臺灣博碩士論文加值系統

科技越來越進步，但是竊盜和火災、毒氣外洩等意外災害發生之機率卻是逐年增加，人們因此而傷亡和財產的損失比率也越來越高，有鑑於近年來，機器人廣泛並成它a運用在釵h領域上，如工廠自動化、醫院自動化、軍事、娛樂、太空探險、服務系統以及代替人類在危險地區工作等等，於是我們構想，如果未來機器人可以偵測這些潛在的危機，保護我們人類，不論我們在屋內或是屋外，隨時可以掌握家庭、辦公室、工廠、倉庫等地方的狀況，就會減少釵h意外的擴大、生命財產的損失。

本論文的主題即在發展經由網際網路之遠端監控與監督控制系統應用於多重感測居家醫療機器人，隨著網際網路的普及，機器人結合網路技術成為一個熱門的主題，此系統即結合網路建構一個遠端監控系統，可以同時使用PDA或是一般電腦作遠端監控。傳統使用端皆使用電腦為介面，然而在遠端監控系統裡使用電腦為遠端介面將無法隨時掌握遠端的資訊，因此本論文提出使用個人數位助理(PDA)作為遠端使用者介面，由於PDA的可攜性與便利性勝過電腦，因此將可大大提升整個遠端監控系統的效率與弁遄A我們將可隨時攜帶PDA掌握欲監控地點的安全，遠端監控居家醫療機器人。

Remote supervisory control systems have been performed for manufacturing, underwater manipulation, storage tank inspection, nuclear power plant maintenance, space exploration, satellite repair, etc. Due to the stable data-transmission performance of using private data communication media, the control systems can be performed in high reliability and stability. Today, there is a growing need to develop the Internet based supervisory control systems for many significant and interesting applications in the 21st century. Internet based control systems can take all advantages of the multimedia communication and worldwide features, but the shared bandwidth due to the public feature and uncertain latency will cause the system failure and unstable on task performance.

The main objective of this thesis is to develop the remote surveillance and supervisory control system for the multisensor based HomMed robot. Since the Internet rapidly growing, the robotics combine the Internet technology becomes a new issue. We develop the remote surveillance and supervisory control system by using Personal Digital Assistant (PDA). In traditional, the client side platform of the networked robot system was usually using desktop PC. However, using PC can’t receive information anytime, anywhere. Therefore, we suggest the novel interface “PDA” for the remote system. PDA is powerful and slim than PC. Moreover, PDA has the advantage of mobility, you can take it anywhere. Hence, this will promote the overall remote system’s efficiency and capability.

誌 謝 I
中文摘要 II
Abstract III
Table of Contents IV
List of Figures VI
List of Tables VIII

Chapter 1 Introduction 1
1.1 Motivation 1
1.2 Objectives 3
1.3 Major Issues and Challenges 4
1.4 Thesis organization 6
Chapter 2 Literature Review 7
2.1 Review of Intelligent Medical Robot System 7
2.1.1 Talking Cuddling Robot for Elderly of Ifbot 7
2.1.2 A Medical and Surgical Robot of HOSPI 9
2.2 Review of Networked Intelligent Robots through the Internet 12
2.2.1 Category of the Networked Intelligent Robots through the Internet 13
2.2.2 The hardware configuration of the Networked Intelligent Robots through the Internet 17
2.2.3 Some applications of Networked Intelligent Robots through the Internet 21
2.3 Review of Behavior Based Programming Remote Control System 27
2.3.1 Concept of Behavior Programming Remote Control System 27
2.3.2 Architecture for Behavior Programming Remote Control System 29
Chapter 3 Design of Multisensor based HomMed Robot 32
3.1 Introduction 32
3.2 Main Controller and Architecture 34
3.2.1 Hardware Architecture 34
3.2.2 Software Architecture 35
3.3 Sensory System 37
3.3.1 Ultrasonic Sensor Detection 38
3.3.2 CCD Sensor Detection 39
3.3.3 3D Laser Range Finder Sensor Detection 40
3.3.4 Fire Sensor Detection 41
3.4 Communication System 43
3.4.1 Wireless LAN 43
3.4.2 IPC (Inter-Process Communication) 46
3.4.3 HR-Sock (HomMed-Robot Socket) 47
3.5 Motion Control System 48
3.6 Power Management System 51
3.7 Remote Surveillance and Supervisory Control System 55
Chapter 4 A Client-Server Approach for Behavior Based Programming Remote Control System 57
4.1 Architecture for Behavior Based Programming Remote Control System 58
4.2 Behavior-Based Control by Schema Server 59
4.2.1 The Schema Server 60
4.2.2 The Deliberative Layer 62
4.3 The Scheme of System Communication 63
Chapter 5 Remote Surveillance and Supervisory Control System using Personal Digital Assistant (PDA) 66
5.1 The Remote Surveillance and Supervisory Control System of the HomMed robot 67
5.2 Communication Software Implemented for HomMed Robot 68
5.2.3 Multicast 70
5.2.4 Auto Negotiation 72
5.3 Human-Machine Interface 74
Chapter 6 Conclusions and Contributions 78
6.1 Conclusions 78
6.2 Contributions 79
Reference 80

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