Control strategies for cleaning robots in domestic applications: A comprehensive review:

Service robots are built and developed for various applications to support humans as companion, caretaker, or domestic support. As the number of elderly people grows, service robots will be in increasing demand. Particularly, one of the main tasks performed by elderly people, and others, is the complex task of cleaning. Therefore, cleaning tasks, such as sweeping floors, washing dishes, and wiping windows, have been developed for the domestic environment using service robots or robot manipulators with several control approaches. This article is primarily focused on control methodology used for cleaning tasks. Specifically, this work mainly discusses classical control and learning-based controlled methods. The classical control approaches, which consist of position control, force control, and impedance control , are commonly used for cleaning purposes in a highly controlled environment. However, classical control methods cannot be generalized for cluttered environment so that learning-based control methods could be an alternative solution. Learning-based control methods for cleaning tasks can encompass three approaches: learning from demonstration (LfD), supervised learning (SL), and reinforcement learning (RL). These control approaches have their own capabilities to generalize the cleaning tasks in the new environment. For example, LfD, which many research groups have used for cleaning tasks, can generate complex cleaning trajectories based on human demonstration. Also, SL can support the prediction of dirt areas and cleaning motion using large number of data set. Finally, RL can learn cleaning actions and interact with the new environment by the robot itself. In this context, this article aims to provide a general overview of robotic cleaning tasks based on different types of control methods using manipulator. It also suggest a description of the future directions of cleaning tasks based on the evaluation of the control approaches

Extracting common sense knowledge via triple ranking using supervised and unsupervised distributional models

Jebbara S, Basile V, Cabrio E, Cimiano P. Extracting common sense knowledge via triple ranking using supervised and unsupervised distributional models. Semantic Web. 2019;10(1):139-158.In this paper we are concerned with developing information extraction models that support the extraction of common sense knowledge from a combination of unstructured and semi-structured datasets. Our motivation is to extract manipulation-relevant knowledge that can support robots' action planning. We frame the task as a relation extraction task and, as proof-ofconcept, validate our method on the task of extracting two types of relations: locative and instrumental relations. The locative relation relates objects to the prototypical places where the given object is found or stored. The second instrumental relation relates objects to their prototypical purpose of use. While we extract these relations from text, our goal is not to extract specific textual mentions, but rather, given an object as input, extract a ranked list of locations and uses ranked by `prototypicality'. We use distributional methods in embedding space, relying on the well-known skip-gram model to embed words into a low-dimensional distributional space, using cosine similarity to rank the various candidates. In addition, we also present experiments that rely on the vector space model NASARI, which compute embeddings for disambiguated concepts and are thus semantically aware. While this distributional approach has been published before, we extend our framework by additional methods relying on neural networks that learn a score to judge whether a given candidate pair actually expresses a desired relation. The network thus learns a scoring function using a supervised approach. While we use a ranking-based evaluation, the supervised model is trained using a binary classification task. The resulting score from the neural network and the cosine similarity in the case of the distributional approach are both used to compute a ranking. We compare the different approaches and parameterizations thereof on the task of extracting the above mentioned relations. We show that the distributional similarity approach performs very well on the task. The best performing parameterization achieves an NDCG of 0.913, a Precision@ 1 of 0.400 and a Precision@ 3 of 0.423. The performance of the supervised learning approach, in spite of having being trained on positive and negative examples of the relation in question, is not as good as expected and achieves an NCDG of 0.908, a Precision@ 1 of 0.454 and a Precision@3 of 0.387, respectively

Supporting engineering design using knowledge based systems technology with a case study in electricity distribution network design

This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University.This thesis explores the architectural requirements of engineering design support systems based on knowledge based systems technology. The exploration is based on an understanding of the nature of designing as a professional activity and on the extent to which designers' competence can be modelled. Attention is focused on certain salient aspects of designers' competent behaviour. The theoretical study leads to the specification of requirements to be satisfied by a knowledge based system which will support designers in their professional setting and to the proposal of some knowledge based system components which will meet the requirements identified. The theoretical aspect of the thesis is complemented by a case study based on a designer of high voltage electricity distribution networks. The case study illustrates the theoretical component of the thesis and the methodological basis for the work. The practical realizability of the components of the knowledge based systems architecture proposed are demonstrated using the results of the analysis of the knowledge elicited in the case study without prejudicing the general applicability of the ideas. An object-oriented knowledge engineering software development environment is used to demonstrate how some components of the design situation represented can be implemented.Financial support provided by Brunel University