羅近溪學述

本論文探討王門泰州學派之羅近溪，全一冊，約九萬字，凡六章，二十二節，內容大致如左：第一章、生平與著作-本章分年譜與著作二節，首在辨正古今人所作近溪年譜之謬誤，次則就台灣目前所見近溪之作品略加介紹，其重在考據。第二章、成學之經過-本章三節，分從學術時代背景，近溪之成學階段與近溪所感之問題三方面討論，旨在考其學術淵源。第三章、本體論-本章亦分三節，首論宋明儒學之分系，以略為心學定位；次則詳述近溪之即生即身言心，以明近溪對道體之確指；最後則舉龍溪、念菴與雙江之論心體以與近溪比較，以凸顯近溪論本體之特色。第四章、工夫論-分「辨志」、「覺悟」等九節，討論近溪對工夫入路之指點。第五章、近溪學說疏釋-本章三節，一在列舉時人對近溪之懷疑與誤解，二在對此些誤解加以疏釋，三則對近溪之其他學說更作疏解，以明確其原意。第六章、近溪之特色及地位-本章先指點近溪之特色及在王學中之地位，更舉內聖外王之圓境以相對照，以明近溪之不足及其在整個中國儒學中之地位，凡二節

An evaluation of quality services of private property management in Hong Kong: a comparison between companieswith and without ISO 9000 certification

published_or_final_versionHousing ManagementMasterMaster of Housing Managemen

Developing Project of MSRDS/MSDN and the PTZ Multi-Mode- Audio/ Video Tracking Platform on Humanoid Robots

