京都大学 / 0048 / 新制・課程博士 / 博士(工学) / 甲第21367号 / 工博第4526号 / 新制||工||1705(附属図書館) / 京都大学大学院工学研究科マイクロエンジニアリング専攻 / (主査)教授 松原 厚, 教授 西脇 眞二, 教授 小森 雅晴 / 学位規則第4条第1項該当 / Doctor of Philosophy (Engineering) / Kyoto University / DFAM

本研究は,双腕で作業プレートを支持することで閉リンク機構を構成し,作業プレートを操ることで十分な支持剛性を維持しながらプレート上での柔軟な作業空間を実現することを目指した.すなわち,ロボットでも従来の工作機械のNC制御の運動精度に近い性能を具現化する一方,人の作業に近い柔軟性を両立することであるその対象としてプレート上で球の転がりを取り上げ,その運動軌跡をコンピュータシミュレーションにより解析しながら,同時2軸の旋回運動の制御におけるその誤差解析およびその改善手法を確立する. / Recently, industrial dual-arm robots have gained attention as novel tools and we therefore focus on them to flexible control both the linear motion and the rotational motion of a working plate. However, it is difficult to measure the synchronous accuracy of two rotary axes without high accuracy gyro sensor. Thus, we proposed a novel method to measure it with a ball, which keeps a ball rolling around a circular path on it by dual-arm cooperative control. As a result, we demonstrated this method made it feasible to estimate the synchronous accuracy of two rotary axes of working plate. / 博士(工学) / Doctor of Philosophy in Engineering / 同志社大学 / Doshisha University

京都大学 / 新制・課程博士 / 博士(人間健康科学) / 甲第24538号 / 人健博第109号 / 新制||人健||8(附属図書館) / 京都大学大学院医学研究科人間健康科学系専攻 / (主査)教授 中尾 恵, 教授 奥野 恭史, 教授 中本 裕士 / 学位規則第4条第1項該当 / Doctor of Human Health Sciences / Kyoto University / DFAM

