臺灣博碩士論文加值系統

　　將機器物件導入空間中使建築物具備氣候適應性、使用多元性與構造可適性，是近年智慧建築的研究方向之一。本研究以機器建築為情境構想，設想一個空間智能體，由數百個小型可移動的機器單元群集而成，這些機器單元結合了感應器、致動器與智慧化科技，能藉由分散、聚集或變形來產生各種建築表層配置，進而創造出具有彈性及適應性的智慧空間。

　　當建築空間中散佈著各種自動化裝置，「如何整合眾多自主運作的智能單體，成為一個協同運作的智能空間體」是機器建築主要的研究議題。本論文的研究目的，在於探討智慧機器建築的系統架構，探討層面包含：構造型態、機電整合與資訊整合。本研究透過文獻回顧、案例分析、議題研究與原型實作，來建立並測試機器建築的概念架構。本研究對以下四個領域進行文獻回顧，作為系統架構的理論基礎，包含：智慧建築系統、動態表層構造、群體智能系統與建築資訊模型理論。

　　智慧機器建築的系統架構分為「實體裝置」與「資訊內容」二個面向，每個面向再依照空間尺度分為「空間場域」、「中介系統」與「單體物件」等三個層級。
在「實體裝置」方面，機器建築的實踐，必須關注以下四種技術項目： (1)實體構造、(2)動力與能源轉換、(3)空間定位與遠端遙控與(4)行動控制與管理，本研究建構三個逐代演進的實體原型，以驗證實體構造及機電設備的整合架構並討論其應用潛力及限制。在「資訊平台」方面，機器建築的運作，必須考慮以下三種平台的同步性：(1)實體場域平台、(2)虛擬模型平台與(3)雲端資料平台，一個單體智能物件在這三個平台中，分別以實體模組、模型元件及雲端位址等形式呈現，當這三個平台的運作能同步共構，就能使空間場域及智能物件的資訊內容，能在跨平台與跨階段間發揮功能綜效。

　　本研究的結論與貢獻如下：(1)本文所提出的機器建築的系統架構，可作為未來智慧建築空間的參照範式，尤其在構造型態、機電整合、資訊平台與新型應用等方面。(2)本研究為智慧機器表層所建構的混合式控制架構，以及個體單元的行為控制系統，這其中對於智能物件的自主行為之系統觀點與執行方法，如：行為決策機制、行為模塊的權限定義與功能分層、表層模組的平行運算與動態屬性，可作為未來分散式模組化建築表層與智能建築構材等相關研究的借鏡。(3)本研究認為智慧化環境的未來發展，應將智慧建築視為一個實體裝置與資訊內容之共構平台，如此能使許多分散自主的智能物件在群體協同運作下，成為統合一體的空間智能體，並提昇建築生命週期中的資訊交換性。(4)本研究在機器建築的實體原型建構階段中所獲得之空間設計、建築構造與機電系統的經驗可作為後續研究之參考。

　Integrating robotics into architectural space to promote spatial flexibility, climate adaptability and energy efficiency has become a compelling challenge in our changing world. With various physical and information units distributed in a spatial field, a major issue of smart space is how intelligent individuals can collaboratively perform autonomous behaviors as a whole, spatial entity.

　Intelligent robotic architecture is a smart space that accommodates hundreds of swarm robotic units with well-integrated sensors, actuators, and smart technology, making collaborative operation possible in space. The system framework for intelligent robotic architecture consists of physical and information dimensions, and each dimension has three spatial hierarchical levels. In the physical dimension, the practical implications of robotic architecture are categorized into four technical sections: 1)physical conformation, 2)power and energy conversion, 3)spatial localization and remote control, and 4) the hybrid control system. In the information dimension, the operation of robotic architecture must consider the synchronicity of the following three platforms: 1)the physical building space, 2)the virtual building information modeling (BIM) model, and 3)the cloud environmental database. Operating these three platforms synchronously can generate comprehensive effects, and can integrate the information obtained from the spatial field and the intelligent units within it during building life-cycle phases starting from the interactive design, behavior simulation, installation and testing, to operation management. Three physical prototypes were evolutionarily progressed and applied to verify the feasibility of the conceptual framework.

