Large-Scale Storage and Reasoning for Semantic Data Using Swarms

Scalable, adaptive and robust approaches to store and analyze the massive amounts of data expected from Semantic Web applications are needed to bring the Web of Data to its full potential. The solution at hand is to distribute both data and requests onto multiple computers. Apart from storage, the annotation of data with machine-processable semantics is essential for realizing the vision of the Semantic Web. Reasoning on webscale data faces the same requirements as storage. Swarm-based approaches have been shown to produce near-optimal solutions for hard problems in a completely decentralized way. We propose a novel concept for reasoning within a fully distributed and self-organized storage system that is based on the collective behavior of swarm individuals and does not require any schema replication. We show the general feasibility and efficiency of our approach with a proof-of-concept experiment of storage and reasoning performance. Thereby, we positively answer the research question of whether swarm-based approaches are useful in creating a large-scale distributed storage and reasoning system. © 2012 IEEE

Towards Knowledge in the Cloud

Knowledge in the form of semantic data is becoming more and more ubiquitous, and the need for scalable, dynamic systems to support collaborative work with such distributed, heterogeneous knowledge arises. We extend the “data in the cloud” approach that is emerging today to “knowledge in the cloud”, with support for handling semantic information, organizing and finding it efficiently and providing reasoning and quality support. Both the life sciences and emergency response fields are identified as strong potential beneficiaries of having ”knowledge in the cloud”

RORS: Enhanced Rule-based OWL Reasoning on Spark

The rule-based OWL reasoning is to compute the deductive closure of an ontology by applying RDF/RDFS and OWL entailment rules. The performance of the rule-based OWL reasoning is often sensitive to the rule execution order. In this paper, we present an approach to enhancing the performance of the rule-based OWL reasoning on Spark based on a locally optimal executable strategy. Firstly, we divide all rules (27 in total) into four main classes, namely, SPO rules (5 rules), type rules (7 rules), sameAs rules (7 rules), and schema rules (8 rules) since, as we investigated, those triples corresponding to the first three classes of rules are overwhelming (e.g., over 99% in the LUBM dataset) in our practical world. Secondly, based on the interdependence among those entailment rules in each class, we pick out an optimal rule executable order of each class and then combine them into a new rule execution order of all rules. Finally, we implement the new rule execution order on Spark in a prototype called RORS. The experimental results show that the running time of RORS is improved by about 30% as compared to Kim & Park's algorithm (2015) using the LUBM200 (27.6 million triples).Comment: 12 page

The Penetration of Internet of Things in Robotics: Towards a Web of Robotic Things

As the Internet of Things (IoT) penetrates different domains and application areas, it has recently entered also the world of robotics. Robotics constitutes a modern and fast-evolving technology, increasingly being used in industrial, commercial and domestic settings. IoT, together with the Web of Things (WoT) could provide many benefits to robotic systems. Some of the benefits of IoT in robotics have been discussed in related work. This paper moves one step further, studying the actual current use of IoT in robotics, through various real-world examples encountered through a bibliographic research. The paper also examines the potential ofWoT, together with robotic systems, investigating which concepts, characteristics, architectures, hardware, software and communication methods of IoT are used in existing robotic systems, which sensors and actions are incorporated in IoT-based robots, as well as in which application areas. Finally, the current application of WoT in robotics is examined and discussed

