近年來物聯網的浪潮襲轉全球，自造者藉由巧妙的應用微控制器創作許多令人讚嘆的作品，因此本論文亦從生活中發想，應用基於ARM Cortex-M3架構下的STM32F103系列晶片以及搭載Atmel AVR晶片的Arduino微控制器，開發一個泛用型嵌入式系統平台，藉由搭配Gyroscope、Accelerometer來控制機器手臂。而另一個實驗同樣應用上述的微控制平台，結合超音波感測器，反饋預警信號提示駕駛。

本文首先介紹STM32F103與Arduino之硬體規格，包含其軟體編輯環境及程式語法，並介紹實驗所應用的傳感器物理原理。另外介紹機器手臂運動理論以及實驗所使用的機械手臂組件，同時說明機器手臂控制系統與超音波預警系統的架構及功能；文中詳細說明相關裝置的功能及其控制原理，並且分析其程式核心源碼。

最後展示實作成果，第一個實驗係應用超音波感測儀，結合STM32、Arduino開發平台並搭配LED警示燈號，藉以提醒駕駛注意人車。另一個實驗同樣使用 STM32 系列微控制器結合加速度與陀螺儀模組實現機械手臂遠端控制系統。

In recent years, IoT tide has sweeps across the whole world, there are so many
"Maker" apply with microcontroller to achieve many amazing creation by clever application.

We inspire through living as well,try to develop a general-purpose embedded system platform based on the STM32F103 series chips under the ARM Cortex-M3 architecture, to collocate with Arduino microcontrollers equipped with Atmel AVR chips,and connect with the attitude sensor can be widely used in a variety of communication protocol and through wireless transmission to control the robotic arm.

Second experiment is also based on the above-mentioned STM32 and Arduino
combination of micro-control platform,combined with ultrasonic sensors,in the detection of obstacles immediately feedback to alert user to avoid accident.

Firstly introduced STM32F103 and Arduino hardware specifications,include its software editing environment and program syntax,then introduced the application of the sensor and its principles.In addition,review the theory of robotic arm movement and the robotic arm assembly used in the experiment. Then explain the robotic arm control system and ultrasonic warning system architecture and functions,detailed control function related to the device and control principle,and analyze the program source code.

Finally show the results of the implementation,through the ultrasonic launch microcontroller to calculate the distance of the obstacles,it can timely feedback warning lights to remind the driver to pay attention to the left or right rear. Another application,as same as to use STM32 series microcontrollers connect with the Acceleration and Gyroscope communicated with Arduino development board,to implement the robotic arm remote control system.

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