臺灣博碩士論文加值系統

本研究著重於機器人與人類之間的交流，用於教學領域，例如語言教學，使學習更具互動性、簡單性和趣味性，培養孩子們在玩耍時學習語言的興趣，加上語音對話與肢體語言，使得更容易理解。
硬體由不同類型的材料組成，如鋁擠型、壓克力和塑料（ABS）。該機器人的結構類似於人體結構，頭部為平板電腦、兩隻手臂和下方四個用於移位之麥克納姆輪，麥克納姆輪的特殊設計有助於機器人在多個方向上移動得更快更順暢；機器人手臂能即時模仿與真實人類手臂的動作；軟體主要由Arduino和Android應用程式控制；麥克納姆輪的馬達由Faulhaber馬達控制器驅動，控制器有自己專門的命令負責控制馬達。
最後，使用藍牙模組連接Tab和控制器之間的通信；使用Wi-Fi上傳感測元件之數據。該機器人還能通過Wi-Fi進行遠程控制，在人類由於某些原因無法到場時非常有用。此外，通過雲端上傳感測元件之數據，可以用於逆向工程以及數據監測。

The paper focuses on the interaction of robot and humans. Also, its used in the field of teaching especially language teaching which makes learning more interactive, easy and fun. It develops the interest in children to learn a language while playing. It includes voice interaction, arm movement and body movement which makes easier to understand.
The hardware is composed of different types of materials like aluminium, acrylic, and plastic(ABS). The robot is built similar to a human structure with the head as a tablet, two arms and four mecanum wheels for displacement. The special design of wheel helps the robot to move faster and smoother in multi directions. The design of the robot arm allows actual interaction with humans similar to a human arm. The software is mainly composed of Arduino code followed by the android applications. Faulhaber motor controllers are used to drive the motors attached to the wheels. The smart controller has its own set of commands responsible for driving the motor.
Finally, hardware and software part is linked with the Bluetooth module for wireless communication between the Tab and microcontroller followed by Wi-Fi communication for uploading the sensor data. The robot also focuses on remotely controlling through Wi-Fi which is very useful when human is not in access due to some reasons. Also, the robot data can be traced from sensors through Cloud data and can be used for reverse engineering and also as reference data.

English Abstract......i
Chinese Abstract......iii
Acknowledgements......v
Contents......vi
Tables......ix
Figures......x
Chapter 1: Introduction......01
1.1 Background......01
1.2 Research motive......02
1.3 Literature review......03
1.4 Thesis overview......05
Chapter 2: System structure......06
2.1 Software section......08
2.1-1 Arduino......08
2.1-2 MIT app inventor......09
2.1-3 PushingBox......10
2.1-4 Roboplus......11
2.1-5 SolidWorks......12
2.1-6 Cura......13
2.1-7 Faulhaber motion manager......14
2.2 Hardware section......17
2.2-1 Robot body structure......17
2.2-2 Acrylic base sheet......18
2.2-3 ABS 3D printed parts......18
2.2-4 Robot body cover......21
2.2-5 Mecanum wheel......23
2.2-6 RS232 to TTL Converter Module......25
2.2-7 RS-485 to TTL Converter Module......25
2.3 Other accecories......26
2.3-1 Tablet......26
2.3-2 Power source......27
Chapter 3: Research content and methods......28
3.1 Sensing and transmission devices......28
3.1-1 AI motor......28
3.1-2 Faulhaber motor......32
3.1-3 Flex sensor......34
3.1-4 Accelerometer module......36
3.1-5 Wi-Fi module......38
3.1-6 Bluetooth module......41
3.1-7 Arduino board......44
3.1-8 Faulhaber controller......47
3.2 Wheel kinematics......51
3.3 Controlling Robot arm......53
3.4 Communication using Android......55
3.5 Communication from Arduino to Motors......57
3.6 Arm sensor interface......59
3.7 Leg sensor interface......60
3.8 Uploading sensor data......61
3.9 Retrieving sensor data......63
Chapter 4: Research results......65
4.1 Basic movements......65
4.2 Movements using sensor......67
4.3 English teaching......70
Chapter 5: Conclusion and Future prospects......72
5.1 Conclusion......72
5.2 Scope......73
Reference......74
Extended Abstract......78