Symbiotic interaction between humans and robot swarms

Comprising of a potentially large team of autonomous cooperative robots locally interacting and communicating with each other, robot swarms provide a natural diversity of parallel and distributed functionalities, high flexibility, potential for redundancy, and fault-tolerance. The use of autonomous mobile robots is expected to increase in the future and swarm robotic systems are envisioned to play important roles in tasks such as: search and rescue (SAR) missions, transportation of objects, surveillance, and reconnaissance operations. To robustly deploy robot swarms on the field with humans, this research addresses the fundamental problems in the relatively new field of human-swarm interaction (HSI). Four groups of core classes of problems have been addressed for proximal interaction between humans and robot swarms: interaction and communication; swarm-level sensing and classification; swarm coordination; swarm-level learning. The primary contribution of this research aims to develop a bidirectional human-swarm communication system for non-verbal interaction between humans and heterogeneous robot swarms. The guiding field of application are SAR missions. The core challenges and issues in HSI include: How can human operators interact and communicate with robot swarms? Which interaction modalities can be used by humans? How can human operators instruct and command robots from a swarm? Which mechanisms can be used by robot swarms to convey feedback to human operators? Which type of feedback can swarms convey to humans? In this research, to start answering these questions, hand gestures have been chosen as the interaction modality for humans, since gestures are simple to use, easily recognized, and possess spatial-addressing properties. To facilitate bidirectional interaction and communication, a dialogue-based interaction system is introduced which consists of: (i) a grammar-based gesture language with a vocabulary of non-verbal commands that allows humans to efficiently provide mission instructions to swarms, and (ii) a swarm coordinated multi-modal feedback language that enables robot swarms to robustly convey swarm-level decisions, status, and intentions to humans using multiple individual and group modalities. The gesture language allows humans to: select and address single and multiple robots from a swarm, provide commands to perform tasks, specify spatial directions and application-specific parameters, and build iconic grammar-based sentences by combining individual gesture commands. Swarms convey different types of multi-modal feedback to humans using on-board lights, sounds, and locally coordinated robot movements. The swarm-to-human feedback: conveys to humans the swarm's understanding of the recognized commands, allows swarms to assess their decisions (i.e., to correct mistakes: made by humans in providing instructions, and errors made by swarms in recognizing commands), and guides humans through the interaction process. The second contribution of this research addresses swarm-level sensing and classification: How can robot swarms collectively sense and recognize hand gestures given as visual signals by humans? Distributed sensing, cooperative recognition, and decision-making mechanisms have been developed to allow robot swarms to collectively recognize visual instructions and commands given by humans in the form of gestures. These mechanisms rely on decentralized data fusion strategies and multi-hop messaging passing algorithms to robustly build swarm-level consensus decisions. Measures have been introduced in the cooperative recognition protocol which provide a trade-off between the accuracy of swarm-level consensus decisions and the time taken to build swarm decisions. The third contribution of this research addresses swarm-level cooperation: How can humans select spatially distributed robots from a swarm and the robots understand that they have been selected? How can robot swarms be spatially deployed for proximal interaction with humans? With the introduction of spatially-addressed instructions (pointing gestures) humans can robustly address and select spatially- situated individuals and groups of robots from a swarm. A cascaded classification scheme is adopted in which, first the robot swarm identifies the selection command (e.g., individual or group selection), and then the robots coordinate with each other to identify if they have been selected. To obtain better views of gestures issued by humans, distributed mobility strategies have been introduced for the coordinated deployment of heterogeneous robot swarms (i.e., ground and flying robots) and to reshape the spatial distribution of swarms. The fourth contribution of this research addresses the notion of collective learning in robot swarms. The questions that are answered include: How can robot swarms learn about the hand gestures given by human operators? How can humans be included in the loop of swarm learning? How can robot swarms cooperatively learn as a team? Online incremental learning algorithms have been developed which allow robot swarms to learn individual gestures and grammar-based gesture sentences supervised by human instructors in real-time. Humans provide different types of feedback (i.e., full or partial feedback) to swarms for improving swarm-level learning. To speed up the learning rate of robot swarms, cooperative learning strategies have been introduced which enable individual robots in a swarm to intelligently select locally sensed information and share (exchange) selected information with other robots in the swarm. The final contribution is a systemic one, it aims on building a complete HSI system towards potential use in real-world applications, by integrating the algorithms, techniques, mechanisms, and strategies discussed in the contributions above. The effectiveness of the global HSI system is demonstrated in the context of a number of interactive scenarios using emulation tests (i.e., performing simulations using gesture images acquired by a heterogeneous robotic swarm) and by performing experiments with real robots using both ground and flying robots

Internet of robotic things : converging sensing/actuating, hypoconnectivity, artificial intelligence and IoT Platforms

The Internet of Things (IoT) concept is evolving rapidly and influencing newdevelopments in various application domains, such as the Internet of MobileThings (IoMT), Autonomous Internet of Things (A-IoT), Autonomous Systemof Things (ASoT), Internet of Autonomous Things (IoAT), Internetof Things Clouds (IoT-C) and the Internet of Robotic Things (IoRT) etc.that are progressing/advancing by using IoT technology. The IoT influencerepresents new development and deployment challenges in different areassuch as seamless platform integration, context based cognitive network integration,new mobile sensor/actuator network paradigms, things identification(addressing, naming in IoT) and dynamic things discoverability and manyothers. The IoRT represents new convergence challenges and their need to be addressed, in one side the programmability and the communication ofmultiple heterogeneous mobile/autonomous/robotic things for cooperating,their coordination, configuration, exchange of information, security, safetyand protection. Developments in IoT heterogeneous parallel processing/communication and dynamic systems based on parallelism and concurrencyrequire new ideas for integrating the intelligent “devices”, collaborativerobots (COBOTS), into IoT applications. Dynamic maintainability, selfhealing,self-repair of resources, changing resource state, (re-) configurationand context based IoT systems for service implementation and integrationwith IoT network service composition are of paramount importance whennew “cognitive devices” are becoming active participants in IoT applications.This chapter aims to be an overview of the IoRT concept, technologies,architectures and applications and to provide a comprehensive coverage offuture challenges, developments and applications

Digital Twins

Progression of the field depends on convergence of information technology, operational technology and protocol-agnostic telecommunications. Making sense of the data, ability to curate data and perform data analytics at the edge (or mist rather than in the fog or cloud) is key to value. Delivering engines to the edge are crucial for analytics at the edge when latency is critical. The confluence of these and other factors may chart the future path for Digital Twins. The number of unknown unknowns and the known unknowns in this process makes it imperative to create global infrastructures and organize groups to pursue the development of fundamental building blocks and new ideas through research.Multiple forms of digital transformation are imminent. Digital Twins represent one concept. It is gaining momentum because it may offer real-time transparency. Rapid diffusion of digital duplicates faces hurdles due to lack of semantic interoperability between architectures, standards and ontologies. The technologies necessary for automated discovery are in short supply

Artificial Intelligence and Cyber Power from a Strategic Perspective

Artificial intelligence can outperform humans at narrowly defined tasks and will enable a new generation of autonomous weapon systems. Cyberspace will play a crucial role in future conflicts due to the integration of digital infrastructure in society and the expected prevalence of autonomous systems on the battlefield. AI cyber weapons create a dangerous class of persistent threats that can actively and quickly adjust tactics as they relentlessly and independently probe and attack networks