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:334 下載:15 |
分享至: |
查詢本校圖書館目錄 查詢臺灣博碩士論文知識加值系統 勘誤回報 |
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.
[1] Introduction. (2008) In Living 3.0, Intelligent Living Space. Retrieved September 25, 2013, from http://www.living3.org.tw/ils-museum/e-intro.aspx
[2] Classical conditioning. (2015, May 20) In Wikipedia, the free encyclopedia. Retrieved May 23, 2015, from http://en.wikipedia.org/wiki/Classical_conditioning
[3] Ivan Pavlov. (2015, May 22) In Wikipedia, the free encyclopedia. Retrieved May 23, 2015, from http://en.wikipedia.org/wiki/Ivan_Pavlov
[4] Stimulus–response model. (2013, December 24) In Wikipedia, the free encyclopedia. Retrieved May 23, 2015, from http://en.wikipedia.org/wiki/Stimulus-response_model
[5] Genetic algorithm. (2015, May 19) In Wikipedia, the free encyclopedia. Retrieved May 23, 2015, from http://en.wikipedia.org/wiki/Genetic_algorithm
[6] Artificial neural network. (2015, May 22) In Wikipedia, the free encyclopedia. Retrieved May 23, 2015, from http://en.wikipedia.org/wiki/Artificial_neural_network
[7] Bonabeau, E., Dorigo, M., & Theraulaz, G. (1999). Swarm Intelligence: From Natural to Artificial Systems. New York: Oxford University Press
[8] Huth, A., & Wissel, C. (1992). The simulation of the movement of fish schools. Journal of Theoretical Biology, 156(3), 365–385. http://doi.org/10.1016/S0022-5193(05)80681-2
[9] Holldobler, B. & Wilson, E. O. (1990). The Ant (1st edition.). Boston: Harvard University Press
[10] Seeley, T.D. (1996). The Wisdom of the Hive: The Social Physiology of Honey Bee Colonies. Boston: Harvard University Press.
[11] Camazine, S., Deneubourg, J.L., Franks, N.R., Sneyd, J., Theraulaz, G., & Bonabeau, E. (2001). Self-Organization in Biological Systems. Princeton: Princeton University Press
[12] Kennedy, J., & Eberhart, R. (1995). Particle swarm optimization. Proceedings of ICNN’95 - International Conference on Neural Networks, 4, 1942–1948. http://doi.org/10.1109/ICNN.1995.488968
[13] Moore neighborhood. (2015, May 5) In Wikipedia, the free encyclopedia. Retrieved May 23, 2015, from http://en.wikipedia.org/wiki/Moore_neighborhood
[14] Von Neumann neighborhood. (2015, May 3) In Wikipedia, the free encyclopedia. Retrieved May 23, 2015, from http://en.wikipedia.org/wiki/Von_Neumann_neighborhood
[15] Finite-state machine. (2015, April 29) In Wikipedia, the free encyclopedia. Retrieved May 23, 2015, from http://en.wikipedia.org/wiki/Finite-state_machine
[16] Wolfram, S. (1982). Cellular automata as simple self-organizing systems. Caltech Preprint CALT-68-938. Retrieved from http://cds.cern.ch/record/140047
[17] Gardner, Martin (October 1970). Mathematical Games – The fantastic combinations of John Conway's new solitaire game "life". Scientific American 223. pp. 120–123. ISBN 0-89454-001-7. Archived from the original on 2009-06-03.
[18] Huygens–Fresnel principle. (2015, March 29) In Wikipedia, the free encyclopedia. Retrieved May 23, 2015, from http://en.wikipedia.org/wiki/Huygens–Fresnel_principle
[19] Kim, S., Spenko, M., Trujillo, S., Heyneman, B., Santos, D., & Cutkoskly, M. R. (2008). Smooth vertical surface climbing with directional adhesion. IEEE Transactions on Robotics, 24(1), 65–74. http://doi.org/10.1109/TRO.2007.909786
[20] Charles Darwin. (2015, May 13) In Wikipedia, the free encyclopedia. Retrieved May 23, 2015, from http://en.wikipedia.org/wiki/Charles_Darwin
[21] On the Origin of Species. (2015, May 21) In Wikipedia, the free encyclopedia. Retrieved May 23, 2015, from http://en.wikipedia.org/wiki/On_the_Origin_of_Species
[22] Niles, E. & Gould, S.J. (1972). Punctuated equilibria: an alternative to phyletic gradualism. In T.J.M. Schopf, ed., Models in Paleo biology. San Francisco: Freeman Cooper. pp. 82-115.
[23] State of charge. (2015, April 9) In Wikipedia, the free encyclopedia. Retrieved May 23, 2015, from http://en.wikipedia.org/wiki/State_of_charge
[24] Asexual reproduction. (2015, April 23) In Wikipedia, the free encyclopedia. Retrieved May 23, 2015, from http://en.wikipedia.org/wiki/Asexual_reproduction
[25] Mutation. (2015, May 20) In Wikipedia, the free encyclopedia. Retrieved May 23, 2015, from http://en.wikipedia.org/wiki/Mutation
[26] A Technical Introduction to XML. (1998) In O'Reilly XML.com. Retrieved May 23, 2015, from http://www.xml.com/pub/a/98/10/guide0.html