An Extensible Data Enrichment Scheme for Providing Intelligent Services in Internet of Things Environments

Figure 10

Demonstration of the tea serving service as mentioned and explained in Experiment section. As infrared (IR) sensors keep checking whether the users take individual cups or not, Turtlebot keeps listening to the service invocations from the collaboration with CAWL engine using the data enrichment procedures. (a) Ready for user response. (b) User interacts with Turtlebot to pick up one cup that is positioned on the serving plate. (c) Turtlebot moves to the next position that is indicated in a service document such as in Figure 8. (d) As Turtlebot finishes moving, it becomes a ready state as in (a).

(a)

(b)

(c)

(d)