PRINTEPS: An Integrated Intelligent Application Development Platform based on Stream Reasoning and ROS
Although AI and service robot applications have become very popular in many domains recently, many of them are specific applications and it is still difficult to develop integrated intelligent applications such as a robot teahouse and teaching assistant robots. To develop such integrated intelligent applications, we need integrated intelligent application platforms that have AI integration and agile process facilities. From the above background, we are currently developing PRactical INTElligent aPplicationS (PRINTEPS), which is a platform for developing integrated intelligent applications by combining only five types of modules, namely knowledge-based reasoning, spoken dialogue, image sensing, motion management, and machine learning. This paper proposes a workflow editor in PRINETPS based on a service-oriented architecture and a Robot Operating System that enables real-time parallel processing for multiple robots and sensors by integrating the five types of modules. The editor also supports not only developers but also domain experts in updating workflows frequently. This paper also proposes a novel method to integrate signals acquired through image sensing with knowledge (ontologies and business rules) using C-SPARQL and Semantic Web Rule Language. To evaluate PRINTEPS, we developed a robot teahouse application including customer reception and guidance to table services using a humanoid robot with PRINTEPS. Through this case study, we demonstrated that the behaviors of the robot can be modified by changing the workflow, the ontology, and the rules.
KeywordsOntology ROS Stream reasoning PRINTEPS
We are grateful to Prof. Hideo Saito, Dr. Yuko Ozasa, and Mr. Yusuke Nakayama for implementing the image-processing modules, to Mr. Yu Sugawara and Mr. Daiki Marukawa for implementing the knowledge modules, to Prof. Yukiko Nakano and Dr. Ryota Nishimura for implementing the spoken dialogue system and modules, and to Prof. Masaki Takahashi, Dr. Anaynori Yorozu, and Mr. Jun Kurosu for implementing the motion management modules. We are also grateful to North Grid corporation for implementing the workflow editor. This work was supported by JST CREST Grant Number JPMJCR14E3, Japan.
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