WP 1Annual Assessment, March 27, 2008, Prague 1

WP 1 – glossary/ontology

Robot Standards and

Reference Architectures

WP 1 2

Objectives in WP

Creation of a detailed action plan for a standard defining activity in the field of Standards for Mobile Manipulation and Service Robots. In particular

• Definitions of types and terms, and their relationships,• Ontological relationships between concepts and entities.• Identification of abstractions and implementation properties • Examples of code to illustrate the key concepts, and • Examples of definitions in formal languages.

WP 1 3

Organization of WP

Task 1.1 State of the Art in Robot Terminology and OntologyTo sort, and compare, existing data repositories both from industrial products and academic open-source projects, and to produce a state of the art of glossaries, and ontology relations.

Task 1.2 Requirement AnalysisTo collect the input of robot manufacturers of industrial and service robots with respect to the standardization areas and propose additions and improvements.

Task 1.3 Action Plan and RecommendationsTo produce a detailed action plan and a recommendation for a standard defining activity (SDA).

WP 1 4

First Year Results

D1.1 Report on State of the Art on Robotics Standards

• Surveyed a large number (62) sources of standards and glossaries in print and on the web and compared breadth and depth.• Tested technologies of code snippet to illustrate concepts• Initiated process to define a IEEE standard in ontologies• Developed generalized framework for Ontology representation

D1.2 Report on Requirement Analysis of the Glossary/Ontology Standards

• Developed questionnaire and expecting replies

WP 1 5

First Year Results

D1.1 Report on State of the Art on Robotics Standards

1. Contacted Experts and met them at ICRA’07 and IROS’07

Herman Bruyninckx Jean-Paul Laumond Pedro M. U. A. Lima Rachid Alami Wolfram Burgard Giorgio Metta Maarja Kruusmaa Fontaine Jean-guy Virk, Gurvinder Rainer Bischoff Alicia Casals Oussama Khatib

Issa A.D. Nesnas Hari Das Hadi Moradi Mario E. Munich Giovanni Muscato Zvi Shiller

WP 1 6

First Year Results

D1.1 Report on State of the Art on Robotics Standards

1. Surveyed sources of Glossaries following categories of Robotics Handbook

1.1. Books and Publications1.2. Websites1.2.1. Specific Websites1.2.2. Generic Websites1.2.3. Academic/Educational Websites1.2.4. Associations Websites1.2.5. Industrial Websites

1.3. International StandardsISO 8373:1994 ISO 9787:1999 ISO 1593:1996 ISO 14539:2000ASTM E2521-07 AIAA S-066-1995 JIS B 0144:2000JIS B 0185:2002JIS B 0186:2003JIS B 0187:2005TR B 0010:1999

WP 1 7

First Year Results

D1.1 Report on State of the Art on Robotics Standards

1. Analyzed the following categories:

Mathematics and Mechanical

Mechanical Structure

Processing and operation

Interaction

Sensors and perception

Performance

Robot Architectures

Application Domain

WP 1 8

First Year Results

D1.1 Report on State of the Art on Robotics StandardsCompared areas and definitions

Handbook of Industrial Robotics

Industrial Automation Robots

OSHA Technical Manual

Learn About Robots Used Robots

Assembly Magazine

ATI Industrial Automation

Midwestern Robotics

Mathematics and Mechanical Engineering Little coverage Little coverage Little coverage Little coverage Little coverage Little coverage Little coverage Little coverage

Mechanical Structure

Medium coverage

Partial coverage Little coverage Little coverage Little coverage Little coverage Little coverage Little coverage

Processing and operation

Extensive coverage

Medium coverage

Little coverage Little coverage Little coverage Little coverage Little coverage Little coverage

Interaction Partial coverage Little coverage Little coverage Little coverage Little coverage Little coverage Little coverage Little coverage

Sensors and perception

Extensive coverage

Little coverage Little coverage Little coverage Little coverage Little coverage Little coverage Little coverage

Performance Extensive coverage

Little coverage Little coverage Little coverage Little coverage Little coverage Little coverage Little coverage

Robot Architectures

Extensive coverage

Little coverage Little coverage Little coverage Little coverage Little coverage Little coverage Little coverage

Application Domain

Medium coverage

Partial coverage Little coverage Little coverage Little coverage Little coverage Little coverage Little coverage

WP 1 9

First Year Results

D1.1 Report on State of the Art on Robotics StandardsTested snippet of codes.

Flash code Java code

WP 1

Ontologies for Concurrent Engineering

Product

Process

SystemsKnowledgeBase

BOMLiaison diagramCAD modelContact graphAssembly features

Process optimizationCycle-time analysisLine Balancing

constraints

prescribes

constraints

prescribes

sets requirements

WP 1

Product-Process-System Knowledge – From UML to Ontologies

WP 1

Distributed Knowledge Base

First Year Results

WP 1

Simulation-based Process Planning

First Year Results

WP 1

Visual Components/Microsoft• Integration with Microsoft Robotics Studio for machine controller

middleware usability– Connection between the simulation environment and the real machine

through MRS– Pilot implementation with Lego Mindstorms

First Year Results

WP 1

Jogging the robot in 3DCreate and the real robot follows

First Year Results

WP 1

Technologies used on VC/MSRS

• Automatic model mapper using ontologies to standardize the metamodel for communication (and possibly other interactions)

First Year Results

WP 1 17

First Year Results

D1.2 Report on Requirement Analysis of the Glossary and Ontology

Questionnaire for Glossary/OntologyState of the art:

• Which major existing definition/glossary repositories in robotics and automation do you know?

• Please indicate whether the coverage of terms is sufficient for professional work? If not, which areas would you like to see strengthened?

• How far do you think that a glossary of robotics should be extended?

Requirement analysis of the Glossary/Ontology Standards: • Did you ever face the problem of the lack of standards in service robotics?

if yes, in what specific area?• Please name the (industrial) requirements, needs and constraints regarding

robotics standards, as well as critical issues which need to be agreed on.• Which industrial standards should take priority, and in which context?• How would you formalize the requirements so that they address all needed

cases?

WP 1 18

Outlook and next steps

• Compilation of the requirement document

• Expand the issues related to Ontologies

• Coordination of the Ontology Standard workgroup

• Development of code snippets

•Single interviews with experts to address specific aspects

• Generation of Project Deliverables