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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 施吉昇(Chi-Sheng Shih) | |
| dc.contributor.author | Wei-Chih Chen | en |
| dc.contributor.author | 陳偉志 | zh_TW |
| dc.date.accessioned | 2021-06-15T06:06:25Z | - |
| dc.date.available | 2020-08-15 | |
| dc.date.copyright | 2010-08-19 | |
| dc.date.issued | 2010 | |
| dc.date.submitted | 2010-08-15 | |
| dc.identifier.citation | [1] “Computing Community Consortium - Cyber-Physical Systems.” at http://
www.cra.org/ccc/cps.php. [2] National Science Foundation, “Cyber-Physical Systems (CPS),” vol. NSF-08-611. [3] “iNuC (Intelligent Nursing Cart).” at http://of.openfoundry.org/ projects/1140. [4] “SISARL (Sensor Information Systems for Active Retirees and Assisted Living).” at http://www.sisarl.org/. [5] “RTAI - the RealTime Application Interface for Linux from DIAPM.” at http: //www.rtai.org. [6] “EMWF (Embedded Workflow Framework).” at http://of.openfoundry. org/projects/968. [7] T. S. Chou, S. Y. Chang, Y. F. Lu, Y. C. Wang, M. K. Ouyang, C. S. Shih, T. W. Kuo, J. S. Hu, and J.W. S. Liu, “EMWF for Flexible Automation and Assistive Devices,” 2008. [8] J. W. S. Liu, C. S. Shih, T. S. Chou, Y. C. Wang, H. Y. Huang, W. S. Chen, K. C. Chuang, W. C. Wang, and T. Y. Chen, “EMWF: A Middleware for Flexible Automation and Assistive Devices,” tech. rep., Institute of Information Science, Academia Sinica, 2009. [9] S. Y. Chang, Y. F. Lu, T. W. Kuo, and J. W. S. Liu, “The design of a light-weight workflow engine for embedded systems,” December 2007. presented at Work- shop on Software and Systems for Medical Devices and Services. [10] “XML Process Definition Language.” at http://www.wfmc.org/xpdl.html. [11] “BPEL (Business Process Execution Language).” at http://docs. oasis-open.org/wsbpel/2.0/wsbpel-v2.0.pdf. [12] “YAWL (Yet Another Workflow Language).” at http://www. yawlfoundation.org/. [13] “Open Source Java XPDL editor.” at http://www.together.at/enhydra/ workflow/jawe/index.html. [14] “Windows Workflow Foundation.” at http://msdn.microsoft.com/ en-us/netframework/aa663328.aspx. [15] “WfMC WfMOpen.” at http://wfmopen.sourceforge.net/. [16] “Workflow Management Coalition.” at http://www.wfmc.org/. [17] WfMC, “WfMC Workflow Standard: Process Definition Interface – XPDL.” at http://www.wfmc.org/index.php?option=com_docman&task=doc_ download&Itemid=72&gid=132, October 2008. Document Number WFMC- TC-1025. [18] John A. Stankovic and R. Rajkumar, Real-Time Operating Systems. Kluwer Aca- demic Publishers, 2004. [19] N Vun, H F Hor, and J W Chao, “Real-time enhancements for embedded linux,” 14th IEEE International Conference on Parallel and Distributed Systems, 2008. [20] Aldebaran Robotics, “Aldebaran Robotics, the creators ofNao.” at http://www. aldebaran-robotic.com/en/. [21] “Aldebaran Nao, Experimental Robotics.” at http://cgi.cse.unsw.edu. au/˜cs4411/wiki/index.php?title=Aldebaran_Nao. [22] Thomas Rofer, Tim Laue, Armin Burchardt, Erik Damrose, Katharina Gillmann, Colin Graf, Thijs Jeffery de Haas, Alexander Hartl, Andrik Rieskamp, An- dre Schreck, and Jan-Hendrik Worch, “B-Human Team Report and Code Re- lease 2008,” tech. rep., Deutsches Forschungszentrum fur Kunstliche Intelligenz, Enrique-Schmidt-Str. 5, 28359 Bremen, Germany, Universitat Bremen, Fachbere- ich 3, Postfach 330440, 28334 Bremen, Germany, November 2008. [23] “B-Human.” at http://www.b-human.de/. [24] “Open Source Workflow Engines in Java.” at http://java-source.net/ open-source/workflow-engines. [25] “BPMS (Business Process Management Suite).” at http://community. intalio.com/. [26] “The ActiveBPEL Engine.” at http://www.activevos.com/ community-open-source.php. [27] Lasse Pajunen and Suresh Chande, “Developing workflow engine for mobile de- vices,” Proceedings of IEEE International Enterprise Distributed Object Comput- ing Conference, 2007. [28] Hackmann, G., Haitjema, M., Gill, C., and Roman, G.-C., “Silver: A bpel work- flow process execution engine for mobile devices,” Proceedings of 4th Interna- tional Conference on Service Oriented Computing (ICSOC 2006). [29] Jin Jing, Karen Huff, Ben Hurwitz, Himanshu Sinha, Bill Robinson, and Mark Feblowitz, “WHAM: Supporting mobile workforce and applications in workflow environments,” Proceedings of the 10th IEEE Workshop on Research Issues in Data Engineering, February 2000. [30] “Microsoft Robotics Developer Center.” at http://msdn.microsoft.com/ en-us/robotics/default.aspx. [31] “LEGO.com MINDSTORMS.” at http://mindstorms.lego.com/en-us/ default.aspx. [32] Y. L. Huang, E. C. Hsia, and J. S. Hu, “The design and implementation of an embedded software architecture for intelligent robots (ESAIR),” Taiwan Open Source Software Research and Development Workshop, November 2007. | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/47569 | - |
| dc.description.abstract | 許多現代的嵌入式系統，如網宇實體系統，以計算元件和實體元件緊密結合和協調為特性。可調整性、效率、適應性、可靠性和使用性是這些系統的主要議題。工作流程引擎是管理工作流程的應用程式，它幫助開發人員從原本的系統抽取出控制流程，因此可以增加可調整性和開發效率。本研究為嵌入式系統設計並實作一個工作流程引擎，使得能用較少的工作來調整工作流程。為了符合嵌入式系統的時間需求，工作流程引擎被設計成能滿足這些需求，並提供允入控制；對於某組工作流程而言，只要通過允入控制，則其所有的時間需求就會被保證。我們選擇了人形機器人作為範例應用，且將機器人的應用程式轉換成工作流程，並展示工作流程引擎如何提供即時效能保證和有彈性的程式開發方式。 | zh_TW |
| dc.description.abstract | Many modern embedded systems, such as cyber-physical systems, feature tight combinations of, and coordinations between computational and physical elements. Configurability, efficiency, adaptability, reliability, and usability are important issues for these systems.
