在本文中，我們提出了一套基於Hyper-V上的資源配置與應用程式分配工具RAAPT-HV (Resource Allocation and Application Partition Tool on Hyper-V)。RAAPT-HV整合了可重複利用的機器人應用程式元件執行在通用和商業的作業系統。RAAPT-HV是一個資源配置的工具用以劃分可用的處理單元對應到虛擬的處理單元、分配CPU資源給虛擬的處理單元，利用微軟公司的Hyper-V虛擬化平台來管理底層硬體的資源。RAAPT-HV的目標是提供符合要求的性能給以時間為優先考慮的機器人應用程式，同時在開放式的執行環境中，不造成其他應用程式的嚴重的效能影響。在本文中，我們也提出了一程序來計算需要多少的CPU資源來滿足所要求的機器人應用程式的效能。並且也提出兩套程序來做系統的調校。為了展示RAAPT-HV的有效性，我們進行了相關的實驗，並使用了一系列具代表性的機器人應用程式。實驗的結果顯示RAAPT-HV可以幫助機器人應用程式元件達到滿足的性能要求。

In this thesis, we present RAAPT-HV (Resource Allocation and Application Partition Tool on Hyper-V), a tool for integrating reusable software components of a wide class of robotic applications on general purpose and commodity operating systems. RAAPT-HV is a resource allocation tool for partitioning the available processors into a specified number of virtual processors, allocating available resources to virtual processors and hence managing the underlying hardware resources by leveraging the capabilities of Microsoft Hyper-V hypervisor. The tool aims to provide time-sensitive components with satisfactory responsiveness in an open environment without serious impact on the performance of other components. We also present a procedure to decide the required CPU resource to sustain acceptable performance and two procedures for performance tuning of software components. To demonstrate the effectiveness of RAAPT-HV, we adopted for experimentation and evaluation purposes several commonly-used workloads of delivery robots. The results of experiments show that the tool can help to achieve satisfactory performance for these software components of robotic applications.

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