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研究生： 高雲
YUN - GAO
論文名稱： 自組織化機器人系統於建築之應用
Self-organizing Robotic System in Architecture
指導教授： 施宣光
Shen-Guan Shih
口試委員: 彭雲宏
Yeng-Horng Perng
陳珍誠
Chen-cheng Chen
學位類別： 碩士
Master
系所名稱： 設計學院 - 建築系
Department of Architecture
論文出版年： 2015
畢業學年度： 103
語文別： 英文
論文頁數： 85
中文關鍵詞： 智慧建築 、自組織化 、機器人系統 、遮陽 、細胞自動機 、演化
外文關鍵詞： Intelligent Building, Self-organization, Robotic system, Sun shading, sCellular automaton, Evolution
相關次數： 點閱：330  下載：15 
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    • 智慧建築是當下熱門之話題。然而，中央控制佔據了智慧建築研究之主流。自組織化系統未得到足夠的重視。

    受人工智慧領域中集群智慧，以及自然界中自組織化系統的啟發，本文構想了一個自組織化的機器人系統。該系統主要包含兩部分：
    1).一群被稱為Geco-bug的機器人
    2).被稱為Smart Tile的智慧帷幕墻

    一隻Geco-bug身背太陽能板，伏於幕墻之上，集群而出，尋日光而蔽幕墻，充電能為己用。Geco-bug默然耕耘，遇陽光，則借Smart Tile為以太，呼朋喚友，頃刻雲集。其群落規模有消長，人人參數各不同，以應環境之變遷也。

    蟻群採食似有統領，魚群游弋宛如一體，此中奧妙，，盡為本系統所得。而智慧幕墻，亦循細胞自動機之理，固而無技術之難。而系統隨時日之變化，又得達式演化論之神髓。

    然吾無力建此系統，以觀其效，故依託電腦模擬，驗證理論之良莠。

    Intelligent building is quite a hot topic today. However, central control is of prevalence in researches about intelligent building. Self-origination has not been put enough emphasis on in yet.

    Inspired by Swarm intelligence in Artificial intelligence area, as well as self-organizing systems in the gregarious creatures, a self-organizing robotic system was conceived in this research. This system consisted of two parts,
    1).A group of small robots, called Geco-bugs
    2).An intelligent curtain wall, called Smart Tiles

    A Geco-bug had a photovoltaic panel on its back and could attach on the curtain wall like a gecko. These robots would act in groups, search for the sunshine and shade the building. They would also charge their batteries at same time. Once a Geco-bug found the sunshine, it would give out signals to recruit mates. The Smart Tiles severed as the medium to deliver the information. The population of the Geco-bug community and some parameters of different Geco-bugs would change with time, to adapt to the continually changing environments.

    The mechanism that an ant colony seek for food served as the base of algorithm that Geco-bugs search for sunshine, and schooling behavior in a group of fish was referred to, to help Geco-bugs act in group, avoid colliding and keep in proper distance. The formation of Smart Tiles was based on the theory of Cellular automaton, making this system more technically practicable. Evolution theory was also introduced into this system.

    Computer simulation was used to demonstration the conceived robotic system. A case study was also carried out.

    Abstract i Table of Contents ii Index of Figures v Index of Videos vii Index of Tables vii 1. Introduction 1 1.1 Background 1 1.2 Research content and range 2 2. Methodology 2 2.1 Procedure 2 2.2 Software platform 3 3. Self-organization in Biological System 3 3.1 Fish schooling 4 3.2 Food seeking in an ant colony 4 4. Smart Tile 5 4.1 Derivation 5 4.2 Hexagonal coordinate system 5 4.3 Cellular Automaton 7 4.4 Game of life and Domino show 8 4.5 Sub-cell 9 4.6 Rules 10 4.7 Information Wave 11 4.7.1 Intermittent Activation 11 4.7.2 Wave Propagation 11 4.7.3 Wave Diffraction 12 4.7.4 Wave meets Wave 13 4.8 State-keeper 13 5. Geco-bug 14 5.1 Conceptual formation of robot 14 5.2 Economic Inequality 15 5.3 Life style of the capitalists 16 5.3.1 Radar System 16 5.3.2 Attraction and Stop behavior 16 5.3.3 Repulsion Behavior 17 5.3.4 Leave Pheromone 18 5.4 Life style of the proletariats 18 5.5 Proletariats meet Capitalists 19 6. Evolution 20 6.1 Ability to adapt to various environments 20 6.2 Evolution rules 21 6.2.1 Variation and Breeding 21 6.2.2 Benchmark of fitness and Variables 21 6.2.3 Birth and Death 21 6.2.4 Threshold rising and reduction 23 7. A case study 25 7.1 Case introduction 25 7.2 Solar intensity calculation 25 7.2.1 Algorithm 25 7.2.2 Spatial sampling 26 7.2.3 Temporal sampling 26 7.2.4 Data output 27 7.3 Simulator 27 7.4 Geco-bugs Run! 28 7.4.1 Smart Tiles setting 28 7.4.2 Geco-bugs initialization 28 7.4.3 Chasing the sun 29 7.5 Geco-bugs in evolution 30 7.5.1 Archaeology 30 7.5.2 Parameters Setting & Process 32 7.5.3 A self-adapting System 34 7.5.4 Irrelevant factor 39 7.5.5 Abilities to survive from variation in environment 41 8. Conclusion and future work 41 References 43 Appendix 45 Appendix I -- Source Code of Grasshopper Component 45 CA_TileComponent class in CA_Tile namespace 45 Unit class in in CA_Tile namespace 52 StateKeeper6Component class in State_Keeper_6 namespace 53 Unit class in State_Keeper_6 namespace 56 Spiderv20Component class in in Spider_v2._0 namespace 57 Spider class in in Spider_v2._0 namespace 62 CoorCreatComponent class in Coor_Creat namespace 69 Unit class in Coor_Creat namespace 71 P2IComponent Class in P2I namespace 72 ParamatersComponent Class in Paramaters namespace 74 Appendix II – Components Connection in Grasshopper 77

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