Using Knowledge Ontologies and Neural Networks to Control Service-Oriented Robots

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1 Pdg f Wd Cg Egg 2013 V II,, Jy 3-5, 2013, Ld, UK Ug Kwdg Og d N Nw C S-Od Rb W-P L Tg-H Yg Ab I y, b bdg m b b d w w pp Hw, d mpxy d dy f m f dpg b, dff d b d d by dff pd I w w p - bd pp xp dd wb f dp b b O pp d wdg gy d w g g f b I dd, f, dg dy,, d mp b dpd f pg T ppd pp b mpmd d d, d w b d bd b fy D I INTRODUCTION pg m b -pfd bm gf f pp f f Hw, d mpxy d dy f m f dpg b, f dff g d b pp fw ( ) d by dff pd T f mpdd dpm f b [1] T m b dff, b bdg b dg fmw mg mpxy d f by f b d Fm p f w f d-, y xp b d b pp fw y, b dg d T, fm p f w f b dg, y pf y-- m d g pp d by dff pd Tg d f b d, -d (SOA, [2]) pd pmg p f dpg b O f mj dg f SOA d b dmd I m b gdd dpd d d w wdg f dyg pfm mpm [1][2] Idy, w SOA-bd b fmw, d- b m wy f g wb, d b dg w d b d dg m mp Hw, d wb, ppyg SOA b pp mpd f b, d dg f b bm gg T dp b d pp, mm wy dp dd-d-q gy T p f ddg d g b m f dmp d mp wb W-P L d Tg-H Yg b w N S Y- Uy, Kg, Tw ( -m: mydw) ISSN: (P); ISSN: (O) dm, w m pbm b d by wfw-bd AI pg md [3][4] H T Nw (HTN) p yp xmp [5] S d f d- b p d d f mbg m p w m ff g mp W d f gy dfd db b d gd dmp, md d wb mp b ppd dpg f mp b mpd I w, w p b fmw m ff d f d- d b dg O w mpy -d w b d d gdd, d mpd b d g mp f b I d w-bd g mm w b, d g wb dp gg OWL-S (Ogy Wb Lgg-S [6]) d HTN p pfm gy-bd mp T fy ym d dm w w, w dd dff f xpm w b fy -pfd m m II RELATED WORKS I dy f -d mpg d mdg, wb g b wdy ppd dff yp f pp W my f xp, w pg xd q dpm f b ym T m d w gdg b d xpg wb b F xmp, Y mpyd mp q p b p dy p [7] Km fd w b g g f wb d b pp g [8] Smy, H ppd -d f g f bq b d, dg d m [9] T w gg b d wb g F xmp, dd by B, b b qppd w wb-d fw f p m y dd wb [10] Dff fm d, w dd xp gy f dy m, d f pg-bd fg b b I p, w dp p md w d b ddd w dbd b O md d f dm-bd pgmmg, w b

