Logical Verification of AND/OR-net Structures for Task-Knowledge Representation in Service Robotic Scenarios

• 영문명: Logical Verification of AND/OR-net Structures for Task-Knowledge Representation in Service Robotic Scenarios
• 발행기관: 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
• 저자명: Christian Martens Jochen Schuttler Axel Graser
• 간행물 정보: 『International Journal of Assistive Robotics and Mechatronics』International Journal of Human-friendly Welfare Robotic Systems Vol.4 No.2, 3~7쪽, 전체 5쪽
• 주제분류: 공학 > 제어계측공학
• 파일형태: PDF
• 발행일자: 2003.06.01

영문 초록

  Service robots and especially rehabilitation robots shall support disabled persons in daily life situations as well as in the working environment. Currently available systems offer support on a relatively low task level. This puts a high cognitive load on its users, so that controlling these systems turns out to be very tiresome. In order to eliminate this disadvantage system control on a higher task level becomes a necessary prerequisite. For this purpose, detailed information about the task to be solved i.e. task-knowledge has to be supported. This kind of information enables the system to reason about its internal as well as about its environmental state in a (semi-)autonomous manner. This paper presents an approach for the logical verification of the input of such task-knowledge. The task-knowledge is represented on the basis of AND/OR-net structures. These net structures can be created easily by non-service robotic experts (application programmer e.g. care personnel). The logical verification during knowledge input on a semantic level becomes possible due to the enhanced a priori knowledge about the net elements (i.e. objects and operators) and their relationships.

목차

Abstract
Ⅰ. INTRODUCTION
Ⅱ. AND/OR-NETS FOR TASK-KNOWLEDGE REPRESENTATION
Ⅲ. KNOWLEDGE ENHANCEMENTS
Ⅳ. LOGICAL VERIFICATION NET STRUCTURES
Ⅴ. CONCLUSIONS
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