Towards a Robot Task Ontology Standard

Balakirsky, Stephen; Schlenoff, Craig; Fiorini, Sandro Rama; Redfield, Signe; Barreto, Marcos; Nakawala, Hirenkumar; Carbonera, Joel Luís; Soldatova, Larisa; Bermejo–Alonso, Julita; Maikore, Fatima Sabiu; Gonçalves, Paulo J. S.; Momi, Elena De; Ragavan, Sampath Kumar Veera; Haidegger, Tamás

doi:10.1115/msec2017-2783

Cited by 15 publications

(11 citation statements)

References 17 publications

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“…These are elaborated by official Working Groups (WGs), commonly associated with international Standard Development Organisations (SDOs), such as IEEE, 1 IEC, 2 or ISO. 3 WGs are formed by stakeholders from different domains and from different horizons such as research, industry, or government [5]. During the development of a standard, all the stakeholders have an equal opportunity to contribute to it; the process being governed by the leaders appointed by the related SDO.…”

Section: Introductionmentioning

confidence: 99%

Robotic Standard Development Life Cycle in Action

Olszewska

Houghtaling

Gonçalves

et al. 2019

J Intell Robot Syst

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Robotics is a fast-growing field which requires the efficient development of adapted standards. Hence, in this paper, we propose a development methodology to support the robot standardization effort led by international, technical, and professional associations such as the Institute of Electrical and Electronics Engineers (IEEE). Our proposed standard development life cycle is a middle-out, iterative, collaborative, and incremental approach we have successfully applied to the development of the new IEEE Ontological Standard for Ethically Driven Robotics and Automation Systems (IEEE P7007 Standard).

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Section: Introductionmentioning

confidence: 99%

Robotic Standard Development Life Cycle in Action

Olszewska

Houghtaling

Gonçalves

et al. 2019

J Intell Robot Syst

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“…The proposed future work is to align the current tasks definitions with the work presented in [5], e.g., to have a formal definition to evaluate the task, for the robot behavior, and the constraints that the task may have.…”

Section: Discussionmentioning

confidence: 99%

“…The work presented in this paper presented the basic tasks to be performed by the proposed robotics system, and aims in future works to align the current definitions with the work presented in [5] (The IEEE Robot Task Ontology Working Group), e.g., to have a formal definition to evaluate the task, for the robot behavior, and the constraints that the task may have.…”

Section: Robot Processes Tasks and Ontologiesmentioning

confidence: 99%

“…The paper proposes an ontology framework to define the robotic system components, using CORA [3] (Core Ontologies for Robotics and Automation), and the robot tasks (building from previous work from the authors [4] and also from [5]). Both the robot and the machine vision systems are defined using CORA, which enables an ontological definition.…”

Section: Introductionmentioning

confidence: 99%

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Knowledge and Tasks Representation for an Industrial Robotic Application

Bernardo

Farinha

Gonçalves

2017

ROBOT 2017: Third Iberian Robotics Conference

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Abstract. The paper presents an implementation of knowledge representation and task representation, based on ontologies for an Industrial Robotic Application. The industrial application is to insert up to 56 small pins, e.g., sealants, in a harness box terminal for the automotive industry. The number of sealants and their insertion pattern vary significantly with the production requests. Based on the knowledge representation of the robot and also based on the tasks to be performed, plans are built and then sent to the robot controller based on the seal pattern production order. Moreover, the robotic system is capable to perform re-planning when an insertion error is reported by a machine vision system. The ontologybased approach was used to define the robot, the machine vision system, and the tasks that were needed to be performed by the robotic system. The robotic system was validated experimentally by showing its capability to correct seal insertion errors, while re-planning.

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“…A core ontology for robotics and automation has been published as a standard by the IEEE Standards Association [25], to be used as a reference for knowledge representation and reasoning in robots. This core ontology is to be extended with robot task representation [4] and autonomous robot features [6,17].…”

Section: Ontologies To Support Model-based Metacontrolmentioning

confidence: 99%

A self-adaptation framework based on functional knowledge for augmented autonomy in robots

Hernández

Bermejo–Alonso

Sanz

2018

ICA

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Robot control software endows robots with advanced capabilities for autonomous operation, such as navigation, object recognition or manipulation, in unstructured and dynamic environments. However, there is a steady need for more robust operation, where robots should perform complex tasks by reliably exploiting these novel capabilities. Mission-level resilience is required in the presence of component faults through failure recovery. To address this challenge, a novel self-adaptation framework based on functional knowledge for augmented autonomy is presented. A metacontroller is integrated on top of the robot control system, and it uses an explicit run-time model of the robot's controller and its mission to adapt to operational changes. The model is grounded on a functional ontology that relates the robot's mission with the robot's architecture, and it is generated during the robot's development from its engineering models. Advantages are discussed from both theoretical and practical viewpoints. An application example in a real autonomous mobile robot is provided. In this example, the generic metacontroller uses the robot's functional model to adapt the control architecture to recover from a sensor failure.

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Towards a Robot Task Ontology Standard

Cited by 15 publications

References 17 publications

Robotic Standard Development Life Cycle in Action

Robotic Standard Development Life Cycle in Action

Knowledge and Tasks Representation for an Industrial Robotic Application

A self-adaptation framework based on functional knowledge for augmented autonomy in robots

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