台灣模具產業具有交期短、品質好、價格具有競爭力、製程安排彈性大等優勢，因此在高科技產業供應鍊中扮演關鍵性的角色。唯近年來，台灣許多高科技產業的外移，造成模具業產值最近連續三年呈現下降與核心技術外流，成為模具業所面臨的嚴重考驗。如何留住核心技術人才，加強研發新的關鍵技術並將研發成果取得智慧財產權相關法律保護，並以必要的組織、制度、人才、措施等妥善加以管理，已經成為模具業以及關連高科技產業必須面對的重要課題之一。 本研究以策略管理的角度切入，探討由策略前提所形成之策略，與智慧財產權管理實際運作下，對「台灣模具業及其關連高科技產業的智慧財產權管理發展現況及當前問題」提出適當建議與解決之道。 研究對象為台灣五家經營績效良好之模具業者及關連高科技業者。模具業者包含金屬沖壓、塑膠射出成型、與壓鑄模具業者；關連高科技業者則包含連接器、筆記型電腦、與行動電話業者。其中三家模具業者尚未擁有專利保護，而兩家關連高科技業者之專利保護已有相當成效。本研究主要發現如下： 一、不同的企業規模，對改善技術能力作法有其差異： （一）共同研發新技術：中小企業傾向與國內研發機構共同研發，並取得新技術之全部或部份智慧財產權或取得授權使用新技術；大型企業則傾向自行研發為主。 （二）自國外引進新技術：中小企業傾向委託財團法人或智財科技服務公司從技術先進國家引進技術；大型企業則傾向自行引進技術為主。 （三）向技術相對落後國家移轉技術方面： 1.中小企業傾向透過財團法人或智財科技服務公司之協助移轉技術，對於較單純之案件可自行為之。 2.大型企業可自行為之或採上述方法，委託專業之單位或公司為之。 3.台灣企業對大陸投資之子公司，大部分並未針對技術移轉收取權利金，僅由子公司之獲利盈餘分配取得回饋，尤以持股比例較大者最為普遍。 二、國內模具業及關連高科技產業智慧財產權管理現況為： （一）制定「營業秘密管理辦法」，規範各業務或利害關係人之營業秘密保護要項： 1.影響製造精度之技術 2.訪客參訪流程與動線 3.與供應商相關之營業秘密 4.顧客之營業秘密 5.矯正預防措施單 （二）制訂「專門技術管理辦法」，加強專門技術保護 1.規範「提案改善制度」 2.培養技術專家 3.掌握專門技術人力資源，塑造： （1）尊重專業 （2）對等報酬 （3）生涯規劃等制度完善之企業文化。 （三）專利管理制度： 1.建立提案與獎勵制度： 對創新提案、申請專利、專利核准、與達成技術移轉等階段均核發獎金，以鼓勵員工技術創新。 2.專利維護： 對專利佈局同時重質與量之提升，專利權之維護，則以成本效益為主要考量，以具市場價值者為優先申請與維護對象。 （四）技術授權考量有二： 1.視技術生命週期採行不同之授權策略，如導入與成長期採技術引進、成熟期採交互授權、衰退期技術則對外移轉。 2.以對子公司持股比例，調整技術移轉之權利金分配，持股較高則以盈餘分配取代權利金，持股較低則傾向依市場機制收取權利金。 由本研究之策略意涵得知，個案公司目前所採行之策略，均能適當地反映出其目前所處環境。如鴻海精密以綿密之專利佈局保護其技術，鉅祥、竣盟、谷崧則實施營業秘密與專門技術管理，神達機構則是專利保護與營業秘密管理兼具。 由此可知，模具業及關連高科技產業之智慧財產權管理作法具有多種不同之形式，專利保護並非模具業與關連高科技產業智慧財產權管理之唯一解答。尤其對中小企業而言，注重營業秘密與專門技術保護，塑造良好的企業文化、工作環境，設計合理對等報酬、制度完備的人力資源管理措施，亦不失為智慧財產權管理的良好解決方案之一。 目前大型之關連高科技企業非常重視智慧財產權，並已發展出一套以專利保護為主軸的管理制度。展望未來，模具業與關連高科技產業之連動性將逐漸加深，模具業者今後亦必須加快建立智慧財產權管理制度之腳步。 / Taiwan's mold & die industry plays a very important role of the supply chain for the high-tech industry around the world due to its advantages of short delivery time, good quality, competitive price and production flexibility, etc. However, in recent years, the continuing migration of the high-tech industry is resulting in production decreases and movement of core technology out of Taiwan. How should we keep the core technology, human and financial resources left in Taiwan; what can be done to strengthen research and development (R & D) on new and core technology; how can the core technology be protected by patents managed by a sever system. This is a matter of great urgency and an important issue that Taiwan’s mold & die industry and its related high-tech industry are facing. In view of the above, this study offers Taiwan's mold & die industry and its related high-tech industry some suggestions and solutions for the problems that they faced, based on their current Intellectual Property Rights (IPR) management development situation. This study was researched from the strategy management view and included five (5) outstanding mold & die manufacturers and their related high-tech companies in Taiwan. These mold & die manufacturers are in the metal stamping die, plastic injection mold and die casting mold industries; these high-tech companies are in the connectors, notebook computer and cellular phone (telecommunication) industries. Three of the companies, the mold & die manufacturers, do not hold any patents, while the other two high-tech companies are well protected by their patents. The main finding of this research is as follows: 1.The strategy of technical improvement for companies of various sizes is different: 1) R & D for new technology- Small and medium companies prefer to cooperate with other local R & D institutes in developing, researching, and obtaining full or partial intellectual property rights protection; or obtaining the rights to use the new technology (invention). On the other hand, large companies tend to do the R & D in-house. 2) Technology transfer from overseas– Small and medium companies prefer to transfer the technology from high-tech orientated countries through local R&D institutes or an IPR service provider. However, large companies prefer to transfer the new technology by themselves. 3) Technology transfer to developing countries– (1) Small and medium companies tend to transfer the technology to developing countries through local R&D institutes or IPR service provider except in the case of simple projects. (2) Large companies tend to transfer their technology out by themselves or through a professional agency. 2.The IPR management situation of Taiwan’s mold & die industry and its related high-tech industries– 1) Establish “Trade Secret Management Regulations” to prevent the following trade secrets from being disclosed: (1) Technology that will influence the accuracy of machining. (1)-1 On site know-how – Limiting the visitors touring sensitive areas. (1)-2 Trade secrets of suppliers. (1)-3 Trade secrets of customers. (1)-4 Corrective action reports. 2) Establish “ Know-how Management Regulations” to: (1) Regulate “Proposal improvement systems” (2) Train and develop technical specialists (3) Retaining knowledgeable human resources by (3)-1 Professional appreciation (respect) (3)-2 Equal award (return) (3)-3 Good and complete system, employees’ career planning and enterprise culture. 3) IPR management system: (1) Establish a proposal and reward system: Encourage employees’ technology inventions by rewarding them for their proposals, applications, and completion of technical transfer for IPR. (2) Patent protection: Consider not only the number of patents, but also the quality of patents. 4) Technology transfer policy Different policy for different technique life cycle. From this research, we realized that companies apply different strategies in response to their recent situation. For example, “Hong Hai” is applying the practice of IPR management in protecting his technology; G-Shank, Giant Union and Coxon are applying the practice of trade secret and know-how management; MiTac is applying the practice of both IPR management and trade secret management. From the above, we also realize that patent protection is not the only solution for IPR management in the mold & die industry and it’s related high-tech industries. Trade secret management and know-how protection, a good corporate culture, good business and human resource management, an improved working environment, reasonable and rewarding work are also the major solutions for IPR management. For the time being, large high-tech companies highly respect IPR and have developed a good management system, especially for patent protection. Therefore, due to the close relationship between the mold & die industry and high-tech industries, speeding up the development of IPR management becomes an urgent issue for the mold & die industry.

