本研究分為自動對焦系統及視覺伺服控制系統等兩大部份，於氣壓YZ雙軸平台實現(1)對焦值演算法、(2)最佳焦距搜尋演算法、(3)結合隨機式測圓及SAD(Sum of absolute differences)之視覺追蹤演算法、(4)結合滑動模式適應控制器及視覺追蹤演算法之視覺伺服控制系統。
在自動對焦系統中，(1)對焦值演算法：以128×128大小之影像利用離散餘弦轉換後的中頻總和作為對焦的依據，(2)最佳焦距之搜尋演算法：以對焦值演算法得到之數值，判斷出最佳焦距並移動至此位置。最後，自動對焦系統於實際系統上測試不同類型之影像，結果證明都能獲得對焦曲線且能移動至最佳焦距。
在視覺伺服控制系統中，(3)視覺追蹤演算法：先以隨機式測圓測得目標圓後，爾後SAD演算法以面板匹配方式，持續追蹤目標圓。(4)視覺伺服控制系統：以視覺追蹤演算法所得到之目標圓座標，並結合滑動模式適應控制器，完成閉迴路之控制。最後，視覺伺服控制系統於氣壓YZ雙軸平台實現YZ軸視覺伺服控制定位。

This thesis aims to develop an autofocus system and a visual servo control system. In the autofocus system, a focus-measured method calculated by the terms of the middle frequency after the discrete cosine transform and an autofocus search algorithm are proposed. In the visual servo control system, the servo position control for pneumatic YZ axes system is realized by combining the visual tracking algorithm and the sliding mode adaptive controller. The visual tracking algorithm consists of the random circle detection (RCD) and sum of absolute differences (SAD). The target can be tracked by SAD, after it has been found by RCD. Finally, the proposed auto-focus system and the visual servo control system are verified experimentally.

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