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https://www.instructables.com/id/IOT-Made-Simple-Playing-With-the-ESP32-on-Arduino-/
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https://www.hackster.io/detox/transmit-esp8266-data-to-google-sheets-8fc617
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https://www.youtube.com/watch?v=-oLfthiXieU
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https://www.youtube.com/watch?v=2XH1bTWkWIE
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https://www.ptcft.com.tw/dynamixel
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https://www.faulhaber.com/fileadmin/Import/Media/EN_7000_05029.pdf
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https://www.faulhaber.com/fileadmin/Import/Media/EN_MCBL3006S_V2-5_DFF.pdf
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https://cdn.sparkfun.com/datasheets/Sensors/ForceFlex/FLEX%20SENSOR%20DATA%20SHEET%202014.pdf
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https://5.imimg.com/data5/SC/UG/MY-1833510/gy-61-adxl335-3-axis-accelerometer-module.pdf
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https://components101.com/wireless/hc-05-bluetooth-module
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http://ai2.appinventor.mit.edu/?locale=en#5417311899090944
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https://www.arduino.cc/en/Main/arduinoBoardMega/
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https://www.arduino.cc/en/Guide/ArduinoUno
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https://en.wikipedia.org/wiki/Human%E2%80%93robot_interaction
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https://www.google.com/search?q=arduino+ide&source=lnms&tbm=isch&sa=X&sqi=2&ved=0ahUKEwiP1rae19PfAhUHipAKHdvMBPQQ_AUIDigB&biw=1536&bih=706#imgrc=hyypwt0ogVpznM:
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https://en.wikipedia.org/wiki/App_Inventor_for_Android
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https://www.pushingbox.com/
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https://dzone.com/articles/building-an-iot-notification-system
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http://www.robotis.us/roboplus1/
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https://blogs.solidworks.com/teacher/2012/10/transition-to-solidworks-from-creo-or-proe-drawing-documents.html
[36] Cura diagram
http://underbroen.com/new-page-2/
[37] Cura software
https://en.wikipedia.org/wiki/Cura_(software)
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https://www.faulhaber.com/en/support/faulhaber-motion-manager/
[39] Mechanum wheel
https://en.wikipedia.org/wiki/Mecanum_wheel
[40] Mecanum wheel diagram
https://robu.in/product/100mm-aluminium-mecanum-wheel-left/
[41] Mecanum wheel movements
https://www.robot-r-us.com/wheel-mecanum/a-set-of-100mm-mecanum-wheels-4-pieces.html
[42] RS232 to TTL Converter Module
https://www.robot-italy.com/en/rs232-to-ttl-converter-module.html
[43] RS-485 to TTL Converter Module
https://core-electronics.com.au/ttl-uart-to-rs485-converter-module.html
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http://www.microchip.com/mplab/mplab-x-ide
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http://support.robotis.com/en/baggage_files/dynamixel/rx24fdimension.pdf
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https://learn.sparkfun.com/tutorials/flex-sensor-hookup-guide/all
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https://einstronic.com/wp-content/uploads/2017/06/NodeMCU-32S-Catalogue.pdf
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http://e-wiki.org/ru/images/NODemcu
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https://www.amazon.in/RG-Retail-Bluetooth-Module-Arduino/dp/B071LHLLDC
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http://www.electronicaestudio.com/docs/istd016A.pdf
[52] Sony tablet
https://www.gsmarena.com/sony_xperia_z3_tablet_compact-6633.php
[53] 12V DC battery
https://www.amazon.com/Enercell-Rechargeable-Beiter-DC-Power/dp/B079YW4QWZ
[54] Power bank
https://uae.souq.com/ae-en/xiaomi-mi-power-bank-10000mah-2-quick-charge-22273317/i/
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