空載光達系統於建置國土測繪基本資料扮演關鍵角色，依國土測繪法，為確保測繪成果品質，應依測量計畫目的及作業精度需求辦理儀器校正。國土測繪中心已於102年度建置航遙測感應器系統校正作業中，提出矩形建物之平屋頂面做為空載光達系統校正之可行性，而其所稱之校正，是以點雲精度評估待校件空載光達系統所得最終成果品質，並不對儀器做任何參數改正，但其校正成果可能因不同人員操作而有差異，因此本研究嘗試建立一套空載光達點雲半自動化精度評估程序，此外探討以山形屋脊線執行點雲精度評估之可行性。 由於光達點雲為離散的三維資訊，不論是以山形屋脊線或矩形建物之平屋頂面作為標物執行點雲精度評估，均須先萃取屋頂面上之點，為避免萃取成果受雜訊影響，本研究引入粗差偵測理論，發展最小一乘法結合李德仁以後驗變方估計原理導出的選擇權迭代法(李德仁法)將非屋頂點視為粗差排除。研究中分別對矩形建物之平屋頂面及山形屋脊線進行模擬及真實資料實驗，其中山形屋脊線作為點雲精度評估之可行性實驗中發現不適合用於評估點雲精度，因此後續實驗僅以萃取矩形建物之平屋頂面點雲過程探討粗差比率對半自動化點雲精度評估程序之影響。模擬實驗成果顯示最小一乘法有助於提升李德仁法偵測粗差數量5%至10%；真實資料實驗，以含有牆面點雲的狀況為例，則有助提升5%的偵測粗差數量。本研究由逐步測試結果提出能夠適用於真實狀況的半自動化之點雲精度評估程序，即使由不同人員操作，仍能獲得一致的成果，顯示本研究半自動化精度評估程序之可信度。 / The airborne LiDAR system plays a crucial role in building land surveying data. Based on the Land Surveying and Mapping Act, to ensure the quality of surveying, instrument calibration is required. The approach proposed by National Land Surveying and Mapping Center (NLSC) in 2013 was confirmed the feasibility for airborne LiDAR system calibration using rectangular horizontal roof plane. The calibration mean to assess the final quality of airborne LiDAR system based on the assessment of the accuracy of the point cloud, and do not adjust the instrument. But the results may vary according to different operators. This study attempts to establish a semi-automatic procedure for the accuracy assessment of point clouds from airborne LiDAR system. In addition, the gable roof ridge lines is discussed for its feasibility for the accuracy assessment of point cloud. No matter that calibration is performed using rectangular horizontal roof plane or gable roof ridge line, point clouds located on roof planes need to be extracted at first. Therefore, Least Absolute Deviation (LAD) combined with the Iteration using Selected Weights (Deren Li method) is developed to exclude the non-roof points which regarded as gross errors and eliminate their influences. The simulated test and actual data test found that gable roof ridge lines are not suitable for accuracy assessment. As for the simulated test using horizontal roof planes, LAD combined with Deren Li method prompts the rate of gross error detection about 5% to 10% than that only by Deren Li method. In actual test, data contains wall points, LAD combined with Deren Li method can prompt about 5%. Meanwhile, a semi-automatic procedure for real operations is proposed by the step-by-step test. Even different operators employ this semi-automatic procedure, consistent results will be obtained and the reliability can achieve.

科学研究費補助金 研究種目:総合研究(A) 課題番号:04302008 研究代表者:三井 斌友 研究期間:1992-1994年度