2 Pdg f Wd Cg Egg 2013 V II,, Jy 3-5, 2013, Ld, UK w g m dm O w p b j d, d d w g pd d III A SERVICE-ORIENTED APPROACH FOR ROBOT CONTROL A Sym Fmw S-d mpg (SOC) bm d f mpy pgmmg I gd f-dbd b bdg b b d pp dpm f fw pp Fwg SOC dg pp, w p -d fmw mpmd by dd-bd, pfm-dpd q ( SOAP, REST) T fmw xp pdg dg f SOC pd pdy pypg b Fg 1 p fmw w pg fw f ppd b ym A b, ym d mj md d gy wg gy w md T f md m g mm, w w y d b d T d md pb f dy d I yz mmd ( qy) pfd by d py dgy T gy w fg b f mmd p d mppg I db m f m f d -g p T md mpy p-dfd gy m b fm dd T d md dpd f mp I dmp g b m dg pf f gy, d fd f b T md g g mp pd g T b b b g p-dgd f Bd, md pdy pfm fg pd fd w fy d T d dbd b bw If q (qy) (f) pfm Nw S C S Dy & S S Cmp Fg 1 Sym w w Rb B Ug Kwdg Ogy Idfy Rb T Ogy py mp wdg p F pg pbm (g, b ), gy b dfd d pd q f pbm-g p g gzg dm wdg T p (, pbm ) xp dm wdg d d q dfd w gy pp I w, w w g, gy d p gy, pfy f pbmg p d db m wdg f b, py T mp g, b d dd b g T f gy, p gy, df f dff bj m m d m p bw bj F xmp, gy d bw, p, d p p pbd, d TV pd g m Ad d gy, gy, db w q by q f p I p mpxy wy Fg 2 w p f gy dfd ppd ym T gy dd pb b / (, w b pfm) m b fw dgy g T pd f g gy, f g mmd, ym w p mmd x b p dp, d dp m m dd gy Cy, w mpfd gg (, NLTK, [11]) f mmd pg F xmp, ym w yz mmd g m p g b g f, d wd g m m dd gy T gy G [p bj] G [bj] C [p] P [p] Fg 2 P f gy G Fd P Fd Gp M M W M R T pbm-g pby f gy, w pwf gy dp gg OWL-S mpm gy I mj p w yp f wdg: pf, md, d gdg I g, pf pd fm xp w d, dg dp f w b mpd, d m d qm f S md db w, w m pbm g p f g b I d fm b p, p, pd d ff, d pfm y, mp,, d mg Ad gdg p w I pfy mg fm, mm p, d mpm d Fg 3 w OWL-S xmp db md dfd f b b G, w mpd by m p Fd d w mp p G d P T d f pp w b g xpm ISSN: (P); ISSN: (O)

3 Pdg f Wd Cg Egg 2013 V II,, Jy 3-5, 2013, Ld, UK Fg 3 T OWL-S xmp f b md C Cg M Rb S T f g w dp f, w b mbd w dp d pf T f m d f dg b m T d b w my by pgmm y b w xp pgmmg T m d wy f dy d ff pgmmg b T b my, w dp pp f pgmmg-by-dm, w pp d m fm f b q dmd by f dd, d m g mm d d Fg 4 pd T b d my g Dg pd f m-d dm, m p fm dd fm b d f g I wd, d m- pf f pp d m fm fm q b w by b Af b d bd, d g b py f d g I w, w (RNN) md dpd b f H, w fy d RNN b, d mpm g mm W md d b, w d pd f b pp A, w x d ddd bff, d pfd d T ddy m b fm d Em dm d <p:cmpp df:id="g"> <p:ip df:="#p"/> <p:ip df:="#obj"/> <p:pd df:="#exp"/> <p:pd df:="#exobj"/> <p:eff df:="#phobj"/> <p:mpdof> <p:sq> <p:mp df:ptyp="c"> <p:cmpp df:b="#g"/> <p:amp df:b="#fd"/> <p:cmpp df:b="#p"/> </p:mp> </p:sq> </p:mpdof> </p:cmpp> RNN-Lg Mm Rdg b b m- d Am C Fg 4 T pd f pgmmg-by-dm T fd g f w (, d, m, wg), w dp b-ppg g m g gm (BPTT, [12]) pd pm f w d m p T g mmz md dpy bw m- d dd dm pd (, dd ) d pdd by md (, ) T b f b dfd dy m qd m pd: N T 1 1 d x ( ) x ( ) d x ( ) I b q, x d () dd p f d m, x () gd fm d f md, N mb f d w, d T mb f m p f d A, md d-b-d d mdfyg g g pd Tg b g pd m d ff md b b, f pp, pbm f mb b d [13] T pbm m g mmy d d f dbd qy wd pp Cpdg f, p f p (pp fm) d p (m fm) f m p d p d p, d pfmg- f g g b gdd pf d m d p (, g ) I dm- bd md, d p d dm pd f dbd qy dff, d g b pfy O pp wy pbm w d g g dm y p p b y T wy bd b q ddd g g pdg d db Af, -g pd d g bd w T d wd dm, w wp f d y dp mm my b d w g d I pp, d p gzd w yp, bd w p Dff dfd d ppd w yp f d p dgy W w xmp xpm w ppd pp w D S Op I w, f yp f f, dg dy,, mp, d fg, dpd b b b -pfd mmd T f yp f f dy I p f g b fd ff q A md, g OWL-S db ddz dp m I wy, m md b dpd fd ppp, dg m dp d w I ym, OWL-S pf df IOPE m 2 ISSN: (P); ISSN: (O)

