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doc:important_concepts [2014/06/05 11:38] – external edit 127.0.0.1doc:important_concepts [2021/02/18 08:06] – [Description Logics, Classes, Instances, OWL, Prolog] daniel86
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 ====== Important concepts ====== ====== Important concepts ======
 ~~NOTOC~~ ~~NOTOC~~
-This page describes some of the main concepts behind the KnowRob system. For an introductory paper, please have a look at [[http://ias.cs.tum.edu/_media/spezial/bib/tenorth10kr.pdf|Knowledge Representation for Cognitive Robots]]. Moritz Tenorth, Dominik Jain, Michael Beetz. Künstliche Intelligenz, Springer, volume 24, 2010 +This page describes some of the main concepts behind the KnowRob system. For an introductory paper, please have a look at [[http://ijr.sagepub.com/content/32/5/566.full.pdf|KnowRob -- A Knowledge Processing Infrastructure for Cognition-enabled Robots]] (Moritz Tenorth, Michael Beetz), In International Journal of Robotics Research (IJRR), volume 32, 2013. 
  
  
 =====  Description Logics, Classes, Instances, OWL, Prolog  ===== =====  Description Logics, Classes, Instances, OWL, Prolog  =====
  
-In KnowRob, all knowledge is represented in the [[http://en.wikipedia.org/wiki/Web_Ontology_Language|Web Ontology Language (OWL)]]. This XML-based format allows to formally describe relational knowledge in a [[http://en.wikipedia.org/wiki/Description_Logic|Description Logics (DL)]] dialect.+In KnowRob, knowledge is represented in the [[http://en.wikipedia.org/wiki/Web_Ontology_Language|Web Ontology Language (OWL)]]. OWL has a XML-based concrete syntax, and allows to formally describe relational knowledge in a [[http://en.wikipedia.org/wiki/Description_Logic|Description Logics (DL)]] dialect.
  
 For formally modeling knowledge, it is very useful to distinguish between general relations and environment-specific information. In OWL, this is reflected by the distinction between classes and instances. Class knowledge is described in the so-called TBOX (terminological box); knowledge about instances of these classes is contained in the ABOX (assertional box). The relation between classes and instances is similar to object-oriented programming. For formally modeling knowledge, it is very useful to distinguish between general relations and environment-specific information. In OWL, this is reflected by the distinction between classes and instances. Class knowledge is described in the so-called TBOX (terminological box); knowledge about instances of these classes is contained in the ABOX (assertional box). The relation between classes and instances is similar to object-oriented programming.
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-=====  System architecture  ===== 
- 
-KnowRob is realized in a very modularized way. A base system, provides the basic reasoning capabilities and is largely independent of the domain of interest. It consists of Prolog, its semantic web library that serves for loading the OWL files, the Java/Prolog interface which serves for interfacing 
-existing libraries written in Java, and the system of computables described earlier. 
- 
-<code> 
-            ------------------------   ------------------------- 
-            | perception interface |   | action interpretation | 
-            ------------------------   ------------------------- 
-                        |                          | 
- ---------------------  |  ----------------------  |  ----------------- 
- | spatial reasoning |  |  | temporal reasoning |  |  | ROS interface | 
- ---------------------  |  ----------------------  |  ----------------- 
-          |             |            |             |           | 
- ---------------------------------------------------------------------- 
- |                            KnowRob-Base                            | 
- ---------------------------------------------------------------------- 
-          |                          |                         | 
- ---------------------  -----------------------------   --------------- 
- | SWI Prolog SemWeb |  | JPL Java/Prolog Interface |   | Computables | 
- ---------------------  -----------------------------   --------------- 
-</code> 
- 
-On top of it, the Knowrob-Base system represents general class knowledge of the household and kitchen domain in form of an ontology. This ontology provides the robot with the general terms it 'thinks' in. 
  
-Extension modules plug into the system and provide e.g. specialized reasoning capabilities or interfaces to external data, e.g. to read object detections from the vision system. These modules mainly operate on the level of instances.