　To conclusion, compared to a conventional fixed building envelope, distributed mobile surface units can actively respond to environmental conditions and move, scatter, or assemble themselves to generate various holistic configurations. By doing so, they promote the use of flexible architectural space, are adaptable to climate changes, and reduce energy consumption. This research serves to systematize the conceptual framework for intelligent robotic architecture with respect to physical conformation, mechatronics integration, and information platforms. It supports the future development of smart space, intelligent building materials, and intelligent BIM components.

　
摘要 I
誌 謝 V
目 錄 VII
表目錄 XI
圖目錄 XII

第一章 緒論 1
　1.1 研究背景 3
　　1.1.1 機器物件導入建築系 3
　　1.1.2 科技的發展趨勢 5
　　1.1.3 分散式的智能構材 6
　1.2 研究目的 7
　1.3 研究立場與範疇 8
　1.4 研究架構 9

第二章 文獻回顧 11
　2.1 動態建築表層 13
　　2.1.1 功能與目的 13
　　2.1.2 構造型態 14
　　2.1.3 系統架構 15
　2.2 群體機器人系統 17
　　2.2.1 群體機器人的相關技術 18
　　2.2.2 群體智能運用於智慧空間 19

第三章 智慧機器建築的理論架構 21
　3.1 智慧機器建築的系統特性 23
　　3.1.1 機器建築的表層型態 23
　　3.1.2 機器建築的運作情境 24
　　3.1.3 系統分析與需求 26
　3.2 智慧機器建築的系統架構 28
　　3.2.1 系統架構的層級與類別 28
　　3.2.2 實體構造的整合 30
　　3.2.3 機電系統的整合 36
　　3.2.4 資訊平台的整合 41

第四章 機器建築的實體原型 43
　4.1 原型實驗規劃 45
　　4.1.1 各代原型系統的演進 45
　4.2 原型一：建築外殼之頂部表層 47
　　4.2.1 實驗概述 47
　　4.2.2 原型系統規劃 49
　　4.2.3 原型運作測試55
　4.3 原型二：室內空間之互動展示牆 59
　　4.3.1 實驗概述 59
　　4.3.2 互動情境規劃 60
　　4.3.3 原型系統規劃 61
　　4.3.4 原型運作測試：互動展示場 65
　4.4 原型三：建築立面之牆體開口 67
　　4.4.1 實驗概述 67
　　4.4.2 系統規劃 68

第五章 議題討論 75
　5.1 機器建築的構造整合 77
　　5.1.1 中介框架的設計 77
　　5.1.2 構造系統的全案整合 78
　5.2 機器建築的機電整合 80
　　5.2.1 動力系統 80
　　5.2.2 能源效益 80
　　5.2.3 電力問題 81
　　5.2.4 模組化電路整合 82
　　5.2.5 定位系統 82
　5.3 智慧建築的控制架構 84
　　5.3.1 意外與錯誤類型 84
　　5.3.2 多重並行的防錯策略 85
　　5.3.3 修正的控制架構 86
　5.4 分散式的空間機器人 87

第六章 結論 89

參考文獻 93

作者資訊 105

附錄 109
　附錄一 用語定義與延伸研究議題 111
　　1.5 用語定義 112
　　1.6 延伸研究議題 113

　附錄二 延伸文獻探討 115
　　2.1 智慧建築的發展 116
　　2.2 群體智能 125
　　2.3 建築資訊模型 129

　附錄四 機器建築的機電整合 135
　　4.1 原型一：空間定位與驅動控制系統 136
　　4.2 原型二：表層單元機電設計與程式控制 138
　　4.3 原型三：表層單元主控電路板之電路設計 150

　附錄五 機器建築的資訊整合 153
　　5.1 資訊平台的架構 154
　　5.2 物件層級 159
　　5.3 平台層級 164
　　5.4 資訊交換的實作測試 168

　附錄六 現行BIM平台之技術調查 173
　　6.1 現行主要BIM平台的元件資料：Revit Family 174
　　6.2 現行主要BIM資訊平台的程式功能：Revit API 175
　

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機器建築表層之原型展示, http://www.youtube.com/CellularRoboticArchi/playlists