4 Pdg f Wd Cg Egg 2013 V II,, Jy 3-5, 2013, Ld, UK (, Ip, Op, Pd, d Eff), w d m q fwd T pd f mmd m m dfd gy, ym w fm (, IOPE) pdg m xm w fm m f dd py A f m m ym fd ff q F, gy w Fg 2, G p g bj m, pd g bj x, d f g bj d O G m mmd, dp d fd pdg T d yp f f,, g m b f g fm dd pdd by dy p T b, my dfd b ( by,, p m, p, [14]) d ppd dff qy-f (QS) bd md Amg b, p p d fm q py I bj d y--m b Tf, mpm, w b f, d dg g gy m p I mb g (fm w 1 g 5) g by dd bd fm dy p T ym w dg g d, p q T d yp f f mp, w my mp dy xg py m mpx I ppd fmw, w dp AI pg q f mp Amg, HTN pg w-dgd mdgy m b f mp I HTN pg dm, b gzd w yp: pm d mpd A pm b pfmd dy by pdfd pg p, w mpd d b dmpd by pg md bf bg pfmd T pfm dmp dg gy dbd IIIB b g y, d p b d d pd q f f g T p f dmp HTN f y m mp p dmp OWL-S md: d mpxy f g by mg y dg pg p O w-mpmd HTN p Smp H Odd P 2 (SHOP2, [15]) T pd m pd bw SHOP2 pg d f OWL-S p md [5] T m HTN p b ff w w y d OWL-S p md Fwg d, w mpy SHOP2 d b mp d gy dfd b gd dmp A OWL-S d SHOP2 w p, SHOP2 f mp, bw OWL-S d SHOP2 d b dfd S dfd m, fm OWL-S p md SHOP2 dm d fm OWL-S mp SHOP2 pg pbm [5] W, gy d by OWL-S dp SHOP2 fm d b d by p f mp T z fg, w fw OpRAVE ([16]) md b d m b d I p w, w ym x mp OpRAVE, pd p pd b f S mp pd p w b xm w b d fy If fd d m q m, ym d mp g T w fx mp p g g mm dbd py IV EXPERIMENTS AND RESULTS T ppd mdgy f b, w f xpm b dd T f g w b fm dm pd T d xm w mp md b d m mpd g A Cg Nw S g Rb Lg I f f xpm, b m w m md m b d q f pg bx d pg-p p d bx T m, xpm w pfmd m I xpm, f m- q w d m d m p d f 100 m Iy, bx w p b T b dd p bx d ddd w d x dg w bd If b fd p bx, w qd p p p, p p b, d bx If bx w mpy, b mpy d bx Af bx w d, b d dd w f fwg w : w p bx ( d bx d p p p f w y) m b p ( d b mpd) A b bd, b w b m d yg y pp fm, b p I m g b yp (, pp d ) f fm d y T mm f b q f b dd f m d f p py bw: (1) bx b d b p; (2) bx b d b md p dy f p; (3) bx b pd by b; d (4) bx b d by b F, pp p f m f ( bx, bx p d p bx, d bx p d mpy) dd fm b pd by m b m Tf, d w bd b d fm, d g ppp H, pb f b m p ISSN: (P); ISSN: (O)

