Intuitive Instruction of Industrial Robots : A Knowledge-Based Approach

With more advanced manufacturing technologies, small and medium sized enterprises can compete with low-wage labor by providing customized and high quality products. For small production series, robotic systems can provide a cost-effective solution. However, for robots to be able to perform on par with human workers in manufacturing industries, they must become flexible and autonomous in their task execution and swift and easy to instruct. This will enable small businesses with short production series or highly customized products to use robot coworkers without consulting expert robot programmers. The objective of this thesis is to explore programming solutions that can reduce the programming effort of sensor-controlled robot tasks. The robot motions are expressed using constraints, and multiple of simple constrained motions can be combined into a robot skill. The skill can be stored in a knowledge base together with a semantic description, which enables reuse and reasoning. The main contributions of the thesis are 1) development of ontologies for knowledge about robot devices and skills, 2) a user interface that provides simple programming of dual-arm skills for non-experts and experts, 3) a programming interface for task descriptions in unstructured natural language in a user-specified vocabulary and 4) an implementation where low-level code is generated from the high-level descriptions. The resulting system greatly reduces the number of parameters exposed to the user, is simple to use for non-experts and reduces the programming time for experts by 80%. The representation is described on a semantic level, which means that the same skill can be used on different robot platforms. The research is presented in seven papers, the first describing the knowledge representation and the second the knowledge-based architecture that enables skill sharing between robots. The third paper presents the translation from high-level instructions to low-level code for force-controlled motions. The two following papers evaluate the simplified programming prototype for non-expert and expert users. The last two present how program statements are extracted from unstructured natural language descriptions

SAGA: A project to automate the management of software production systems

The Software Automation, Generation and Administration (SAGA) project is investigating the design and construction of practical software engineering environments for developing and maintaining aerospace systems and applications software. The research includes the practical organization of the software lifecycle, configuration management, software requirements specifications, executable specifications, design methodologies, programming, verification, validation and testing, version control, maintenance, the reuse of software, software libraries, documentation, and automated management

Guidelines for Software Development for Decision Support Systems

One of the activities of the System and Decision Sciences Program is the collaboration with scientists and institutes from different countries and with other programs and projects at IIASA in the field of Methodology of Decision Analysis. The main results of these activities are the development of theory, methodology and software for Decision Support Systems. A considerable amount of experience and software has been accumulated for over ten years of this type of cooperation. However, the analysis of the results of software development activities indicates the need for setting and observing some specified Guidelines for Software Development. This Working Paper contains a first version of such Guidelines which is the result of discussions with software developers. The draft of this Working Paper has been distributed for comments to about hundred scientists involved in development of software for Decision Support Systems. Since no reservations for the proposed Guidelines have been communicated to the author, one can assume that there is a general agreement for setting these Guidelines as a working scheme for the development of software for Decision Support Systems within the cooperation with the System and Decision Sciences Program. Although the Guidelines are oriented for a specific type of software, most of them can and should be observed in the development of any kind of software

Integrating Data Science and Earth Science

This open access book presents the results of three years collaboration between earth scientists and data scientist, in developing and applying data science methods for scientific discovery. The book will be highly beneficial for other researchers at senior and graduate level, interested in applying visual data exploration, computational approaches and scientifc workflows

Supporting complex workflows for data-intensive discovery reliably and efficiently

Scientific workflows have emerged as well-established pillars of large-scale computational science and appeared as torchbearers to formalize and structure a massive amount of complex heterogeneous data and accelerate scientific progress. Scientists of diverse domains can analyze their data by constructing scientific workflows as a useful paradigm to manage complex scientific computations. A workflow can analyze terabyte-scale datasets, contain numerous individual tasks, and coordinate between heterogeneous tasks with the help of scientific workflow management systems (SWfMSs). However, even for expert users, workflow creation is a complex task due to the dramatic growth of tools and data heterogeneity. Scientists are now more willing to publicly share scientific datasets and analysis pipelines in the interest of open science. As sharing of research data and resources increases in scientific communities, scientists can reuse existing workflows shared in several workflow repositories. Unfortunately, several challenges can prevent scientists from reusing those workflows, which hurts the purpose of the community-oriented knowledge base. In this thesis, we first identify the repositories that scientists use to share and reuse scientific workflows. Among several repositories, we find Galaxy repositories have numerous workflows, and Galaxy is the mostly used SWfMS. After selecting the Galaxy repositories, we attempt to explore the workflows and encounter several challenges in reusing them. We classify the reusability status (reusable/nonreusable). Based on the effort level, we further categorize the reusable workflows (reusable without modification, easily reusable, moderately difficult to reuse, and difficult to reuse). Upon failure, we record the associated challenges that prevent reusability. We also list the actions upon success. The challenges preventing reusability include tool upgrading, tool support unavailability, design flaws, incomplete workflows, failure to load a workflow, etc. We need to perform several actions to overcome the challenges. The actions include identifying proper input datasets, updating/upgrading tools, finding alternative tools support for obsolete tools, debugging to find the issue creating tools and connections and solving them, modifying tools connections, etc. Such challenges and our action list offer guidelines to future workflow composers to create better workflows with enhanced reusability. A SWfMS stores provenance data at different phases of a workflow life cycle, which can help workflow construction. This provenance data allows reproducibility and knowledge reuse in the scientific community. But, this provenance information is usually many times larger than the workflow and input data, and managing provenance data is growing in complexity with large-scale applications. In our second study, we document the challenges of provenance management and reuse in e-science, focusing primarily on scientific workflow approaches by exploring different SWfMSs and provenance management systems. We also investigate the ways to overcome the challenges. Creating a workflow is difficult but essential for data-intensive complex analysis, and the existing workflows have several challenges to be reused, so in our third study, we build a recommendation system to recommend tool(s) using machine learning approaches to help scientists create optimal, error-free, and efficient workflows by using existing reusable workflows in Galaxy workflow repositories. The findings from our studies and proposed techniques have the potential to simplify the data-intensive analysis, ensuring reliability and efficiency

Integrating Data Science and Earth Science

This open access book presents the results of three years collaboration between earth scientists and data scientists, in developing and applying data science methods for scientific discovery. The book will be highly beneficial for other researchers at senior and graduate level, interested in applying visual data exploration, computational approaches and scientifc workflows