2022年

Two years ago, I attended a robot contest, in which one of the missions required the robot to follow the pedestrian to complete the task. At that time, I used their demo program to complete the task. Not long after, I found two main issues: 1. The program follows the closest point read by the depth camera, which if I walk close to a wall next to, the robot may likely ‘follow’ the wall. 2. Not to mention if another pedestrian crosses between the robot and the target. Regarding these two issues, I decided to improve it. We’ve designed a procedure of using YOLO Object Detection and Person re-identification to re-identify the target for continuous following.

The Briggs Rauscher reaction (BR reaction) is one of the famous oscillating reactions; the aqueous mixture of KIO3, H2SO4, H2O2, C3H4O4, MnSO4, and starch exhibit color change between yellow and blue-purple repeatedly. The blue-purple color formation is due to the iodine test reaction caused by inclusions of polyiodides such as I3- and I5- in the helical structure of starch. Therefore, starch has been regarded as only an indicator in the BR reaction. But our seniors have found that the oscillation did not last without starch. They hypothesized that starch’s linear helical framework is necessary to elongate the lifetime of the oscillating reaction. If this hypothesis is correct, similar BR-type oscillations must be observed when other polymers with helical structures are used instead of starch. We found the literature which reports that polyvinyl alcohol (PVA) forms a helical structure and indicates the iodine test reaction. In our research, we studied the BR reactions using PVA, with different saponification degrees and viscosities. First, we studied the correlation between the structural features of PVA and the iodine color reaction by spectroscopic approach, exhibiting that PVA with low saponification form helical structures and show the iodine color reactions, which gives red color solutions. Second, we found that additions of the helical-structured PVA to the reaction solution instead of starch induces the BR-type oscillating reactions, while PVA without helical structure induces only a few numbers of oscillations. This is the world-first example of the oscillating reaction using PVA. The oscillation that lasted for 6 minutes with 23 oscillations was almost the same as that of the general BR reaction using starch. We concluded that the polymers with helical structures are intrinsic to elongate the lifetime of the BR reaction. Furthermore, we found that the addition of K3[Fe(CN)6], which has a high redox activity, in the reaction solution with PVA drastically elongated the lifetime (50 min) and increased the numbers of the oscillations (nearly 100 times). This result suggests that the oxidation-reduction reactions by the ferricyanide ion promotes the redox process of iodine and iodide ions.

We study the creation of physical adversarial examples, which are robust to real-world transformations, using a limited number of queries to the target black-box neural networks. We observe that robust models tend to be especially susceptible to foreground manipulations, which motivates our novel Foreground attack. We demonstrate that gradient priors are a useful signal for black-box attacks and therefore introduce an improved version of the popular SimBA. We also propose an algorithm for transferable attacks that selects the most similar surrogates to the target model. Our black-box attacks outperform state-of-the-art approaches they are based on and support our belief that the concept of model similarity could be leveraged to build strong attacks in a limited-information setting.

QR Code是由黑白模組組成的二維數位條碼，掃描後可讀取儲存的訊息。受限於設計原理，QR Code使用二進位制儲存資料。增加模組數目可增加資料量，但若在條碼內塞進太多模組時，尺寸太小的模組將無法被掃描器讀取。此外，目前QR Code掃描器僅支援單張掃描，並無法應付同時多張條碼掃描的實務需求。 如能克服顏色辨識，理論上彩色二維條碼將能克服現行QR Code的限制，但市面上並無相關產品可供測試。因此本專題設計了一款10×10、具8顏色的"Colour Matrix"，並利用Raspberry Pi開發Colour Matrix在手持裝置上運作的軟硬體來進行實驗。此實驗成功利用機器學習演算法在Raspberry Pi上進行的顏色辨識。開發的程式在單張掃描上效能與使用pyzbar辨識QR Code相當；在多張掃描方面，使用pyzbar辨識QR Code的解碼成功率為3.1%，而本專題的方法將成功率提升至92.4%，擴增數位條碼的使用範圍，具商用價值。

溫熱化學治療(Hyperthermic Intraperitoneal Chemotherapy, 簡稱HIPEC)，為將化療藥物加熱後灌注到腹腔內殺死癌細胞，但溫熱化學治療只能在開刀時使用，治療次數有限。為達到多次的熱化療效果，本研究開發奈米氧化鐵藥物磁性複合微粒(Nano iron oxide magnetic drug complex particles, NIOMP)，可利用開刀時包覆複合微粒於腹腔，術後用磁場加熱，加上微粒化療藥物釋放，達到多次溫熱化學治療。NIOMP以鐵氧化物奈米粒子為核心，海藻酸鈉為外殼體，利用電紡法將前其與氯化鈣交聯產生凝聚性微粒。數據顯示最佳製作條件為16 kv高電壓、距離4 cm、噴速5μm/s，可得直徑大小約為200~450 μm穩定性高微粒。藥物釋放實驗顯示，NIOMP於2~7小時藥物釋放速率較穩定。利用可變磁場之電磁效應加熱NIOMP中氧化鐵磁顆粒，可於30分鐘內快速升溫至43℃。細胞相容性測試結果得知，NIOMP對細胞無毒性。本研究改善HIPEC的治療限制，可多次針對腫瘤患部局部熱化學治療，未來將可改善病人存活率。

