Young-Guk Ha

Service-oriented integration of networked robots with ubiquitous sensors and devices using the semantic Web services technology

In recent years, motivated by the emergence of ubiquitous computing technology, a new class of networked robots - ubiquitous robots - has been introduced. The URC (ubiquitous robotic companion) is our conceptual vision of ubiquitous robot which provides us with the services we need, anytime and anywhere. To realize the vision of URC, it is one of the most important requirements for the robotic systems to support seamlessness of services even though service environments changes. Specifically, it is needed for robotic systems to be interoperable with the sensors and devices in current service environments automatically, rather than statically preprogrammed for them. In this paper, we present SURF (service-oriented ubiquitous robotic framework) which enables automated integration of networked robots into ubiquitous computing environments based on the semantic Web services technology. In SURF approach, we implement interfaces for robots, networked sensors and devices as Web services. And we describe knowledge about them in OWL-S the semantic Web services ontology and register the knowledge to KB, so that a SURF agent can automatically discover required knowledge and compose a feasible service plan for the service environments. And then the agent controls robots, sensors and devices through SOAP the Web services execution protocol according to the service plan.

A robotic service framework supporting automated integration of ubiquitous sensors and devices

In recent years, due to the emergence of ubiquitous computing technology, a new class of networked robots called ubiquitous robots has been introduced. The Ubiquitous Robotic Companion (URC) is our conceptual vision of ubiquitous service robots that provides its user with the services the user needs, anytime and anywhere, in the ubiquitous computing environments. There are requirements to be met for the vision of URC. One of the essential requirements is that the robotic systems must support ubiquity of services. This means that a robot service must always be available even though there are changes in the service environment. More specifically, a robotic system needs to be interoperable with sensors and devices in its current service environments automatically, rather than statically pre-programmed for its environment. In this paper, the design and implementation of an infrastructure for URC called Ubiquitous Robotic Service Framework (URSF) is presented. URSF enables automated integration of networked robots in a ubiquitous computing environment by the use of Semantic Web Services Technologies.

MoA: OWL ontology merging and alignment tool for the semantic web

Ontology merging and alignment is one of the effective methods for ontology sharing and reuse on the Semantic Web. A number of ontology merging and alignment tools have been developed, many of those tools depend mainly on concept (dis)similarity measure derived from linguistic cues. We present in this paper a linguistic information based approach to ontology merging and alignment. Our approach is based on two observations: majority of concept names used in ontology are composed of multiple-word combinations, and ontologies designed independently are, in most cases, organized in very different hierarchical structure even though they describe overlapping domains. These observations led us to a merging and alignment algorithm that utilizes both the local and global meaning of a concept. We devised our proposed algorithm in MoA, an OWL DL ontology merging and alignment tool. We tested MoA on 3 ontology pairs, and human experts followed 93% of the MoAs suggestions.

Experiments on Building Ubiquitous Robotic Space for Mobile Robot Using Wireless Sensor Networks

Ubiquitous robot is a network robot which can communicate with any devices at any time in the surrounding physical space to obtain more diverse view points of the environment. We call ubiquitous computing environment, which the network devices provide the environmental information to the robot in, ubiquitous robotic space (URS). In this paper, a sensor network platform is proposed to build the ubiquitous robotic space and provide lots of types of environment information such as indoor environment condition, fire detection, and intrusion detection. Differently from the existing sensor network applications that assume the static sensor nodes and the base station, the proposed sensor network platform is designed to support seamless environmental monitoring on the mobile robot system. We then applied our sensor network platform toe the real robot system and evaluated the functionalities of the proposed system.

OWLer: a semantic web ontology inference engine

The semantic Web is an emerging technology regarded as the next generation Web paradigm. In the semantic Web, each resource and service is annotated with semantic markups which are defined in Web ontology language OWL. Therefore research and implementation of practical OWL inference system is very important work for realization of the semantic Web. In this paper, we present design and implementation of OWLer which is an extensible semantic Web ontology inference engine. OWLer engages axiomatization where the semantics of OWL vocabularies is described in a logic programming language, such as FOL, and theorem proving technique is used to infer from OWL ontology. And we also present the test result of OWLer engine with W3C standard entailment test cases

Automated teleoperation of web-based devices using semantic web services

In this paper, we present SWATS which supports task-oriented automated teleoperation of Web-based devices. The proposed system employs Semantic Web Services technology and AI planning technique to achieve operational automaticity.