本文目標為研究設計並製造一非導磁氣壓伺服系統，使其能承載正子斷層掃描器(Positron Emission Tomography，PET)放置於乳房磁振造影(Magnetic Resonance Imaging，MRI)的強磁干擾環境內，讓正子斷層掃描(PET)與乳房磁振造影(MRI)兩種影像檢查結合，實施自動化的乳房檢測，產生非常敏感和清晰詳細的乳癌檢查。更進一步針對所設計之非導磁氣壓伺服承載平台做磁場測試，以一磁線圈產生約 的小磁場，來量測平台所感應的磁場，得其感應出的磁場為 ，之後再建立系統數學模型以本文參考文獻中所提及的自調式模糊控制器與死區補償來作定位實驗，並討論其實驗結果，運用設計的控制器能夠使本文的承載平台在2cm、4cm、6cm的控制目標下的穩態控制誤差皆在0.015mm以內，經計算繩索誤差分別為0.028mm、0.043mm以及0.057mm的誤差之下。以上的控制誤差皆符合醫療系統上的0.1mm需求。最後以正子斷層掃描檢查時之路徑做定位控制。

The objective of this study is to design and manufacture non- magnetic pneumatic automation system for combining Magnetic Resonance Imaging (MRI)and Positron Emission Tomography(PET). The PET scanner can be carried on the system and placed in the breast MRI at the high magnetic interference environment, and let the automated detection of breast be executed. The tested magnetic field is generated by the coil. For measure the magnetic influence of the platform. And then establish the mathematical model of system, About the controller design, the self-tuning fuzzy controller with dead-zone compensator is taken by reference to control the system be designed in the study. Finally will show the control result and discuss it. According to the experiment the platform controlled by the controller that the state steady error be controlled under 0.015mm and the calculated rope error are 0.028mm, 0.043mm and 0.057mm. These experiment result are all suitable the error requirement of the medical system 0.1mm.

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