Capability-based semantic interoperability of manufacturing resources: A BaSys 4.0 perspective

Perzylo, Alexander; Grothoff, Julian Alexander; Levi, Lucio; Weser, Michael; Malakuti, Somayeh; Venet, Pierre; Aravantinos, Vincent; Deppe, Torben Heinz

doi:10.1016/j.ifacol.2019.11.427

Cited by 42 publications

(29 citation statements)

References 9 publications

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“…One widespread use of the term in robotics is skill learning where it is used to refer to the ability of the robot to achieve something via a behavior learned through observation, communication, experimentation or simulation. However, both terms are also often used as synonym of each other, for example by Perzylo and colleagues in their work on the description and orchestration of manufacturing skills (Perzylo, Grothoff, et al 2019).…”

Section: Environment Mapmentioning

confidence: 99%

A review and comparison of ontology-based approaches to robot autonomy

Olivares-Alarcos

Beßler

Khamis

et al. 2019

The Knowledge Engineering Review

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Within the next decades, robots will need to be able to execute a large variety of tasks autonomously in a large variety of environments. To relax the resulting programming effort, a knowledge-enabled approach to robot programming can be adopted to organize information in re-usable knowledge pieces. However, for the ease of reuse, there needs to be an agreement on the meaning of terms. A common approach is to represent these terms using ontology languages that conceptualize the respective domain. In this work, we will review projects that use ontologies to support robot autonomy. We will systematically search for projects that fulfill a set of inclusion criteria and compare them with each other with respect to the scope of their ontology, what types of cognitive capabilities are supported by the use of ontologies, and which is their application domain.

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Section: Environment Mapmentioning

confidence: 99%

A review and comparison of ontology-based approaches to robot autonomy

Olivares-Alarcos

Beßler

Khamis

et al. 2019

The Knowledge Engineering Review

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“…The automatic mapping of a specific 4 https://github.com/OntoBREP manufacturing task to a compatible resource is achieved by combining device descriptions with a semantic description of their provided functionalities. In this context, we distinguish between the representation of the executable elements of such functionalities, i.e., skills [5], and the meta-level representation of their effects, i.e., capabilities [6].…”

Section: Related Workmentioning

confidence: 99%

“…To avoid the tedious task of manually modeling OWL ontologies for OPC UA base concepts and additional companion specifications, we developed a software tool for the automatic generation of these ontologies in OWL. Given an UA NodeSet2 description in the official XML dialect 6 , the corresponding XML Schema definition contained in UANodeSet.xsd, and the OPC UA core ontology, which has been described in the previous section, the transformation to OWL can be carried out automatically. The transformation tool uses XMLBeans 7 to parse the NodeSet2 description and to check it for conformity to its XML Schema.…”

Section: B Generation Of Ua Nodeset Ontologiesmentioning

confidence: 99%

“…These properties are provided as part of a resource model, and aggregated in groups that relate to specific skills. An ontology-based approach to capability modeling enables a cognitive production system to not only match requirements and offered capabilities, but to also automatically derive orchestrated capabilities from basic ones [6].…”

Section: B Capability Modelsmentioning

confidence: 99%

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OPC UA NodeSet Ontologies as a Pillar of Representing Semantic Digital Twins of Manufacturing Resources

Perzylo

Profanter

Rickert

et al. 2019

2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)

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The effectiveness of cognitive manufacturing systems in agile production environments heavily depends on the automatic assessment of various levels of interoperability between manufacturing resources. For taking informed decisions, a semantically rich representation of all resources in a workcell or production line is required. OPC UA provides means for communication and information exchange in such distributed settings. This paper proposes a semantic representation of a resource's properties, in which we use OWL ontologies to encode the information models that can be found in OPC UA NodeSet specifications. We further combine these models with an OWLbased description of the resource's geometry and-if applicable-its kinematic model. This leads to a comprehensive semantic representation of hardware and software features of a manufacturing resource, which we call semantic digital twin. Among other things, it reduces costs through virtual prototyping and enables the automatic deployment of manufacturing tasks in production lines. As a result, small-batch assemblies become financially viable. In order to minimize the effort of creating OWL-based UA NodeSet descriptions, we provide a software tool for the automatic transformation of XML-based NodeSet specifications that adhere to the OPC Foundation's NodeSet2 XML schema.

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“…Once process and product models are created, they can be reused in multiple workcells with different hardware. As long as provided manufacturing resources offer required capabilities, the associated tasks of a manufacturing process can be assigned to compatible resources [15]. In the assembly domain, this includes specifying assemblies with the help of geometric constraints.…”

Section: Related Workmentioning

confidence: 99%

Semantic Mates: Intuitive Geometric Constraints for Efficient Assembly Specifications

Wildgrube

Perzylo

Rickert

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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In this paper, we enhance our knowledge-based and constraint-based approach of robot programming with the concept of Semantic Mates. They describe intended mechanical connections between parts of an assembly. This allows deriving appropriate assembly poses from the type of connection and the geometric properties of the involved parts. The paper presents an ontology-based representation of Semantic Mates that is used to augment object models with additional information regarding their potential use in an assembly. Such semantically annotated object models can be used in our instruction framework to program a robot to perform assembly tasks through simple drag-and-drop operations in a graphical user interface. We conducted a user study with 21 participants in order to evaluate the efficiency and usability of the Semantic Mates concept based on a use-case from the domain of mechanical assembly. Across different experience levels in robotics, the participants achieved a significantly faster workflow and improved perceived usability compared to the manual specification of constraint-based assembly operations.

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Capability-based semantic interoperability of manufacturing resources: A BaSys 4.0 perspective

Cited by 42 publications

References 9 publications

A review and comparison of ontology-based approaches to robot autonomy

A review and comparison of ontology-based approaches to robot autonomy

OPC UA NodeSet Ontologies as a Pillar of Representing Semantic Digital Twins of Manufacturing Resources

Semantic Mates: Intuitive Geometric Constraints for Efficient Assembly Specifications

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