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系統識別號 U0026-2808201412012600
論文名稱(中文) 應用直覺化服務組合系統建構自走式機器人服務
論文名稱(英文) An Autonomous Robotic Service based on Intuitive Service Composition
校院名稱 成功大學
系所名稱(中) 工程科學系
系所名稱(英) Department of Engineering Science
學年度 102
學期 2
出版年 103
研究生(中文) 柏秉鈞
研究生(英文) Ping-Chun Po
學號 N96014170
學位類別 碩士
語文別 中文
論文頁數 43頁
口試委員 指導教授-侯廷偉
口試委員-楊竹星
口試委員-席家年
口試委員-鄧維光
中文關鍵字 服務整合  Android  RFID  Robotic Service 
英文關鍵字 Service Composition  Android  RFID  Robotic Service 
學科別分類
中文摘要 本研究有兩個目標,第一是嘗試將機器人服務引進智慧家庭服務組合模型中;第二是應用直覺化服務組合系統(ISCS),以建構自走式機器人服務,並以此評估直覺化服務組合系統的可用性及效能。直覺化服務組合系統是一個基於USDL服務描述語言所建立的智慧家庭使用平台。我們使用相同的設備在不同的環境開發自走式機器人服務。首先是直接設計和實作一個自走式機器人服務;其次是將前述服務,拆解成更小的服務模組,分別以USDL描述,以加入直覺化服務組合系統中,並使用此系統中的服務組合功能以組建出相同功能的服務。藉由兩種不同的實作方式,以比較使用與不使用直覺化服務組合系統兩種做法的優缺點。比較的參數如下:(1)使用服務所花費的時間;(2)使用服務的誤差值;(3)使用者的方便性。我們以機器人協助找鑰匙的使用情境為評估對象,首先直接使用iRobot與RFID定位系統實做;其次將iRobot與RFID定位包裝成巡邏服務與RFID定位服務,再使用ISCS服務組合功能產生找鑰匙服務。經多次實驗結果顯示 (1)兩者所耗之平均時間與平均錯誤距離幾乎相同;這結果也表示在此情境實驗下, ISCS為正確(effective)和有效率的(efficient);(2)使用ISCS的圖形化的服務組合介面,使用者確實可以很快建構出組合服務。
英文摘要 The goal of this research is two folds: (1) to introduce a robot-based service into a smart home; (2) to use intuitive service composition system (ISCS) to create/compose a new robot-based service and to evaluate the feasibility and performance of ISCS. ISCS is a smart home platform which adopts Unified Service Description Language (USDL) to model each service and supports a service composition model. First, we introduce iRobot to a smart home platform. Secondly, we used a scenario (composed service) “find a key” for the evaluation. The scenario is composed of an iRobot patrol service and a RFID location-based service, and it is used to look for a key, bound with an active tag. We take two approaches to implement the service using the same iRobot and RFID location based system. One approach is special customized implementation; the other is by ISCS service composition. The parameters considered for evaluation are: total elapsed time, error, and user experience. The experiment results show that: (1) the average elapsed the time and measured errors are almost the same for the two approaches. This implies that ISCS service composition in this scenario is effective, efficient and of low overhead. (2) The user can easily learn to combine services to create a new scenario using ISCS.
論文目次 目錄
摘要 I
Extended Abstract II
誌謝 XI
目錄 XII
表目錄 XIV
圖目錄 XV
第一章 緒論 1
1.1 研究背景 1
1.2 研究動機 2
1.3 章節提要 3
第二章 相關研究 4
2.1 機器人服務 4
2.2 RFID 定位原理 5
2.3 服務組合 9
2.4 統一服務描述語言 (USDL) 10
2.5 直覺化服務組合系統 (ISCS) 12
第三章 系統設計 14
3.1 系統架構 14
3.2 iRobot Create 18
3.3 Arduino 20
3.3.1 RFID 讀卡機 ( DSM-300 ) 21
3.3.2 Serial-WiFi Module 22
3.4 定位方法 23
3.5 巡邏模式 26
第四章 系統實作與結果 27
4.1 實驗情境 28
4.2 實驗操作流程 29
4.3 實驗成果 30
4.3.1 實驗組 30
(1) 裝置註冊介面 30
(2) 建置情境介面 32
(3) 情境執行結果 34
4.3.2 對照組 35
(1) 起始設定 35
(2) 情境執行結果 37
4.4 實驗結果與問題 38
第五章 結論與未來研究方向 40
5.1 結論 40
5.2 未來研究方向 41
參考文獻 42
參考文獻 參考文獻
[1] Tsung-Chi Wu, Applying USDL Model for Intuitive Service Composition on Smart Home Platform, Master Thesis, Department of Engineering Science, National Chen-Kung University, July, 2014.
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pp. 10-15 October. 2009
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http://en.wikipedia.org/wiki/Radio-frequency_identification
Last Visited: 10 July,2014
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[8] Noha Ibrahim , Frédéric Le Mouël and Stéphane Frénot “MySIM: A Spontaneous Service Integration Middleware for Pervasive Environments”, in Proceedings of the ACM International Conference on Pervasive Services,
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[9] J. Cardoso, A. Barros, N. May, and U. Kylau, “Towards a Unified Service Description Language for the Internet of Services: Requirements and First Developments”, in Proceedings of IEEE International Conference on Services Computing, pp. 602-609, 2010.
[10] Wikipedia. Roomba. Available:
http://en.wikipedia.org/wiki/Roomba Last Visited: 19 July,2014

[11] Ja-Young Sung, Lan Guo, Rebecca E. Grinter, and Henrik I. Christensen,“My Roomba Is Rambo: Intimate Home Appliances”, in Proceedings of UbiComp 2007: Ubiquitous Computing, vol 4717, pp 145-162, 2007
[12] Guang Zhou, Yansheng Zhang and Farokh Bastani, “Service-Oriented Robotic Swarm Systems: Model and Structuring Algorithms”, in Proceedings of Object/Component/Service-Oriented Real-Time Distributed Computing (ISORC) , pp. 11-13 April 2012
[13] Daniel Graff, Jan Richling ,“Concepts for Swarm System Software”, in Proceedings of First International Workshop on the Swarm at the Edge of the Cloud September, 29, September, 2013
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