臺灣博碩士論文加值系統

機器人被廣泛應用於各領域，以替代人力節省成本，並促進資源更有效的配置。在這些應用中，部份現有的研究、產品及專利都強調實驗室環境監控與物體運送的重要性，監控裝置與物體運送已普及於現今大眾社會。實驗室監控對於要求嚴謹且具有危險的環境是必要的，適當且有效率的監控將能掌控實驗室的各種狀況，防止意外發生。不管在公部門或私領域，物體運送已成為生活中不可或缺的部份。本研究以輔助實驗室業務為目標，研製兩部開發於ROS，搭配光達的TurtleBot3，具自主智慧導航功能之機器人，配合實驗室固有環境，一部搭載溫濕度感應器與紅外線熱感相機，於園區內巡視以實現環境監控功能；一部附有抽屜放置檢體，協調操控電梯之機械手臂，達成自主移動與物品運送。並經大量使用與測試證實其可行性與實用性。此研究除了能蒐集與提供環境數據及協助部門運作外，同時能夠推廣智慧機械於公家機關，以解決現階段人力不足的問題。

Robots have been used in various areas to replace manpower, reduce costs, and facilitate more effective resource allocation. Among these applications, some of current research, products, and patents have primarily emphasized the use of robots for laboratory monitoring and object transport. Monitors and object transport have become a common fixture in modern life. The importance of monitoring in laboratories where rigorous and occasionally dangerous work is undertaken is readily apparent. Appropriate and effective monitoring facilitates the control of laboratory conditions. Widely applied in public and private places, object transport has become an indispensable part of everyday life. This study sought to assist the business of the bureau by developing two robots using the Robot Operating System and the hardware foundation for each robot we adopted were TurtleBot3 with Lidar equipment. The developed robots have autonomous intelligent navigation functions and are suited to monitor the environment of the laboratories in the bureau. One robot had a temperature and humidity sensor and an infrared thermal camera, and it could be used to patrol and monitor the laboratory environment. The other robot had drawers in which specimens could be placed; robotic arm in the elevator could coordinate and control elevators, enabling the robot to move and transport specimens autonomously. Plenty of tests were conducted to verify the feasibility and practicality. Through this study, besides the aim to utilize robots to gather and provide the environmental characteristics and assist the businesses of the bureau, simultaneously we sought to promote the use of smart technologies and ameliorate manpower shortage in the public sectors.

Chapter 1 Introduction
Chapter 2 Research Method
2.1 Autonomous Smart Navigation
2.2 Remote Human-Machine Control Interface
2.3 Fire and Flood Alerts/Environmental Temperature and Humidity Monitoring
2.4 Flexible Item Storage and Transport
2.5 Elevator Operation
Chapter 3 Results
3.1. Laboratory Monitoring Robot
3.2. Specimen Transport Robot
Chapter 4 Conclusions
Chapter 5 References

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