A Model-Driven Engineering Approach for ROS using Ontological Semantics

This paper presents a novel ontology-driven software engineering approach for the development of industrial robotics control software. It introduces the ReApp architecture that synthesizes model-driven engineering with semantic technologies to facilitate the development and reuse of ROS-based components and applications. In ReApp, we show how different ontological classification systems for hardware, software, and capabilities help developers in discovering suitable software components for their tasks and in applying them correctly. The proposed model-driven tooling enables developers to work at higher abstraction levels and fosters automatic code generation. It is underpinned by ontologies to minimize discontinuities in the development workflow, with an integrated development environment presenting a seamless interface to the user. First results show the viability and synergy of the selected approach when searching for or developing software with reuse in mind.Comment: Presented at DSLRob 2015 (arXiv:1601.00877), Stefan Zander, Georg Heppner, Georg Neugschwandtner, Ramez Awad, Marc Essinger and Nadia Ahmed: A Model-Driven Engineering Approach for ROS using Ontological Semantic

Sharing e-Health information through ontological layering

e-Health information, including patient clinical and demographic data, is very often dispersed across various environments, which either generate them or retrieve them from different sources. Healthcare professionals often need related e-health information in order to obtain a more comprehensive picture of a patient's health status. There are many obstacles to retrieving information and data from heterogeneous sources. In this paper we show that our ontological layering helps in (a) classifying requests imposed by healthcare professionals when retrieving e-health information from heterogeneous sources and (b) resolving semantic heterogeneities across repositories and composing an adequate answer to issued requests. We use a layered software architectural model based on Generic ontology for Context-aware, Interoperable and Data sharing (Go- CID) software applications, applicable to e-Health environments. Ontological layering and reasoning have been demonstrated with semantic web technologies

Interpreting OWL Complex Classes in AutomationML based on Bidirectional Translation

The World Wide Web Consortium (W3C) has published several recommendations for building and storing ontologies, including the most recent OWL 2 Web Ontology Language (OWL). These initiatives have been followed by practical implementations that popularize OWL in various domains. For example, OWL has been used for conceptual modeling in industrial engineering, and its reasoning facilities are used to provide a wealth of services, e.g. model diagnosis, automated code generation, and semantic integration. More specifically, recent studies have shown that OWL is well suited for harmonizing information of engineering tools stored as AutomationML (AML) files. However, OWL and its tools can be cumbersome for direct use by engineers such that an ontology expert is often required in practice. Although much attention has been paid in the literature to overcome this issue by transforming OWL ontologies from/to AML models automatically, dealing with OWL complex classes remains an open research question. In this paper, we introduce the AML concept models for representing OWL complex classes in AutomationML, and present algorithms for the bidirectional translation between OWL complex classes and their corresponding AML concept models. We show that this approach provides an efficient and intuitive interface for nonexperts to visualize, modify, and create OWL complex classes.Comment: As accepted to IEEE 24th International Conference on Emerging Technologies and Factory Automation (ETFA 2019

MROS: Runtime Adaptation For Robot Control Architectures

Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). Runtime adaptation is needed in these systems, to cope with component failures and with contingencies arising from dynamic environments-otherwise, these affect the reliability and quality of the mission execution. Existing proposals on how to build self-adaptive systems in robotics usually require a major re-design of the control architecture and rely on complex tools unfamiliar to the robotics community. Moreover, they are hard to reuse across applications. This paper presents MROS: a model-based framework for run-time adaptation of robot control architectures based on ROS. MROS uses a combination of domain-specific languages to model architectural variants and captures mission quality concerns, and an ontology-based implementation of the MAPE-K and meta-control visions for run-time adaptation. The experiment results obtained applying MROS in two realistic ROS-based robotic demonstrators show the benefits of our approach in terms of the quality of the mission execution, and MROS' extensibility and re-usability across robotic applications

A novel framework to improve motion planning of robotic systems through semantic knowledge-based reasoning

