5 research outputs found
A Survey of Knowledge Representation in Service Robotics
Within the realm of service robotics, researchers have placed a great amount
of effort into learning, understanding, and representing motions as
manipulations for task execution by robots. The task of robot learning and
problem-solving is very broad, as it integrates a variety of tasks such as
object detection, activity recognition, task/motion planning, localization,
knowledge representation and retrieval, and the intertwining of
perception/vision and machine learning techniques. In this paper, we solely
focus on knowledge representations and notably how knowledge is typically
gathered, represented, and reproduced to solve problems as done by researchers
in the past decades. In accordance with the definition of knowledge
representations, we discuss the key distinction between such representations
and useful learning models that have extensively been introduced and studied in
recent years, such as machine learning, deep learning, probabilistic modelling,
and semantic graphical structures. Along with an overview of such tools, we
discuss the problems which have existed in robot learning and how they have
been built and used as solutions, technologies or developments (if any) which
have contributed to solving them. Finally, we discuss key principles that
should be considered when designing an effective knowledge representation.Comment: Accepted for RAS Special Issue on Semantic Policy and Action
Representations for Autonomous Robots - 22 Page
Intensional Cyberforensics
This work focuses on the application of intensional logic to cyberforensic
analysis and its benefits and difficulties are compared with the
finite-state-automata approach. This work extends the use of the intensional
programming paradigm to the modeling and implementation of a cyberforensics
investigation process with backtracing of event reconstruction, in which
evidence is modeled by multidimensional hierarchical contexts, and proofs or
disproofs of claims are undertaken in an eductive manner of evaluation. This
approach is a practical, context-aware improvement over the finite state
automata (FSA) approach we have seen in previous work. As a base implementation
language model, we use in this approach a new dialect of the Lucid programming
language, called Forensic Lucid, and we focus on defining hierarchical contexts
based on intensional logic for the distributed evaluation of cyberforensic
expressions. We also augment the work with credibility factors surrounding
digital evidence and witness accounts, which have not been previously modeled.
The Forensic Lucid programming language, used for this intensional
cyberforensic analysis, formally presented through its syntax and operational
semantics. In large part, the language is based on its predecessor and
codecessor Lucid dialects, such as GIPL, Indexical Lucid, Lucx, Objective
Lucid, and JOOIP bound by the underlying intensional programming paradigm.Comment: 412 pages, 94 figures, 18 tables, 19 algorithms and listings; PhD
thesis; v2 corrects some typos and refs; also available on Spectrum at
http://spectrum.library.concordia.ca/977460
Intensional Cyberforensics
This work focuses on the application of intensional logic to cyberforensic analysis and its benefits and difficulties are compared with the finite-state-automata approach. This work extends the use of the intensional programming paradigm to the modeling and implementation of a cyberforensics investigation process with backtracing of event reconstruction, in which evidence is modeled by multidimensional hierarchical contexts, and proofs or disproofs of claims are undertaken in an eductive manner of evaluation. This approach is a practical, context-aware improvement over the finite state automata (FSA) approach we have seen in previous work. As a base implementation language model, we use in this approach a new dialect of the Lucid programming language, called Forensic Lucid, and we focus on defining hierarchical contexts based on intensional logic for the distributed evaluation of cyberforensic expressions. We also augment the work with credibility factors surrounding digital evidence and witness accounts, which have not been previously modeled.
The Forensic Lucid programming language, used for this intensional cyberforensic analysis, formally presented through its syntax and operational semantics. In large part, the language is based on its predecessor and codecessor Lucid dialects, such as GIPL, Indexical Lucid, Lucx, Objective Lucid, MARFL, and JOOIP bound by the underlying intensional programming paradigm
Representing knowledge in robotic systems with KnowLang
Building intelligent robotic systems is both stirring and extremely challenging. Researchers have realized that robot intelligence can be achieved with a logical approach, but still AI struggles to connect that abstract logic with real-world meanings. This paper presents KnowLang, a new formal language for knowledge representation in a special class of intelligent robotic systems termed ASCENS. Autonomic Service-Component Ensembles (ASCENS) are multi-agent systems formed as mobile, intelligent and open-ended swarms of special autonomic service components capable of local and distributed reasoning. Such components encapsulate rules, constraints and mechanisms for self-adaptation and acquire and process knowledge about themselves, other service components and their environment. In this paper, a brief KnowLang case study of knowledge representation for a robotic system is presented