將感測器與致動器導入智慧化居住空間，使空間具有感應、彈性、與互動性，能因應天氣與居住者的行為需求，自動產生空間表層的變形以及智慧化之服務功能，係未來智慧建築之趨勢。由於Wiimote控制器可感測近紅外光源進行指向定位，以及高擴充性之特性，可作為空間表層構件定位、無線感測、與智慧控制等應用。本文的研究目標是以Wiimote為基礎硬體，發展高精度室內定位系統，以符合各種用途機器人之定位導航應用，同時突破Wiimote定位範圍過小之侷限，發展多區定位技術，並同時維持公分等級之定位精度，以實現群體機器人之運動控制。同時並以無線的方式進行環境感測與智慧控制，結合感測元件與定位系統於一模組化載具，以展示Wiimote系統於機器建築與智慧生活之整合應用。本研究首先針對Wiimote之動態特性與精確度進行性能評估，提供設計依據。接著基於運動學，以飛航管制區的概念，配合LabVIEW虛擬圖控平台發展Multi-zone定位演算法，實現高精度大範圍之空間定位技術，並以雙軸線性伺服馬達平台驗證之。並深入探討IR LED陣列與CMOS影像感測器在實際定位時之幾何關係、程式演算、與影像感測器之解析度變化關係。最後將利用Wiimote之內建元件與I/O埠進行環境感測與運動控制展示，並整合於未來機器建築與互動式智慧生活之應用情境。除了實現空間機器人單元之定位感測與運動控制，本研究之成果亦可延伸至人本智慧生活與居家生活照護等應用。本研究實際展示機器人之運動控制、Wiimote與Nunchuk控制器之擴充感測與觸發機制、智慧遙控功能、以及遠端監控功能等，也可擴展至各種動態量測分析與三維空間之運動感測，實現智慧建築以外的應用。未來希望歸納Wiimote控制器之關鍵元件，如CMOS影像感測器、Bluetooth晶片、加速規、以及微控制器等，自行設計一模組化電路將以上重要元件結合，發展小型化、高解析度、且功能完善之定位感測模組。

　　With the integration of sensors and actuators with buildings, spaces therefore have sensing ability, flexibility, and interactivity. Moreover, there is also the ability of auto-transformation in space and intelligent services depending on weathers and habitants’ needs and behaviors, which is the trend of future buildings. Wiimote controller can be applied to localization of space vehicles, wireless sensing, and smart remote controlling as a result of pointing localization with near infrared ray (NIR) and high expandability. In this thesis, we developed the high expandability and extremely accurate localization technique by utilizing IR LED arrays combined with CMOS image sensor built in Wiimote. We designed the multi-zone positioning technique based on the concept of air traffic control according to Kinematics, and accomplished the localization algorithm by LabVIEW. Then we designed various types of dynamic experiments utilizing dual-axis linear motor as a platform to evaluate and verify the dynamic and localization performances of Wiimote system, such as dynamic characteristic and positioning accuracy. We interpreted and discussed thoroughly about the principle of geometry, algorithm of localization, and the relation of CMOS image sensor resolution between IR LEDs and Wiimote camera in the actual applications. We have used the Wiimote built-in components and I/O ports for varied environmental sensing and motion control demonstration, and integrated into the applications of robotic building and interactive E-Life. Not only does Wiimote system can achieve indoor localization and motion control of space robots and other vehicles, but also can be applied to E-Life applications. In this thesis, we demonstrated the motion control of robots, expanding the capability of Wiimote and Nunchuk to trigger devices, smart remote controlling, remote monitoring and controlling via Internet, and the design of GUI. Other applications about Wiimote can also be extended to the measurement of system dynamics, and the research of the 3D localization as well as motion sensing. Finally, we will summarize the key components inside Wiimote, such as CMOS image sensor, Bluetooth chip, accelerometer, microcontroller, and etc., to develop a small, high resolution, and functional sensing module.

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