從資源、著作權、數位課程開發流程等構面進行探討研究，分析歸納出e-learning業者如何進行數位課程的管理，以及既有資源是否影響其數位課程管理策略，並且對於e-learning公司在經營數位課程所會遭遇到的著作權議題進行初步的研究與探索。本研究的研究目的如下： 一、探討e-learning業者數位課程管理模式。 二、探討e-learning業者既有資源與數位課程管理間的關係。 三、探討數位課程的開發流程與著作權相關之議題。 四、探討數位課程著作權管理模式。 本研究架構乃先由個案訪談的結果收集個案公司所擁有的既有資源、數位課程開發流程以及數位課程管理方式，且藉由資源基礎論中對於資源的運用方式，分析解構個案公司其數位課程管理策略。而後以既有資源研究其對數位課程管理策略之影響，與以著作權的觀點探討數位課程開發流程中，所產生的著作權議題，並將兩者所得之結論，加以整合描繪出數位課程著作權管理模式。本研究引用經營策略與資源基礎論等相關文獻，來探討e-learning業者如何進行管理數位課程。本研究主要在說明所觀察現象的具體意義，而非嚴謹的在驗證變數間的因果關係，屬於探索性研究，故採定性研究之「個案研究」法，以個案訪談和次級資料蒐集的方式來瞭解企業實際運作情形。 本研究所得之結論如下： 在課程素材取得階段，課程素材取得策略有內尋策略、外尋策略。著作權議題則為與課程素材提中者簽訂課程素材授權（讓與）契約、課程素材著作權的保證。 在數位課程取得階段，數位課程取得策略有自製策略、委製策略、取得授權策略、買斷策略。著作權議題則為與數位課程開發人員進行數位課程著作權歸屬契約的簽訂、對數位課程開發人員進行著作權的教育。 在數位課程運用階段，數位課程運用策略有內訓策略、教學策略、委用策略、 賣斷策略。著作權管理議題則有與數位課程使用者進行契約的簽訂、數位課程其著作類型是多媒體著作、數位課程著作權保護方式的進行。 而個案公司在面臨數位課程時所採行的事業策略則有核心策略、合作策略、專業代製策略、通路策略。 此外，根據研究發現得知，個案公司在進行e-learning之前所擁有的既有資源，會影響個案公司各階段所採行的數位課程管理策略。 而在其他發現，在外部經營問題主要為市場需求不足，而內部經營問題則為教師合作意願不高、缺乏跨領域專業課程企畫人才、缺乏整合性業務人員。The rise of internet has changed people’s life style dramatically. Nowadays, we are facing a whole new world. E-learning is considered as the star of the next century. Even John Chambers once mentioned that “the next big killer application for the Internet is going to be education.” Digital technique has digitalized the existing contents. Internet does not only deliver much convenience, however, internet related topics are also conducted and challenged from the perspectives of industry, law, and management. The objective of this thesis is to examine 1) The general framework for e-learning management model, 2) The relationship between the primarily resources and the management on e-learning, 3) The instructional development process for e-learning and its related copyright issues, and 4) Management model for copyrights on digital contents. The method of this research is primarily based on case study, six e-learning related companies. The interviews with the e-learning companies have contributed the great insights about the information of company resources, development process of digital content, and the modes of content management. Furthermore, collected information from the interviews has been analyzed about how original resources affect the digital content management strategy and the copyright issues in the development process of digital content. This study has found that there are four stages: Instructional material acquisition, digitalized course acquisition, digital course application stage, and business Strategy. In the Instructional material acquisition stage, the strategies of acquiring the instructional materials for e-learning is in-house finding, outsourcing or both. Licensing contracts and guarantees on course materials become an important issue when dealing with the material providers. In the digitalized course acquisition step, the strategies are self-manufacture, out-source manufacture, copyright acquisition, and buying copyright. The copyright issues are discussed and contracted between company and digital engineers, and in general, the company is responsible for the digital engineers. In the digital course application stage, the strategies are training, teaching, licensing, and selling. The copyright issues are discussed and contracted between company and digital content users. One should notice that the digital contents belong to multi-media. Moreover, in the final stage, core business, collaboration, ODM, channeling are the business strategies that the companies use for e-learning applications. In additional findings, this study found that market demand is the primary problem of e-learning environment, and there are three major problems within the e-learning companies: the motivations of the teachers, the lack of cross boundary-expertise and integrated business manager