The need to improve motion planning techniques for manipulator robots, and new effective strategies to manipulate different objects to perform more complex tasks, is crucial for various real-world applications where robots cooperate with humans. This paper proposes a novel framework that aims to improve the motion planning of a robotic agent (a manipulator robot) through semantic knowledge-based reasoning. The Semantic Web Rule Language (SWRL) was used to infer new knowledge based on the known environment and the robotic system. Ontological knowledge, e.g., semantic maps, were generated through a deep neural network, trained to detect and classify objects in the environment where the robotic agent performs. Manipulation constraints were deduced, and the environment corresponding to the agent’s manipulation workspace was created so the planner could interpret it to generate a collision-free path. For reasoning with the ontology, different SPARQL queries were used. The proposed framework was implemented and validated in a real experimental setup, using the planning framework ROSPlan to perform the planning tasks. The proposed framework proved to be a promising strategy to improve motion planning of robotics systems, showing the benefits of artificial intelligence, for knowledge representation and reasoning in robotics.info:eu-repo/semantics/publishedVersio

Activities of daily life recognition using process representation modelling to support intention analysis

Purpose – This paper aims to focus on applying a range of traditional classification- and semantic reasoning-based techniques to recognise activities of daily life (ADLs). ADL recognition plays an important role in tracking functional decline among elderly people who suffer from Alzheimer’s disease. Accurate recognition enables smart environments to support and assist the elderly to lead an independent life for as long as possible. However, the ability to represent the complex structure of an ADL in a flexible manner remains a challenge. Design/methodology/approach – This paper presents an ADL recognition approach, which uses a hierarchical structure for the representation and modelling of the activities, its associated tasks and their relationships. This study describes an approach in constructing ADLs based on a task-specific and intention-oriented plan representation language called Asbru. The proposed method is particularly flexible and adaptable for caregivers to be able to model daily schedules for Alzheimer’s patients. Findings – A proof of concept prototype evaluation has been conducted for the validation of the proposed ADL recognition engine, which has comparable recognition results with existing ADL recognition approaches. Originality/value – The work presented in this paper is novel, as the developed ADL recognition approach takes into account all relationships and dependencies within the modelled ADLs. This is very useful when conducting activity recognition with very limited features

Handling Real-World Context Awareness, Uncertainty and Vagueness in Real-Time Human Activity Tracking and Recognition with a Fuzzy Ontology-Based Hybrid Method

Human activity recognition is a key task in ambient intelligence applications to achieve proper ambient assisted living. There has been remarkable progress in this domain, but some challenges still remain to obtain robust methods. Our goal in this work is to provide a system that allows the modeling and recognition of a set of complex activities in real life scenarios involving interaction with the environment. The proposed framework is a hybrid model that comprises two main modules: a low level sub-activity recognizer, based on data-driven methods, and a high-level activity recognizer, implemented with a fuzzy ontology to include the semantic interpretation of actions performed by users. The fuzzy ontology is fed by the sub-activities recognized by the low level data-driven component and provides fuzzy ontological reasoning to recognize both the activities and their influence in the environment with semantics. An additional benefit of the approach is the ability to handle vagueness and uncertainty in the knowledge-based module, which substantially outperforms the treatment of incomplete and/or imprecise data with respect to classic crisp ontologies. We validate these advantages with the public CAD-120 dataset (Cornell Activity Dataset), achieving an accuracy of 90.1% and 91.07% for low-level and high-level activities, respectively. This entails an improvement over fully data-driven or ontology-based approaches.This work was funded by TUCS (Turku Centre for Computer Science), Finnish Cultural Foundation, Nokia Foundation, Google Anita Borg Scholarship, CEI BioTIC Project CEI2013-P-3, Contrato-Programa of Faculty of Education, Economy and Technology of Ceuta and Project TIN2012-30939 from National I+D Research Program (Spain). We also thank Fernando Bobillo for his support with FuzzyOWL and FuzzyDL tools