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研究生：	陳慶昌 Chen, Ching-Chang
論文名稱：	數位消費性電子裝置之光學穩定器與投影失真校正器設計與實現 Design and Implementation of Optical Image Stabilizer and Keystone Corrector for Digital Consumer Electronic Devices
指導教授：	李祖聖 Lee, Tzuu-Hseng
學位類別：	博士 Doctor
系所名稱：	電機資訊學院 - 電機工程學系 Department of Electrical Engineering
論文出版年：	2013
畢業學年度：	101
語文別：	英文
論文頁數：	107
中文關鍵詞：	光學防手振、投影失真補償校正、模糊滑動模式控制器、擴展卡曼濾波器、投影機相機模組、預扭曲
外文關鍵詞：	Optical image stabilizer, Keystone correction, Fuzzy sliding-mode controller, Extended Kalman filter, Projector-camera pair, Pre-warping
相關次數：	點閱：160 下載：0
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本論文主要探討數位消費性電子裝置，其一為感測器移動式光學影像防手振系統；另一為自動投影扭曲失真補償系統。一般而言，精準的手振動訊號估測與控制器表現都是影響防手振效果的重要因素，本文提出頻率適應光學防手振系統，利用模糊滑動模式控制器來補償音圈馬達的非線性與穩定雙軸防手振模組，模糊滑動模式控制器對於重力變化大的系統仍有好的強健性，擴展卡曼濾波器設計以即時估測手振動頻率與線上調整手振感測器的參數，模糊擴展卡曼濾波器設計以改善手振感測器的穩定時間，透過相位偏移與穩定時間的改善以擴展防手振系統頻寬與時變手振動下的防手振效能。此外，自動投影扭曲失真補償系統利用投影機相機模組提供影像回授，以監控投影的幾何扭曲，特徵淬取器與投影傾斜分類器設計以計算投影機與投影幕之間的傾斜角度，透過影像預扭曲來補償因非正常投影姿態造成投影上的幾何扭曲。最後，本論文發展的頻率適應性光學防手振系統透過時變的防手振實驗驗證其防手振效果與頻率適應性；所有行動投影實驗驗證自動投影扭曲失真補償系統的效果不受z軸旋轉影響。

This dissertation discusses the digital consumer electronic devices, and presents the sensor-shift optical image stabilizer (OIS) system and the automatic keystone correction (AKC) system. In general, the precise estimation of the hand-shake vibration and controller performance are the most crucial factors of the stabilization performance. This dissertation proposes a frequency adaptive OIS (FAOIS) system which utilizes a fuzzy sliding-mode controller (FSMC) to compensate the nonlinearities of voice coil motor (VCM) and stabilize the dual-axis OIS module. The FSMC does have good robustness while the system has large gravity fluctuation in vertical axis. An extended Kalman filter (EKF) is designed to estimate the tremor frequency in real-time and tune the hand-shake detector online. A fuzzy EKF (FEKF) is used to improve the settling-time of the EKF-based hand-shake detector. The bandwidth of the OIS system with time-varying hand tremor is expended by improving the phase-shift phenomenon and the settling-time of the hand-shake detector. Furthermore, the AKC system adopts the projector-camera pair to provide a visual feedback for monitoring the keystone distortion, a feature extractor and an inclination classifier to determine the projection inclination between the projector and the projection screen, and a pre-warping process to compensate the keystone distortion, caused by non-normal projection poses. Finally, the stabilization performance and frequency adaption of the FAOIS are illustrated by OIS experiments with time-varying hand tremor. All the mobile projection experiments demonstrate that z-axis rotation does not affect the proposed AKC system.

