Knowledge driven mobile robots applied in the disassembly domain

Author

Koppensteiner, Gottfried ; Hametner, Reinhard ; Paris, Rene ; Passani, Alejandro Moser ; Merdan, Munir

Author_Institution

Inst. of Autom. & Control, Vienna Univ. of Technol., Vienna, Austria

fYear

2011

fDate

6-8 Dec. 2011

Firstpage

52

Lastpage

56

Abstract

Mobile robots can be used as a motivating and interesting tool to perform laboratory experiments within the context of mechatronics, microelectronics and control. Considering the disassembly as a vital and prospective industry domain, we use the mobile robots to automate the disassembly process. In our system, each mobile robot has particular skills and is supervised by an agent with related objectives and knowledge. An agent has an ontology-based world model, which is responsible to maintain the knowledge about the robot´s activities in relation to its environment as well as to its underlying software parts. The ontology is used to represent a specification of an agent´s domain knowledge. The system functionality is tested with three mobile robots having a task to disassembly a particular Lego construct.

Keywords

assembling; knowledge based systems; mobile robots; ontologies (artificial intelligence); Lego construct; agent domain knowledge; control; disassembly domain; knowledge driven mobile robots; laboratory experiments; mechatronics; microelectronics; ontology based world model; Automation; Computer architecture; Java; Mobile robots; Ontologies; Robot sensing systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation, Robotics and Applications (ICARA), 2011 5th International Conference on

Conference_Location

Wellington

Print_ISBN

978-1-4577-0329-4

Type

conf

DOI

10.1109/ICARA.2011.6144855

Filename

6144855