A workflow engine is a software application that manages workflows. It helps developers extract control flows from the original system, and thus is able to improve configurability and development efficiency. This research aims at the design and implementation of a workflow engine for embedded systems so as to configure workflows with less efforts. To meet timing requirements on embedded systems, the engine is designed to meet timing requirements, and provides admission control so that these requirements of a set of workflows are guaranteed as long as it is admitted. The example application is a humanoid robot. We model robot applications as workflows, and show that how the workflow engine provides real time guarantee and flexible ways of programming. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-15T06:06:25Z (GMT). No. of bitstreams: 1 ntu-99-R97922044-1.pdf: 6484710 bytes, checksum: 0026ec1619c5b1297c02e245c64742e1 (MD5) Previous issue date: 2010 | en |
| dc.description.tableofcontents | List of Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . viii
List of Figures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ix Chapter 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.2 Objective and Contribution . . . . . . . . . . . . . . . . . . . . . . . . . . 4 1.3 Organization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Chapter 2 Background and Related Work . . . . . . . . . . . . . . . . . . . . . . 7 2.1 Workflow Management System . . . . . . . . . . . . . . . . . . . . . . . . 7 2.1.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.1.2 Process Definition Language . . . . . . . . . . . . . . . . . . . . . 9 2.1.3 Software Architecture for Workflow-based Software . . . . . . . . 10 2.2 Real-Time Operating System . . . . . . . . . . . . . . . . . . . . . . . . . . 12 2.3 Nao Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 2.4 Related Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Chapter 3 Formal Model and Problem Definition . . . . . . . . . . . . . . . . . 18 3.1 Real-Time Workflow Model and Problem Definition . . . . . . . . . . . . 18 3.2 Workload Model for Nao Robot . . . . . . . . . . . . . . . . . . . . . . . . 19 3.2.1 Cognition Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 3.2.2 Motion Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 3.3 Workflows for Nao Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 3.3.1 Cognition Workflow . . . . . . . . . . . . . . . . . . . . . . . . . . 26 3.3.2 Motion Workflow . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Chapter 4 System Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 4.1 Design of Workflow Engine . . . . . . . . . . . . . . . . . . . . . . . . . . 30 4.1.1 Threading Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 4.1.2 Functionality of the Workflow Engine . . . . . . . . . . . . . . . . 31 4.2 Real Time Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 4.3 Admission Control for Nao Applications . . . . . . . . . . . . . . . . . . 35 4.3.1 Workflow Compatibility . . . . . . . . . . . . . . . . . . . . . . . . 35 4.3.2 Real Time Guarantee . . . . . . . . . . . . . . . . . . . . . . . . . . 36 vi4.4 Configurability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 4.4.1 Original Scenario . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 4.4.2 New Scenario . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 Chapter 5 Performance Evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . 41 5.1 Experiment Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 5.1.1 Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 5.1.2 Workflow Parameters . . . . . . . . . . . . . . . . . . . . . . . . . 41 5.1.3 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 5.1.4 Workload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 5.2 Evaluation Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 5.2.1 Overloaded Workload . . . . . . . . . . . . . . . . . . . . . . . . . 46 5.2.2 Extra Overloaded Workload . . . . . . . . . . . . . . . . . . . . . . 50 5.3 Comparison between Workflow-based Programming and Traditional Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 Chapter 6 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 | |
| dc.language.iso | en | |
| dc.subject | 機器人 | zh_TW |
| dc.subject | 工作流程 | zh_TW |
| dc.subject | 工作流程引擎 | zh_TW |
| dc.subject | 即時效能 | zh_TW |
| dc.subject | 嵌入式系統 | zh_TW |
| dc.subject | workflow engine | en |
| dc.subject | embedded system | en |
| dc.subject | robot | en |
| dc.subject | workflow | en |
| dc.subject | real time | en |
| dc.title | 支援即時效能之嵌入式工作流程引擎 | zh_TW |
| dc.title | Real-Time Extension for Embedded Workflow Engines | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 98-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 石維寬(Wei-Kuan Shih),楊佳玲(Chia-Lin Yang),洪士灝(Shih-Hao Hung) | |
| dc.subject.keyword | 工作流程,工作流程引擎,即時效能,嵌入式系統,機器人, | zh_TW |
| dc.subject.keyword | workflow,workflow engine,real time,embedded system,robot, | en |
| dc.relation.page | 55 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2010-08-16 | |
| dc.contributor.author-college | 電機資訊學院 | zh_TW |
| dc.contributor.author-dept | 資訊工程學研究所 | zh_TW |
| 顯示於系所單位： | 資訊工程學系 | |
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