管線探勘機器蛇及其資訊隱藏之嵌入式智慧控制系統

Embedded Intelligent Control Systems for Sensing Pipes Snake Robot and Information Steganography

黃瓊緯(Chiung-Wei Huang)

指導教授 ： 張政元

中原大學/電機資訊學院/電機工程研究所/博士(2019年)

https://doi.org/10.6840/cycu201900431

摘要

在本研究中，我們探討了蛇形機器人在大型核電設施中的應用。主要目標是應用蛇形機器人來感測大型核電設施中的管道部件。蛇形機器人必須在存在高輻射的管道中移動，以探索周圍環境並取樣。本研究開發適用於此一環境的蛇形機器人並實現有效的蛇形機器人運動方法，尤其需要確認其在狹窄的空間中運作的可行性。我們所設計的蛇形機器人的尾部帶有儲物盒的取樣機構，以便將取得之樣品保存在指定的位置。為了模擬應用環境，我們建造了一個具有兩個直角轉彎的管道系統，用來模擬大型核電設施的管道空間。除此之外，我們也設計了使用者界面來幫助操作員操縱此一蛇形機器人。

基於嵌入式系統技術的成熟性，穩定性和經濟性，本研究採用嵌入式智慧控制方法，設計並實現一組可應用於封閉的圓形管道空間內之機器蛇系統。透過專門設計的探測模組，此一機器蛇系統還可以在管道行進時檢測管道內的信息。使用本系統所提供之影像擷取模組，用戶可以實時監控此一機器蛇在封閉管道空間內之感測情況。此外，系統建立感測地圖以確認整個觀察區域的感測結果。除此之外，為了保護通信階段中的感測信息，我們設計並實現了由FPGA硬體加速的信息隱藏方法，以提高整個系統的效能和可靠性。在數據通信階段，我們以FPGA硬體的方式來實現OPAP影像隱藏演算法。在本研究中，我們使用RS232將載有秘密資訊的影像由PC傳送到FPGA模擬板以進行硬體運算處理，實驗結果證實我們所提出的設計以及演算法的高效性和正確性。

本研究的主要貢獻包括設計和實現在圓形管道之間行進的蛇形機器人、設計蛇形機器人及其傳輸感測設備的行走控制策略、蛇形機器人特殊感測裝置之設計與實現、感測影像的實時監控與回傳機制、以及使用FPGA硬體實現安全且快速的信息隱藏通訊。

關鍵字

蛇形機器人 ； 機電系統 ； 嵌入式系統 ； 影像隱藏

並列摘要

Based on the maturity, stability and economy of embedded system technology, this study uses embedded intelligent control methods to design and to implement a machine snake system in a closed circular pipe space. Through a specially designed detection module, the machine snake can also sense information within the pipeline as it travels. With the use of the image capture module, users can monitor the sensing situation in real time. Moreover, the system builds a sensing map to confirm the sensing result of the entire observation area. Furthermore, in order to protect the sensing information in the communication stage, an information hiding method accelerated by the FPGA hardware is designed and implemented to improving the performance and reliability of the overall system. The main contributions of this study include designing and implementing a snake robot that travels between circular pipes, the traveling control strategy of the snake robot and special sensing devices, real-time monitoring of sensed image mechanism, and fast information hiding using FPGA hardware for security communication.

In this study, we explore the application of a snake robot on a large-scale nuclear power facility to sense in pipe components. A snake robot must move in pipes in which high radiation is present to explore surrounding environment and take samples. An effective method of locomotion is developed and executed to confirm feasibility of motion especially in narrow space. A sampling mechanism with storage box is designed at the tail of the snake to take and keep the samples well at designated locations. We built a pipe system which has two right-angle turns to simulate the pipes of a large-scale nuclear power facility. A user interface helps operators to manipulate the snake robot.
In the data communication stage, we propose a prototype of field programmable gate array (FPGA) implementation for optimal pixel adjustment process (OPAP) algorithm of image steganography. In the proposed scheme, the cover image and the secret message are transmitted from a personal computer (PC) to an FPGA board using RS232 interface for hardware processing. Experimental results show the effectiveness and correctness of the proposed scheme.

並列關鍵字

snake robot ； electromechanical system ； embedded system ； image steganography

參考文獻

References

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[4] R. J. Anderson, F. A. P. Petitcolas, “On the limits of steganography,” IEEE Journal on Selected Areas in Communications, vol. 16, pp. 474-481, 1998.