Architecture and Task Plan Co-Adaptation with Metaplan for Unmanned Underwater Vehicles

Unmanned Underwater Vehicles (UUVs) operate in complex environments and need to be able to adapt to sudden failures, or changes in the environment. To achieve autonomous operation, UUVs must have the ability to self-adapt in such cases. To effectively handle component failures and unexpected events, self-adaptation must be applied to both the...

Iris - A knowledge Graph-based chatbot for Explaining Robotic Scenario Information to Human Operators in a Retail Setting

The problem of assisting users in comprehending the robotic scenario information in a retail setting has been studied. To design the system, an integrated ontology composed of several IEEE standard ontologies and a labelled property graph (LPG)-based ontology modified from the Web Ontology Language (OWL)-based ontology was proposed to symbolize...

Knowledge-based Approach for Mobile Manipulation with Active Inference

Achieving human-like action planning requires profound reasoning and context-awareness capabilities. It is especially true for autonomous robotic mobile manipulation in dynamic environments. In the case of component failure, the autonomous robotic system requires reliable adaptation capabilities combined with a consistent understanding of the...

Conceptscope: Organizing and visualizing knowledge in documents based on domain ontology

Current text visualization techniques typically provide overviews of document content and structure using intrinsic properties such as term frequencies, co-occurrences, and sentence structures. Such visualizations lack conceptual overviews incorporating domain-relevant knowledge, needed when examining documents such as research articles or...

Symbolic reasoning about unseen objects from multimodal sensory feedback for manipulation

Robotically manipulating objects can be very challenging when not all of the environment can be fully observed, e.g. in environments which are physically and visually accessible from only a single side. By using multimodal sensory feedback and symbolic reasoning, conclusions can be drawn about the presence of objects that cannot be observed...

Situation-Aware Self-Adaptive Localisation Framework: A Knowledge Representation and Reasoning approach

Substantial efforts are being made to make robots more reliable and safe to work around humans. Robots often perform flawless demos in a controlled environment under the supervision of an operator but tend to fail in the real world when deployed for a long period of time due to faults and environmental disturbances. A robotic system is composed...

Reasoning for Improved Capacity in Robotic Pick-and-Place Tasks

As e-commerce continues to grow, warehouses face the challenge of keeping up with product flows. Vanderlande provides a pick-and-place robot (SIR) that helps in improving capacity. However, SIR's capacity is limited by its vacuum gripper and its inability to solve failures. The aim of this thesis is to improve SIR by adding a second gripper and...

Who’s that? - Social situation awareness for behaviour support agents: A feasibility study

Behaviour support agents need to be aware of the social environment of the user in order to be able to provide comprehensive support. However, this is a feature that is currently lacking in existing systems. To tackle it, first of all we explore literature from social sciences in order to find which elements of the social environment need to...

Cumulative learning

An important feature of human learning is the ability to continuously accept new information and unify it with existing knowledge, a process that proceeds largely automatically and without catastrophic side-effects. A generally intelligent machine (AGI) should be able to learn a wide range of tasks in a variety of environments. Knowledge...

Designing a knowledge representation interface for cognitive agents

The design of cognitive agents involves a knowledge representation (KR) to formally represent and manipulate information relevant for that agent. In practice, agent programming frameworks are dedicated to a specific KR, limiting the use of other possible ones. In this paper we address the issue of creating a flexible choice for agent programmers...

A Context-Knowledge Model for Architectural Design: A holistic approach by means of artificial intelligence techniques

From the earliest stages of the Architectural Design Process, designers have to take a lot of design decisions mostly based on “Context”. The present research is aimed at developing a Context Knowledge Model to improve the representation of ‘Context’ for architectural design. ‘Context’ has been analysed and formalized by means of Ontologies...

The Architectural Information Map: Semantic modeling in conceptual architectural design

This research focuses on the acquisition, representation, sharing and reuse of design information and knowledge in the conceptual phase of architectural design, and targets the creation of situated digital environments where communities of architectural practice communicate and collaborate using this information and knowledge. The utilizable...

What is on the machine's mind? Models for reasoning with incomplete and uncertain knowledge

In this thesis, which consists of two parts, two different subjects are discussed. In the first part of the thesis a logic for reasoning with inconsistent knowledge will be described. The second part of the thesis contains a proposal for to view a reasoning process as a process of constructing a partial model of the world we are reasoning about....

How to reason with uncertain knowledge

In this paper two kinds of uncertainty, general and specific uncertainty, are distinguished. General uncertainty denotes an uncertainty about which objects of a class belong to a relation. Sentences in which it occurs can be view as describing incomplete knowledge. An example of such a sentence is: "Most humans have brown eyes". Specific...

Closure properties of the compositional rule of inference