1、 IEEE Standard Ontologies for Robotics and Automation Sponsored by the Standing Committee for Standards Activities IEEE 3 Park Avenue New York, NY 10016-5997 USA IEEE Robotics and Automation Society IEEE Std 1872-2015 IEEE Std 1872-2015 IEEE Standard Ontologies for Robotics and Automation Sponsor St
2、anding Committee for Standards Activities of the IEEE Robotics and Automation Society Approved 16 February 2015 IEEE-SA Standards Board Abstract: A core ontology that specifies the main, most general concepts, relations, and axioms of robotics and automation (R fitness for a particular purpose; non-
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31、m the IEEE Standards Association. Participants At the time this IEEE standard was completed, the Ontologies for Robotics and Automation (ORA) Working Group had the following membership: Craig Schlenoff, Chair Edson Prestes, Vice Chair Paulo Jorge Sequeira Gonalves, Secretary Mara Abel Yacine Amirat
32、Stephen Balakirsky Marcos Ennes Barreto Joel Luis Carbonera Abdelghani Chibani Sandro Rama Fiorini Sbastien Grard Vitor Augusto Machado Jorge Maki Habib Tams Haidegger Sampath Kumar Howard Li Angela Locoro Raj Madhavan Veera Ragavan Signe Redfield Vitor Fortes Rey The following members of the indivi
33、dual balloting committee voted on this standard. Balloters may have voted for approval, disapproval, or abstention. Francesco Amigoni Stephen Balakirsky Marcos Ennes Barreto Joel Luis Carbonera Abdelghani Chibani Keith Chow Sandro Rama Fiorini Paulo Goncalves Randall Groves Tams Haidegger Werner Hoe
34、lzl Noriyuki Ikeuchi Vitor Augusto Machado Jorge Piotr Karocki Thomas Kramer Howard Li Raj Madhavan Charles Ngethe Signe Redfield Robert Robinson Veera Ragavan Craig Schlenoff Edson Silva, Jr. Walter Struppler Marcy Stutzman David Tepen Daidi Zhong When the IEEE-SA Standards Board approved this stan
35、dard on 16 February 2015, it had the following membership: John Kulick, Chair Jon Walter Rosdahl, Vice Chair Richard H. Hulett, Past Chair Konstantinos Karachalios, Secretary Peter Balma Farooq Bari Ted Burse Clint Chaplin Stephen Dukes Jean-Philippe Faure Gary Hoffman Michael Janezic Jeffrey Katz J
36、oseph L. Koepfinger* David J. Law Hung Ling Oleg Logvinov T. W. Olsen Glenn Parsons Ron Petersen Adrian Stephens Peter Sutherland Yatin Trivedi Phil Winston Don Wright Yu Yuan *Member Emeritus Copyright 2015 IEEE. All rights reserved. vi Also included are the following nonvoting IEEE-SA Standards Bo
37、ard liaisons: Richard DeBlasio, DOE Representative Michael Janezic, NIST Representative Patrick Gibbons IEEE-SA Content Production and Management Michael Kipness IEEE-SA Technical Program Operations Copyright 2015 IEEE. All rights reserved. vii Introduction This introduction is not part of IEEE Std
38、1872-2015, IEEE Standard Ontologies for Robotics and Automation. Seamless and unambiguous communication between people demands a common, well-defined vocabulary. Otherwise, misinterpretations can happen and no information oreven worseincorrect information can be exchanged between the participants, o
39、ften with negative consequences. This could happen when two people who do not speak the same language try to communicate. The same applies to human-robot and robot-robot communication, where an intermediate standard language with clear and well-defined terms is a sine qua non condition for common un
40、derstanding. The growing complexity of behaviors that robots are expected to present naturally entails the use of increasingly complex knowledge as well as the need for multi-robot and human-robot collaboration. In this context, the need for a standard and well-defined model for capturing this knowl
41、edge is becoming evident. The existence of such a standard knowledge model, precisely defining the concepts of the robotics domain, will help ensure common understanding among various stakeholders involved in the lifecycle of robotic systems, enabling efficient and reliable data integration and info
42、rmation exchange among them. Ontology plays a fundamental role in this context. It formally specifies the key concepts, properties, relationships, and axioms of a given domain. Unlike taxonomies, which provide only a set of vocabulary and a single type of relationship between terms, an ontology prov
43、ides a richer set of relationships, constraints, and rules. In general, ontologies make the relevant knowledge about a domain explicit in a computer-interpretable format, allowing software to reason over that knowledge to infer new information. Furthermore, ontologies are a great tool for diminishin
44、g the ambiguity in knowledge transfer among groups of humans, robots, and other artificial systems that share the same conceptualization. In this sense, the Ontologies for Robotics and Automation Working Group (ORA WG) is actively working with industry, academia, and government organizations to deve
45、lop a set of ontologies and an associated modeling methodology to be used as a standard in robotics and automation (R remote-controlled robot; semi-autonomous robot; teleoperated robot. collective robotic system: A robotic system having a robot group as part. See also: robot group; robotic system. C
46、ontrast: single robotic system. coordinate system: An abstract entity (Abstract in SUMO) used for specifying location and orientation that is defined in relation to a single reference object (Object in SUMO). Coordinate systems are related through hierarchies (i.e., trees). For instance, the local c
47、oordinate system of a robot is referenced by the robot itself. The reference object is not necessarily the origin of the coordinate system. A coordinate system defines at least one dimension in which points get their coordinate values. Points in a given coordinate system can be mapped to other coord
48、inate systems by means of a transformation. See also: global coordinate system; local coordinate system; transformation. design: A proposition (Proposition in SUMO) that abstracts the structure of one or more artifacts (Artifact in SUMO). A design is used to abstract information in contexts such as
49、industrial robotics. A design is different from a blueprint; a blueprint represents a particular design. fully autonomous robot: A role for a robot performing a given task in which the robot solves the task without human intervention while adapting to operational and environmental conditions. Contrast: automated robot; remote-controlled robot; semi-autonomous robot, teleoperated robot. global coordinate system: An arbitrary coordinate system chosen by an agent as the global reference frame that constitutes the global coordinate system for that agent. In a hierarchy of local c