5 Pdg f Wd Cg Egg 2013 V II,, Jy 3-5, 2013, Ld, UK dy f p, p bx, p p bx, bx, d m p T b pd xpd q b, ppd pp b d x d w Fg 5 b gd by A w, q g b fy (1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) (12) Fg 5 T b q pdd by fy w p P Obj ( bw bj, d wm) d w pd Ex P Ex Obj ( d f y p bj x wd ) W dmp, ym G d b dbyowl-s HTN md, d b- d d G p mp Fg 6 w HTN md p d g G,w d b G, F d, P T pf G m p b d by m (, HTN p), d f fwg b-bj p: (fd p), (m b), (gp p), (fd ), (m ), d ( p) Fg 7 w b d w m T f f p fg (, p (1)-(4)) w b d p gy f w p w d F f, b w p w, w d gzd p w p b T b md g d p d gp p Sp (5)-(7) db : b md p p, d pfmd G N x, p( 8) -(12) w f b pd p p, d w F d P f d dg m p : (g?p?bj) B Ag S Cmp I d f xpm, w (x?bj) pd: (x?p) ym d mp pp m, w d b g (p?p) b: (g?bj) (fd?p) m p dm m Adg dg, d b yp d (d?bj) (x?bj) m fm p-dfd f, bf dg mmd q b T b yp (?bj) (m?p) (m?p) (gp?bj) (fd?bj) d d m d (g, dw Fg 6 T HTN md f g ) d b fd dy p; w m pd wd ( pd f dd ) d d p f bj m I dd p-dfd, wd XML dp w md b d m T d d q, b d (1) (2) (3) (4) g y f p g mm g m p I pp, ym d -gg p yx f mmd d g yx I b p gy d p p gy (5) (6) (7) (8) f b A p w Fg 2, w G, y m d w p p m, m y P Obj, d g m m p x df m mm d pd w pm, py (9) (10) (11) (12) T OWL-S xmp w Fg 3 db Fg 7 T m f pp md d f df bb G,w mp dby m p F d d w mp p G P T, G bj V CONCLUSION p bd mp d b : G I w, w pd -d pp bj, F d p, P bj p (mg ) I dd, p f G d wdg gy d w g ISSN: (P); ISSN: (O)

6 Pdg f Wd Cg Egg 2013 V II,, Jy 3-5, 2013, Ld, UK g f b T gy b d d d f mmd p d mppg, d w b d w g pgmmg-by-dm pd I dd, f, dg dy,, d mp b dpd f pg Ud gd f gy, w mpy pg-bd mp p g mp b mpd m m Expm b dd fy ppd mdgy, d w w b b g m-m d mp b dd f pp fy REFERENCES [1] Am, M, Rgg, M, 2010 A pdgm f b pp Add Egg Ifm, 24(1), 4-13 [2] E, T, 2005 S-Od A (SOA): Cp, Tgy, d Dg P H [3] R, J, S, X, 2005 A y f md wb mp md I: Pdg f F I Wp Sm Wb S d Wb P Cmp, pp43-54 [4] S, SX, Z, J, 2012 A dmp-bd pp f mp w gb QS g Ifm S, 199, [5] S, E, P, B, W, D, Hd, J, N, D, 2004 HTN pg f wb mp g SHOP2 Wb Sm: S, S d Ag Wd Wd Wb, 1(4), [6] M, D, Hbb, J, MI, S, Ny, S, P, M, P, B, Py, T, S, E, S, N, Sy, K, 2004 OWL-S: m mp f wb W3C Mmb Sbm, 22, [7] Y, A, T, K, Cb, A, Am, Y, 2008 Twd m pp f bq b mp I : Pdg f IEEE/RSJ I Cf Ig Rb d Sym, pp [8] Km, BK, Myz M, Ob, K, H, S, T, K, 2005 Wb bd b pfm f bq f I: Pdg f IEEE I Cf Rb d Am, pp [9] H, YG, S, JC, C, YJ, Y, H, 2007 A b fmw ppg md g f bq d d Ifm S, 177(3), [10] B, MB, Rmy, SL, W, Y, Hwd, AM, 2011 Rb wb IEEE Rb d Am Mgz,18(2), [11] Lp, E, Bd, S, 2002 NLTK: gg I: Pdg f ACL-02 Wp Eff T d Mdg f Tg N Lgg Pg d Cmp Lg, pp63-70 [12] Wb, P J, 1990 Bppg g m: w d d w d Pdg f IEEE, 78, [13] L, XY, W, J, Z, Z-H, 2009 Expy d-mpg f -mb g IEEE T Sym, M d Cyb, P B, 39, [14] Y, T, Zg, Y, L, KJ, 2007 Eff gm f wb w d--d QS ACM T Wb, 1(1), mb 6 [15] N, D, Igm, O, K, U, Md, JW, W, D, Ym, F, 2003 SHOP2: HTN pg ym J f Af Ig R, 20, [16] D, R, Kff, J, 2008 OpRAVE: pg f m b T Rp CMU-RI-TR-08-34, Rb I, Cg M Uy ISSN: (P); ISSN: (O)

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