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中文摘要：
针对服务机器人应用需要，引入基于构件的开发方法，设计了一种支持和增强服务机器人功能的智能环境服务构件系统．制定了服务构件的基本组成结构与交互模式，实现了机器人的跨平台服务调用，有效解决了资源多样异构性带来的问题．服务构件将资源辅助功能封装成共享服务，借助智能环境通信网络，基于规范的服务接口和说明，提供开放的服务访问和调用．它可以被独立地部署并由第三方任意组合应用．本文分别从辅助资源端和服务机器人客户端出发，详细论述了应用webservice（WS）中间件技术开发服务构件和服务调用程序的基本原理，并给出了实验验证．
英文摘要：
Aiming at the application requirement of service robots, a smart space service component system supporting and enhancing the functions of robots is designed by introducing component-based development （CBD） methods. Basic structures and interaction modes are proposed for service components, based on which cross-platform service invocation is realized for robots. As a result, the problems of the assistant resource＇s diversity and heterogeneity can be resolved effectively. Service component encapsulates the assistant functions of resources into shared service and provides open service access and invocation on smart space＇s communication network through contractually specified service interface and description. It supports independent deployment, and is subject to third-party composition. Starting from assistant resources and clients for service robots, the principles of developing service components and service invocation programs by applying web service （WS） middleware technique, are presented in detail, and finally, they are proved by typical experiments.
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同项目期刊论文
Socially Acceptable Pre-collision Safety Strategies for Human-Compliant Navigation of Service Robots
Robotic Etiquette: Socially Acceptable Navigation of Service Robots with Human Motion Pattern Learni
A Twofold-interpolation-based Path Planning Algorithm and Its Path Following Based on Improved Virtu
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