Contents
Abstract (Chinese)	                                I
Abstract (English)	                               II
Acknowledgement (Chinese)	                       IV
Contents	                                        V
List of Acronyms	                               IX
Nomenclature	                                       XI
List of Figures	                                      XVI
List of Tables	                                     XXII
Chapter 1 Introduction	                                1
1	Preliminary………………………………………………………………………………………………	1
2	Literature Review………………………………………………………………………………	3
3	Dissertation Contributions……………………………………………………… 6
4	Dissertation Organization………………………………………………………… 8
Chapter 2 	Sensor-Shift Optical Image Stabilizer	9
1	Introduction……………………………………………………………………………………………	9
2	The Sensor-Shift Optical Image Stabilizer………………	10
2.1 Microcontroller Board……………………………………………………	12
2.2 The Sensor-Shift OIS Module……………………………………	13
3	Hall Sensor Calibration………………………………………………………………	15
3.1 Calibration Setup………………………………………………………………	15
3.2 Calibration Result of Hall Sensors…………………	16
4	The Hand-Shake Detector………………………………………………………………	17
4.1 The Low Cost Gyroscope…………………………………………………	17
4.2 Process Flow of the Hand-Shake Detector……	18
4.3 The Phase-Shift of the Hand-Shake
              Detector………………………………………………………………………………………	19
5	Summary…………………………………………………………………………………………………………	20
Chapter 3 	Optical Image Stabilizer Using Fuzzy Sliding-Mode Controller for Digital Cameras	        21
1	Introduction……………………………………………………………………………………………	21
2	Control System Design……………………………………………………………………	22
2.1 Fuzzy Sliding-Mode Controller Design……………	24
2.2 Experiments of the FSMC………………………………………………	27
3	OIS Experiments……………………………………………………………………………………	29
3.1 Centering Test………………………………………………………………………	30
3.2 Stabilization Rate Experiments……………………………	30
3.3 Stabilization Experiment with ISO-12233 
              Chart………………………………………………………………………………………………	32
4	Summary…………………………………………………………………………………………………………	36
Chapter 4 Extended Kalman Filter Based Hand-Shake Detector for Optical Image Stabilizer Using a Low-Cost Gyroscope	38
1	Introduction……………………………………………………………………………………………	38
2	The Fuzzy Sliding-Mode Controller……………………………………	39
2.1 The FSMC Design……………………………………………………………………	39
2.2 Experiments of the FSMC………………………………………………	42
3	EKF-based Hand-Shake Detector………………………………………………	43
3.1 The Phase-Shift of the Hand-Shake
              Detector………………………………………………………………………………………	43
3.2 The Structure of the Discrete-Time EKF………	43
3.3 The Tuning Mechanism………………………………………………………	51
3.4 Simulations of the EKF-based Hand-Shake 
              Detector………………………………………………………………………………………	52
3.5 Process Flow of the OIS System……………………………	53
4	OIS Experiments……………………………………………………………………………………	54
4.1 Stabilization Rate Experiments……………………………	54
4.2 Stabilization Experiment with ISO-12233
              Chart………………………………………………………………………………………………	55
5	Summary…………………………………………………………………………………………………………	57
Chapter 5 Frequency Adaptive Optical Image Stabilizer Using a Low-Cost Gyroscope	                                58
1	Introduction……………………………………………………………………………………………	58
2	FEKF-based Hand-Shake Detector……………………………………………	59
2.1 Frequency Estimation………………………………………………………	60
2.2 Extended Kalman Filter…………………………………………………	60
2.3 Fuzzy Logic System……………………………………………………………	60
2.4 Switching Mechanism…………………………………………………………	62
2.5 The Process Flow of the FEKF-based Hand-Shake 
              Detector………………………………………………………………………………………	64
2.6 Simulations………………………………………………………………………………	67
2.6.1 Frequency Step Change………………………………………………	67
2.6.2 Sinusoidal-Modulated Frequency………………………	68
2.6.3 Square-Modulated Frequency…………………………………	69
2.6.4 Noise Immunity…………………………………………………………………	70
2.6.5 Real Hand-Shake Vibration……………………………………	72
3	OIS Experiments……………………………………………………………………………………	73
3.1 SR Experiments………………………………………………………………………	73
3.2 Image Sharpness Experiments……………………………………	74
3.3 SR Experiments with Frequency Variation……	77
4	Summary…………………………………………………………………………………………………………	78
Chapter 6  A Real-Time Automatic Keystone Correction for Portable Projector	                                79
1	Introduction……………………………………………………………………………………………	79
2	Automatic Keystone Correction System……………………………	80
2.1 Projector-Camera Pair……………………………………………………	80
2.2 System Hardware……………………………………………………………………	82
3	Automatic Keystone Correction Process…………………………	83
3.1 Keystone Distortion…………………………………………………………	83
3.2 Process Flow of the Automatic Keystone   
              Correction…………………………………………………………………………………	85
3.3 Image Feature Extractor………………………………………………	86
3.4 Projection Inclination Classifier……………………	88
3.5 Pre-Warping Process…………………………………………………………	89
4	Experiments………………………………………………………………………………………………	90
4.1 Fixed Projection-Pose Experiment………………………	90
4.2 Real-Time Automatic Keystone Correction 
              Experiment…………………………………………………………………………………	92
5	Summary…………………………………………………………………………………………………………	94
Chapter 7  Conclusions	                                95
1	Conclusions…………………………………………………………………………………………………………………… 95
2	Recommendations for Future Work…………………………………………	97
Bibliography	                                        98
                                    

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校內：2015-08-27公開
校外：不公開電子論文尚未授權公開，紙本請查館藏目錄

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