An Ontology Framework for Human-Robot Interoperability in Dynamic Construction Environments

Criterion	Expert Attributes
Stakeholder Involvement	Direct involvement in highly representative scenaria, ensuring firsthand experience and knowledge.
Expertise Relevance	Expertise in critical research areas, human-robot interaction and BIM integration.
Organizational Diversity	Role-specific insights, such as technical, operational, and academic.
Interdisciplinary Focus	Capacity to discuss the integration of different technological and methodological approaches.

Coding

Following the iterative process proposed by Fernández-López, Gómez-Pérez, and Juristo Juzgado (1997)
Open coding $\to$ Triangulation $\to$ Axial coding $\to$ Triangulation $\to$ Selective coding

Implementation

Overview

An More Detailed Example

Evaluation

Logical consistency
- Pellet, FACT++, and ELK.
Literature triangulation
Pending (subsequent pilot phases)
- Functional evaluation

Using the Ontology

Query for non-addressed errors

SELECT ?error ?sensor 
WHERE {
  ?error a :Error .
  ?error :detectedBySensor ?sensor .

  FILTER NOT EXISTS { ?error :handledByHuman ?agent }
}

user@space$

Query for non-addressed errors

SELECT ?error ?sensor 
WHERE {
  ?error a :Error .
  ?error :detectedBySensor ?sensor .

  FILTER NOT EXISTS { ?error :handledByHuman ?agent }
}

user@space$

# Query Results:
# |   | error   | sensor   |
# | 1 | :Error2 | :Sensor1 |

user@space$

Query for agents’ safety

SELECT ?agent ?procedure
WHERE {
  ?agent a/rdfs:subClassOf* :Actor .
  ?procedure a :IfcProcedure .
  ?procedure :ensuresSafetyFor ?agent .
}

user@space$

Query for agents’ safety

SELECT ?agent ?procedure
WHERE {
  ?agent a/rdfs:subClassOf* :Actor .
  ?procedure a :IfcProcedure .
  ?procedure :ensuresSafetyFor ?agent .
}

user@space$

# Query Results:
# |   | agent   | procedure      |
# | 1 | :Human2 | :IfcProcedure2 |
# | 2 | :Robot1 | :IfcProcedure2 |
# | 3 | :Human1 | :IfcProcedure1 |

user@space$

Query for task and robot pairs

SELECT ?task ?robot ?confidenceLevel ?autonomyLevel
WHERE {
  ?task a :IfcTask .
  ?task :assignedToActor ?robot .
  ?robot a :RobotActor .
  ?robot :hasConfidence ?confidenceLevel .
  ?robot :hasAutonomy ?autonomyLevel .

  FILTER ((?confidenceLevel = :ConfidenceConfident &&
           ?autonomyLevel = :AutonomyFully) ||
          (?confidenceLevel = :ConfidenceSemiConfident &&
     ?autonomyLevel = :AutonomyPartially) ||
    (?confidenceLevel = :ConfidenceNotConfident &&
     ?autonomyLevel = :AutonomyNone))
}

user@space$

Query for task and robot pairs

SELECT ?task ?robot ?confidenceLevel ?autonomyLevel
WHERE {
  ?task a :IfcTask .
  ?task :assignedToActor ?robot .
  ?robot a :RobotActor .
  ?robot :hasConfidence ?confidenceLevel .
  ?robot :hasAutonomy ?autonomyLevel .

  FILTER ((?confidenceLevel = :ConfidenceConfident &&
           ?autonomyLevel = :AutonomyFully) ||
          (?confidenceLevel = :ConfidenceSemiConfident &&
     ?autonomyLevel = :AutonomyPartially) ||
    (?confidenceLevel = :ConfidenceNotConfident &&
     ?autonomyLevel = :AutonomyNone))
}

user@space$

# Query Results:
# |   | task   | robot   | confidenceLevel          | autonomyLevel      |
# | 1 | :Task1 | :Robot1 | :ConfidenceConfident     | :AutonomyFully     |
# | 2 | :Task2 | :Robot2 | :ConfidenceSemiConfident | :AutonomyPartially |

user@space$

An Ontology Framework for Human-Robot Interoperability in Dynamic Construction Environments

Design an implementation of a novel CSWS ontology for HRI in construction environments.
Domain knowledge from a KUKA case study.
Incorporates Sliding Work Sharing as a design objective.
Emphasizes human-centric I5.0 concepts.
Bridges the gap between HRI and construction specializing ontologies.

References

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