在程式專案開發中，偵測錯誤常為最耗時的環節，進而影響整個專案的開發時長。而現今雖有些許輔助開發者提升偵錯效能的工具，但這些工具也只能藉由提供編譯執行中的資訊讓開發者省去偵錯時的繁瑣步驟，仍須開發者自行評估每段程式碼的正確性。此研究透過程式段落分析與資訊檢索實現自動錯誤定位，在每個程式段落標記其成為臭蟲（bug）的可能性。在程式段落分析中，執行使用者之原始碼，並透過歸納最終結果為正確及錯誤之執行路徑差異分析出每個程式段落的可疑性。接著運用資訊檢索技術於資料庫中找尋相似之原始碼，並參考其偵錯結果優化現有之可疑性，形成最終之可疑性排名。此研究不只結合了上述兩種技術，更優化可疑程度之計算方法以及資訊檢索中的相似度比對機制，達到更完善的錯誤定位。（此指「臭蟲」非語法錯誤（Syntax Errors），而為邏輯錯誤（Logic Errors）。）

本研究將以BiOCl、BiOBr以及Pd/BiOCl的晶體製備二氧化碳還原之光觸媒，用以還原二氧化碳，期許能製造出具有經濟價值的還原產物，以緩解全球暖化並利用可再生能源。此外，我們藉由探討此類晶體在二氧化碳還原中的差異，比較加入不同鹵族元素及是否摻入鈀金屬對於光催化還原二氧化碳效率及產物的影響。 合成晶體後，我們透過X射線衍射儀(XRD)、掃描式電子顯微鏡(SEM)、能量散射X射線譜(EDX)進行晶體的鑑定，也確定Pd/BiOCl的晶體結構是以BiOCl為主體，且Pd鑲嵌在其表面。我們也以X光光電子能譜儀(XPS)了解晶體的鍵結型態及推測不同晶體表面的OVs相對含量，並以紫外光/可見光光譜儀(UV-vis)檢測樣品的能隙，推測其光催化性能。 我們發現摻入鈀的BiOCl晶體結構為分散的片狀結構，是三種晶體中唯一的奈米晶體，且能隙為三者中最小(2.46eV)、表面OVs含量也增加；表面附著的Pd奈米金屬顆粒更可以協助主催化劑的電子-電洞對維持分離狀態，促進其光催化效率。 最後我們將合成的BiOCl、BiOBr以及Pd/BiOCl晶體應用於光催化還原二氧化碳，並以氣相層析熱導偵測器(GC-TCD)及氣相層析質譜儀(GC-MS)檢測產物種類及產率，發現還原出的氣體產物有H2、CO、CH4。而總還原產物及含碳還原產物的產率皆以Pd/BiOCl為最高。

In the present paper I studied the winter territories of the Eurasian Wren (Troglodytes troglodytes) in the urban environment of the city of Hradec Králové. The males of this species were detected through the aggressive reactions to the playback of its conspecific call. The Eurasian Wren territories were detected at seven out of the ten observation points in the city. The frequency of the territories decreased during the observation period from October to January and it was also affected by the structure of the biotope. It seemed that the wrens preferred trees and avoided lawns and isolated growths. That illustrates how important it is to maintain wildlife corridors in the cities. Individuals of seven other bird species were seen reacting to the playback of Eurasian Wren songs or warning calls. Eurasian Wren may be applied as an indicator species of the ecological value of the urban environment. Through this species, we can access such quality also for the human inhabitants.

This project aimed to study the motion which occurred from the end point on the circumference of the outermost circle by moving the center on the circumference of a preceding circle and the center of an innermost circle at origin. According to the study, when angular velocity was changed, it caused the different of loci. Based on the above information, finding the locus of the point on circumference of n-th circle that formed by moving the center of any radius circles on circumference of preceding set of circles was studied to get general equation. A set of circle and locus were created with GSP program. First, set the same radius circles on the X-axis with the first circle at origin, then found the relationship that occurred from the characteristics of locus. The result showed that if the ratios of angular velocity are 1:1:1, 2:2:2, 3:3:3, ..., …, n:n:n or 1:2:3, 2:4:6, 3:6:9, …,nw1:nw2:nw3, the characteristics of locus will be the same, while the others will be different. Finally, the equation of locus was found as follow: (x,y) = { ..........see in abstract...........} when .........see in abstract........... Where ri is the radius of i-th circle, zeta i is an angle between the radius of i-th circle and X-axis, wi is the angular velocity, t is elapsed time and alpha i is a starting angle between the radius of i-th circle and X-axis.

This work is devoted to solving the problem of orientation in the space of visually impaired people. Working on the project, a new way of transmitting visual information through an acoustic channel was invented. In addition, was developed the device, which uses distance sensors to analyze the situation around a user. Thanks to the invented algorithm of transformation of the information about the position of the obstacle into the sound of a certain tone and intensity, this device allows the user to transmit subject-spatial information in real time. Currently, the device should use a facette locator made of 36 ultrasonic locators grouped in 12 sectors by the azimuth and 3 spatial cones by the angle. Data obtained in such a way is converted into its own note according to the following pattern : the angle of the place corresponds to octave, the azimuth corresponds to the note and the distance corresponds to the volume. The choice of the notes is not unambiguous. However, we used them for the reason that over the centuries, notes have had a felicitous way of layout on the frequency range and on the logarithmic scale. Therefore, the appearance of a new note in the total signal will not be muffled by a combination of other notes. Consequently, a blind person, moving around the room with the help of the tone and volume of the sound signals, will be able to assess the presence and location of all dangerous obstacles. After theoretical substantiation of the hypothesis and analysis of the available information, we started the production of prototypes of the devices that would implement the idea of transmitting information via the acoustic channel.