Semantic web for robots : applying semantic web technologies for interoperability between virtual worlds and real robots Citation for published version (APA): Juarez Cordova, A. G. (2012). Semantic web for robots : applying semantic web technologies for interoperability between virtual worlds and real robots. Technische Universiteit Eindhoven. https://doi.org/10.6100/IR731146 DOI: 10.6100/IR731146 Document status and date: Published: 01/01/2012 Document Version: Publisher’s PDF, also known as Version of Record (includes final page, issue and volume numbers) Please check the document version of this publication: • A submitted manuscript is the version of the article upon submission and before peer-review. There can be important differences between the submitted version and the official published version of record. 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ISBN: 978-90-386-3121-9 Proefontwerp Technische Universiteit Eindhoven Trefw.:Systems Design, Semantic Web, Knowledge Engineering, Robotics, Ontologies Semantic Web for Robots Applying Semantic Web technologies for interoperability between virtual worlds and real robots PROEFONTWERP ter verkrijging van de graad van doctor aan de Technische Universiteit Eindhoven, op gezag van de rector magnificus, prof.dr.ir. C.J. van Duijn, voor een commissie aangewezen door het College voor Promoties in het openbaar te verdedigen op maandag 2 april 2012 om 16.00 uur door Alex Giovanni Juarez Cordova geboren te San Salvador, El Salvador De documentatie van het proefontwerp is goedgekeurd door de promotor: prof.dr.ir. L.M.G. Feijs Copromotoren: dr. J. Hu PDEng MEng en dr. C. Bartneck MTD Acknowledgements A journey of a thousand miles begins with a single step. That step happened already three years ago when I decided to take the challenge of pursuing a PhD. That decision was by no means easy. At that time, it meant a professional challenge of stepping out of the comfort zone of mindless predictable machines, and into the unknown -to me, at least- and unpredictable environment of virtual worlds and human users. Moreover, it also meant a personal challenge of adapting to a new culture, new people, a new life. During this journey I have indeed gained considerable knowledge and expertise in several areas of science, but above all, I have met incredible, talented people along the way. They have contributed in many ways to my success in completing this PhD project, sometimes without even realizing it. Therefore, I think it is only just that I mention them -albeit briefly-, with the hope that my gratitude can somehow compensate all their help. Firstly I would like to express my most sincere appreciation to my promoter prof. dr. ir. Loe Feijs, and my copromoters and daily supervisors dr. Christoph Bartneck and dr. Jun Hu. You have kindly provided me with your guidance, knowledge, advice, and support during the different phases of the PhD project, and I certainly cherish our discussions about science, life, the universe, and everything. Many thanks go to the members of my reading committee prof. dr. Manfred Tschiegili, prof. dr. ir. Elke den Ouden, and prof. dr. Erwin Prassler for reviewing my work and for your constructive criticism. Special thanks to dr. Heico Sandee for being the contact point with RoboNed, and for his help with the development of RoboDB. Our collaboration was very productive!. My gratitude also goes to Lex van Geisel, Herman Tuininga, and Ted Schmidt from DevLab, for their collaboration during the Metaverse1 project and in developing the PAC4 prototype. We tested the waters of standardization of virtual worlds with impressive results!. I would also like to thank the “PhD’s”: Bram van der Vlist, Gerrit Niezen, Sibrecht Bouwstra, Roman Gurbonov, Jan Gellissen, Misha Croes, and Marija Nakevska. Not only we shared our -sometimes different- visions of science and research, but we indeed had fun in our own (geeky) way. As I sometimes said to you: “yo!, thanks for everything!”. A mis padres Alba y Nelson: gracias por apoyarme a lo largo del camino, por compren- derme y estar ahí cuando los necesitaba, más aún en la distancia. Gracias por enseñarme a no olvidar de donde vengo y hacia donde voy. Espero que puedan sentirse orgullosos de este nuevo logro, ya que a ustedes les debo el haber llegado tan lejos. i Acknowledgements Finally and most importantly, I would like to thank you, my lovely wife Anna. I would have never gotten this far without all your love and support. You have given me strength and wisdom to overcome the many difficulties that appeared in my way. That’s why I would like to dedicate this work to you. Wszystko dobre, co siędobrze kończy. Kocham cięksiężniczko. Alex Juarez January 2012, Eindhoven ii Contents Acknowledgements i List of Figures v List of Tables vii 1 Introduction 1 1.1 Interoperability in a broader context ..................... 6 1.2 Assumptions and limitations .......................... 8 1.3 Research goals ................................. 9 1.3.1 Research questions .......................... 9 1.4 Design process and methodology ....................... 10 1.4.1 Iterative design (spiral model) ..................... 12 1.5 Outline of this document ........................... 13 2 Related work 15 2.1 Bridging virtual and real worlds ........................ 17 2.1.1 Virtualized reality ........................... 17 2.1.2 Mixed reality .............................. 17 2.2 Cross-reality .................................. 18 2.3 Cross-reality and robotics ........................... 20 2.4 Creating knowledge about robots ....................... 22 3 Requirements and concepts 27 3.1 RoboDB .................................... 27 3.1.1 Functional requirements for RoboDB ................. 28 3.1.2 Technical requirements ........................ 29 3.2 PAC4 ...................................... 30 3.2.1 Functional requirements ........................ 31 3.2.2 Technical requirements ........................ 31 4 From data to information: RoboDB 33 4.1 Data format selection ............................. 33 4.2 Software tools selection ............................ 36 4.3 RoboDB system architecture ......................... 40 4.4 RoboDB implementation ........................... 43 4.4.1 Creating robot descriptions using Semantic Mediawiki ........ 43 4.4.2 Second RoboDB prototype ...................... 49 iii Contents 4.4.3 Usability evaluation .......................... 53 4.5 Content authoring in RoboDB ........................ 56 4.6 Concluding remarks .............................. 58 5Knowledgeengineering 61 5.1 Ontologies and the Semantic Web ...................... 61 5.2 Description Logics ............................... 62 5.3 Ontology design ................................ 65 5.4 Modelling robot capabilities .......................... 66 5.4.1 Related work .............................. 67 5.4.2 Implementation ............................ 69 5.4.3 Using the robot capability descriptions ................ 75 5.5 Case study: ROILAbot ............................ 76 5.6 Adding capability modelling to RoboDB ................... 83 5.7 Concluding remarks .............................. 86 6PAC4 89 6.1 MPEG-V .................................... 90 6.2 System design and implementation ...................... 96 6.3 Evaluation: Virtual Presence ......................... 97 6.3.1 The IPO-Social Presence Questionnaire ............... 98 6.3.2 Experimental setup .......................... 99 6.3.3 Experiment design ........................... 100 6.3.4 User experiment ............................ 100 6.3.5 Experiment results ........................... 101 6.3.6 Discussion ............................... 103 6.4 Concluding remarks .............................. 104 7 Conclusions 107 Bibliography 113 A RoboNed Letter 123 B Built-in