Developing Project of MSRDS/MSDN and the PTZ Multi-mode- Audio/Video Tracking Platform on Humanoid Robots Intelligent robots gain increasingly attentions and become one of the modern industries during the 21st century. Man-machine interface and scenario simulation with Audio/Video interactive identification/tracking become the core factors of the high-rank robot to develop the artificial sense of vision and hearing. Those mechatronic parts, hardware, and software become available and sensible code of human body to discriminate signals of human face, eye-iris, fingerprint, and voice, etc. The accuracy and sensitivity to discriminate different features of physiology are often considered as the key performance indices to evaluate effectiveness of the proposed sensing algorithm, which include the judgment of false rejection rate of facing algorithm of the static image and reliability evaluation of the dynamic image. This project is proposed to apply PTZ(Pen-tilt Zoom) mechanism to drive the robot head with a set of infrared CCD camera in the vertical direction and horizontal direction. The mechatronic design is to delicately modulate the facing code of physiology to satisfy the requirement of the emotions of the audience. The image detection, gripping, recording, and code comparing will be proceeded with the speed of 0.1 sec/frame for face discrimination and 0.2 sec/frame for data processing. On the other hand, the sampling rate of the artificial sense of hearing is chosen double speed of the sound frequency. i.e. 4000 Hz. Thus the aliasing phenomenon, which may misrepresent the frequency of the reproduced signal, can be avoided using a higher frequency filter or signal processor. The authority of Advanced Planning & Scheduling International Co. Ltd. devoted to the academic research of “Robotics R&D of Artificial Intelligent in Audio/Video Recognition” with Hwa Hsia Research Teamwork of Humanoid Robots since 1997. The primary issues of the robotic search include homecare medication, community safeguard, navigating service, etc. This project will construct all control algorithm and simulation on the universal platform of MSRDS(Microsoft Robotics Developer Studio) and MSDN(Microsoft Developer Network). ADAMS(（Automatic Dynamic Analysis of Mechanical Systems）developed by MSC Co. Ltd. is applied to dynamically simulate all load circumstances of mechanical and electrical experiments. The project will be focused to develop key technologies of the facial craftsmanship, the artificial skin, PTZ neck mechanics, the facial tracking, the emotional interaction, etc. All members of this teamwork will constitute the biomimic head and body of the proposed humanoid robot with vivid facial expression and dramatic scenario variation. Finally, the proposed project will write the technique leaflet notebook for the multi-robot system, which include digital books, experimental leaflets, and operation manuals. The teamwork will also devote to promote various kinds of activities such as submit journal papers, international conference papers, apply for innovational patents, work on technique transfer cases, and participate related robot competitions, etc. All such destinations are scheduled to be completed within three years by the teamwork of the HWH Intelligent Robotics R&D Center under the core spirits of the GOAL-121.[[abstract]]機器人PTZ 多模影音追蹤平台在MSRDS/MSDN 網路之開發計畫 智慧型機器人為本世紀受到舉世矚目與積極投入之前瞻性新興產業，互動式影音辨識/ 追蹤之人機互動與情境模擬，近年來逐漸成為高階機器人發展人工視覺與人工聽覺開發不可 或缺之核心能力。上述軟硬體與光機電零組件，大致是利用使用者「隨身攜帶」的生理密碼 來辨識身份（如臉形、虹膜、指紋、聲音…），辨識生理特徵之準確度與適當反應的靈敏度， 往往被視為發展人形機器人核心技術過程中，衡量人工智慧成敗或良窳之關鍵性能指標(Key Performance Index)。其中人工視覺之臉部定位包括影像偵測、擷取記錄和比對理論衍生的影 像處理演算法、對靜態多臉孔影像及動態影像可靠度判別的錯誤拒斥比(False Rejection Rate)…等等。本計畫擬應用之人形機器人頸部具有左右水平旋轉(Pan)、上下垂直移動(Tilt) 的基本功能，配合PTZ(Pen-tilt Zoom) 網路型攝影機可變焦(Zoom)鏡頭，其目的在於可執行 人臉辨識與追蹤的功能，細緻微調辨識與追蹤以有效觸動觀眾之戲劇性情緒變化。影像偵測、 擷取記錄和比對特徵模式，將根據影像生理密碼，以10 frame/sec 進行多臉辨識，以及5 frame/sec 處理速度，每秒鐘比對27000 張臉孔(特徵樣本數2.5 KB/frame)，過去影音追蹤 技術模組使用的無線電通訊技術容易受到環境之各式各樣高頻雜訊的干擾，且嵌入式控制系 統在影像與語音資料同時處理時，容易引起運算過載(Overload)而造成失真(Aliasing)或當機 的現象。本計畫為解決上述影像/語音辨識之干擾問題，本計畫人工聽覺之取樣頻率至少兩倍 於音頻(4000Hz)，配合高頻濾波處理器以避免取樣失真。 本計畫是與近年來逐漸投入智慧型機器人研發領域的先進排程國際股份有限公司 (Advanced Planning & Scheduling International Co. Ltd.)產學合作，本計畫主要之核心技術包 括：人體上半身仿生工藝、ADAMS 動態模擬、多模人臉辨識/追蹤、雲端計算及嵌入式控制、 多媒體影音情境模擬… 等等項目。本計劃將應用微軟機器人視覺情境開發平台 MSRDS(Microsoft Robotics Developer Studio) /MSDN(Microsoft Developer Network) 作人工視 覺與人工聽覺之情境模擬， 應用開發之機械系統動力學自動分析軟體 ( Automatic Dynamic Analysis of Mechanical Systems；ADAMS），來動態模擬機器人IP 相機的 伺服馬達在高推力及低速之運轉特性，包括使用工作頻率高於傳統電磁馬達的音頻範圍 (20KHz)，運轉安靜不會產生振動噪音的超音波馬達，使得本計畫機器人頸部機構的設計困擾 得到較佳的解決方案。本計劃是先進排程公司因應國內未來發展智慧型機器人的前景，於2007 年起與華夏技術學院電子系、電機系人形機器人實驗室，共同開發具有高準確度與靈敏度的 RFID(Radio Frequency Identification) 與生理密碼之人形機器人互動式影音辨識平台。本計畫 開發的PTZ 多模影音追蹤模組相關計畫，預計的工作目標將國外現有的影音辨識/追蹤技術紮 根於國內產業界，並應用於機器人頸部PTZ 構情的細緻微調，改善人機介面與機器人核心技 術過度倚賴先進國家之現況；並提高機器人導航模組持續運轉的使用壽命(Cycle Life)與性能 可靠度(Reliability)，以及簡化先進排程公司工程師對於機器人導航模組故障的檢修能力。本 計畫也將根據擬定目標，輔導廠商撰寫研究成果之技術手冊，介面規格以便將來能提供整合 功能，將機器人整合於智慧型數位教材之中。在執行期間各子計畫也將每年發表期刊與國際 研討會、發明專利與技術移轉至少一件，定期辦理成果發表會，藉由上述之衍生成果，達成 國科會鼓勵中小企業與大專院校相關實驗室之研發特色，也藉開發微型機器人之影音追蹤驅 動器模組，以提升參與本計畫研究人員競爭力之具體目標