We discuss in this paper some aspects of NKRL, the Narrative Knowledge Representation Language. This is a high-level n-ary conceptual tool specially conceived for the representation and management of real world, dynamically characterized entities like situations, events and complex events, actions (e.g., in a robotics context) scripts/scenarios/narratives etc. After having pointed out some shortcomings of the standard ontological solutions for dealing with this sort of information, and having recalled some general characteristics of NKRL (like the addition of an "ontology of events" to the usual "ontology of objects"), we focus on the rules/inferential aspects proper to this language. We introduce, then, the general, formal model of "rule" used in an NKRL context and we show how this can be appropriately adapted to the setup of advanced types of inference operations based, e.g., on "analogical" and "causal" reasoning.
{"title":"Advanced Knowledge Representation and Reasoning Making Use of an Advanced N-ary Model","authors":"G. P. Zarri","doi":"10.35708/rc1868-126248","DOIUrl":"https://doi.org/10.35708/rc1868-126248","url":null,"abstract":"We discuss in this paper some aspects of NKRL, the Narrative Knowledge Representation Language. This is a high-level n-ary conceptual tool specially conceived for the representation and management of real world, dynamically characterized entities like situations, events and complex events, actions (e.g., in a robotics context) scripts/scenarios/narratives etc. After having pointed out some shortcomings of the standard ontological solutions for dealing with this sort of information, and having recalled some general characteristics of NKRL (like the addition of an \"ontology of events\" to the usual \"ontology of objects\"), we focus on the rules/inferential aspects proper to this language. We introduce, then, the general, formal model of \"rule\" used in an NKRL context and we show how this can be appropriately adapted to the setup of advanced\u0000types of inference operations based, e.g., on \"analogical\" and \"causal\" reasoning.","PeriodicalId":292418,"journal":{"name":"International Journal of Robotic Computing","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133789331","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
L. C. M. W. Schwartz, Lars-Peter Ellekilde, N. Krüger
Object aligning and holding fixtures for robotic assembly tasks are important in industry in order to successfully complete an assembly. However, the designing of a fixture is usually done manually which can be a long and tedious process including many iterations, even for experienced engineers. This paper presents a method to design fixtures automatically for use in robotic assemblies and pick-and-place tasks. To achieve this, a new automated method to design the cut-out for a fixture is introduced. The method uses a parameterized version of the object's imprint to design the cut-out. The fixtures generated using this method are optimized in simulations to determine their final parameters for a specific application. Dynamic simulations are used to evaluate each iteration of the cut-out. Lastly, the method is applied to a use-case from the industry to design a fixture for use in a robotic assembly task.
{"title":"Automated Fixture Design using an Imprint-based Design Approach and Optimisation in Simulation","authors":"L. C. M. W. Schwartz, Lars-Peter Ellekilde, N. Krüger","doi":"10.35708/RC1868-126250","DOIUrl":"https://doi.org/10.35708/RC1868-126250","url":null,"abstract":"Object aligning and holding fixtures for robotic assembly tasks are important in industry in order to successfully complete an assembly. However, the designing of a fixture is usually done manually which can be a long and tedious process including many iterations, even for experienced engineers. This paper presents a method to design fixtures automatically for use in robotic assemblies and pick-and-place tasks. To achieve this, a new automated method to design the cut-out for a fixture is introduced. The method uses a parameterized version of the object's imprint to design the cut-out. The fixtures generated using this method are optimized in simulations to determine their final parameters for a specific application. Dynamic simulations are used to evaluate each iteration of the cut-out. Lastly, the method is applied to a use-case from the industry to design a fixture for use in a robotic assembly task.","PeriodicalId":292418,"journal":{"name":"International Journal of Robotic Computing","volume":"89 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113985691","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：