Dynamic Walking Analysis and Control of the Biped Robot

本論文主要目的為設計出可平穩移動之雙足步行機器人行走軌跡，製作低成本之伺服控制器，及抑制不可預期之誤差。 研究中使用之受控體是由日本KONDO公司所生產之KHR-1雙足式機器人再額外加裝轉向擴充模組，機身總共包含19個自由度，腳部12個、手部6個以及頭部1個，而控制器方面採用四顆AT89C4051單晶片與1顆S3C2440 ARM9微控制器互相串接而成，晶片彼此之間利用串列主從式多處理機通信進行傳輸。在感測器方面則選擇了可量測機身平衡度之元件，包含有加速度計與陀螺儀，並藉由外接之A/D轉換晶片轉換成數位訊號，藉以量測機身之傾斜角度與角速度。 在軌跡規劃方面採用了離線式(Off-Line)軌跡設計法，經由仿人類步態之分析下，設計出高速且可靠之擺動軌跡，再由矩陣式運動學求解轉軸之轉動角度，利用零力矩點(Zero Moment Point)公式檢驗其軌跡於正常行走下之穩定性，以及可達穩定之最高速軌跡。 在步行之同時，利用Fuzzy控制器修正機身不正常傾斜角，降低非預期誤差所造成之不穩定性。The main purpose of this research is to design a stable walking trajectory for biped robot. It's also hope to produce a low cost servo controller and use high-level controller to reduce unpredictable error. In this research, KHR-1 biped robot which is made by KONDO Inc. Japan, is used with an extra turning module, the robot contains nineteen degrees of freedom, consists of twelve servo motors on the legs, six servo motors on the hands, and one on the head. The controller of this robot is consisted of four Atmel AT89C4051 and one S3C2440 ARM9 microcontrollers. These microcontrollers communicate by the master-slave serial transmission. Gyros and accelerometers are used to body's measure the trunk's tilt angle and angular velocity for the balancing of the robot. The sensors' signals are capturing by an extra A/D convertor chip. In trajectory planning it's then solved by human like walking is used to analysis to find a suitable trajectory and solve it by the off-line trajectory designed method. The rotation angle and mass point position are calculated by homogeneous transformation matrixes, then put it into the Zero-Moment-Point formula is used to check its stability and find its highest walking speed. During the motion of robot walking, we use fuzzy controller is used to revise the abnormal tilt and improve unstable causing by unpredictable error.摘要...........................................i Abstract......................................ii 致謝.........................................iii 目錄..........................................iv 圖目錄.......................................vii 表目錄.........................................x 第1章 緒論....................................1 1.1背景........................................1 1.2 文獻回顧...................................2 1.3 研究目的...................................5 1.4 論文架構...................................6 第2章 人形機器人軟硬體架構....................7 2.1機器人結構..................................7 2.1.1 KHR-1(附加轉彎自由度)....................7 2.1.2伺服馬達(KRS-786ICS Red Version)..........9 2.2感測器.....................................11 2.2.1雙軸高精度陀螺儀(Core: IDG300)...........11 2.2.2雙軸加速度計(傾斜計)(Core: Memsic 2125)..13 2.3控制器選用.................................16 2.3.1 DMA2440.................................16 2.3.2 AT89C4051...............................19 2.4整合控制板設計.............................20 2.5軟體規劃...................................22 2.5.1低階伺服系統.............................22 2.5.2 通訊機制................................23 2.5.3 訊號整合與ARM9命令控制..................26 第3章 人形機器人運動學.......................31 3.1座標系統...................................31 3.2機器人之重心位置...........................34 3.3運動學.....................................36 3.3.1運動學介紹...............................36 3.3.2順向運動學...............................37 3.3.3反向運動學...............................39 3.4零力矩點...................................41 第4章 人形機器人步行分析與設計...............44 4.1人類步行分析...............................44 4.2仿人類步行分析.............................44 4.3人形機器人步行設計.........................45 4.3.1擺動腳軌跡設計...........................46 4.3.2軀幹移動軌跡設計.........................47 4.3.3軌跡模擬&靜／動態穩定度分析..............48 第5章 實驗結果...............................56 5.1開迴路測試結果.............................58 5.2加入FUZZY控制器修正之結果..................60 第6章 結論與未來展望.........................65 6.1結論.......................................65 6.2未來展望...................................65 參考文獻......................................6

一种用于1,5-戊二酸二甲酯加氢制取1,5-戊二醇的催化剂及方法

本发明涉及一种1，5-戊二酸二甲酯加氢制取1，5-戊二醇的催化剂及其制备方法，催化剂是由活性组分氧化铜，助剂氧化锌、氧化铝三组分组成，在催化剂总重量中氧化铜占40％～60％，氧化锌占20％～50％，氧化铝占10％～20％；其制备方法是将铜、锌和铝的可溶性盐类按其重量比混合用水溶解，在加热搅拌下，用碱溶液中和到pH＝7，对其沉淀物进行过滤、洗涤、干燥、焙烧、成型，使用本发明的催化剂进行1，5-戊二酸二甲酯加氢生成1，5-戊二醇，可以实现较低的反应压力，为3～5Mpa，从而能较大地降低生产装置的一次性投资和生产成本，并减小操作的难度。带填

Prediction of Energy Resolution in the JUNO Experiment

International audienceThis paper presents the energy resolution study in the JUNO experiment, incorporating the latest knowledge acquired during the detector construction phase. The determination of neutrino mass ordering in JUNO requires an exceptional energy resolution better than 3% at 1 MeV. To achieve this ambitious goal, significant efforts have been undertaken in the design and production of the key components of the JUNO detector. Various factors affecting the detection of inverse beta decay signals have an impact on the energy resolution, extending beyond the statistical fluctuations of the detected number of photons, such as the properties of liquid scintillator, performance of photomultiplier tubes, and the energy reconstruction algorithm. To account for these effects, a full JUNO simulation and reconstruction approach is employed. This enables the modeling of all relevant effects and the evaluation of associated inputs to accurately estimate the energy resolution. The study reveals an energy resolution of 2.95% at 1 MeV. Furthermore, the study assesses the contribution of major effects to the overall energy resolution budget. This analysis serves as a reference for interpreting future measurements of energy resolution during JUNO data taking. Moreover, it provides a guideline in comprehending the energy resolution characteristics of liquid scintillator-based detectors