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Experiences inDeveloping An Intelligent Ground Vehicle (IGV) Ontology In Protégé
Craig Schlenoff, NISTRandy Washington, DCS Corporation
Tony Barbera, NIST
July 8, 2004
Agenda• Background:
– What is an Intelligent Ground Vehicle (IGV)?– NIST 4D/RCS Methodology and Architecture
• Ontology Development:– 4D/RCS to Ontology Mapping– Interchange Formats and Upper Ontologies– IGV Military Equipment– IGV Behaviors– IGV Conditions
• Current Status• Issues and Lessons Learned
4D/RCS Mapping to IGV Ontology Commander &
Vehicle Agent Instances
ServiceInstances
EnvironmentInstances
ProcessModel
Instances
ConditionInstances
DOT Driving Manualsand
ARMY Field Manuals
+
Domain Experts
Task Decomposition Tree(Route Reconnaissance Example)
Hierarchical Organization ofAgent Control Modules
BEHAVIORGENERATION
WORLD MODELKNOWLEDGE
SENSORYPROCESSING
SituationsWorld StatesObjects & Attributes
ColorCameras LADARRadar Stereo FLIR Nav
Segmented Groupings
Features and AttributesObjects and Maps
Object Groupings andClassifications
Cattails
ConductRoadMarchToAnAssemblyArea(AA)
ConductRouteRecon
PrepareForRoadMarch
FollowPlatoonToAssemblyArea
SecureAssemblyArea
OrganizeAssemblyArea
ConductMainRouteRecon
DeployToStartPoint
ConductLeftFlankRouteRecon
Locate&SecureObstacleBypass
ConductObstacleRecon
ConductRightFlankRouteRecon
MoveIntoMarchFormation
PrepareDetailedMovementPlans
MoveToControlPoint
ConductDominateTerrainRecon
MoveToCover/ConcealedPosition
FordWaterObstacle
SecureArea
OverwatchSection
PerformFordRecon
LocateWaterBypass
MoveToControlPoint
AssessFordTerrain
MoveToPosition
ScanPath
CrossFord
ScanAreaForEnemy
MoveToWater
ShiftTo4WhLo
MoveToOppositeBank
ShiftTo4WhHi
DryBrakes
SENSORYPROCESSING
KNOWLEDGEDATABASE
BEHAVIORGENERATION
WORLDMODEL
VALUEJUDGMENT
(Executing)
(ReconToRoute)(Executing)SENSORY
INPUT
(Platoon “B” Section Agent Control
Module)
Select“ConductWaterObsRecon”
Plan State-Table
(ConductRightFlankRecon)
ScoutPlatoon
1st
LightCavalryTroop
CommandGroup(FSO)
QuarteringParty
ScoutPlatoon
3rd
ConductRoadMarchToAssemblyArea
ConductRouteReconSecureAssemblyAreaConductAreaRecon
OrganizeAssemblyArea
FollowPlatoonToAssemblyAreaPrepareForRoadMarchMoveIntoFormationExecuteRoadMarchExecuteHaltOccupyAssemblyArea
PrepareForRoadMarchMoveIntoFormationExecuteRoadMarchExecuteHaltOccupyAssemblyArea
C Section
HMMWV#4 PSG
HMMWV#10
HMMWV#9
Comms
Primitive/Trajectory
Surveillanc(RSTA)
GazeControl
Lethality(Gunner)
Mobility
WeaponControl
TargetingSensors
Pan/TiltControl
FLIR, LaserRadar,Camera
CrossFordMoveToPosition
ScanPath
MoveToWaterShiftTo4WheelLoMoveToOppositeBankShiftTo4WheelHiDryBrakes
AssessFordTerrain ScanAreaForEnemy
A Section
SquadHMMWV #7
SquadHMMWV #3
SquadHMMWV #2
DeployToStartPointConductLeftFlankReconLocate&SecureObstacleBypassMoveToControlPoint
LocateWaterBypassPerformFordReconFordWaterObstacleSecureAreaOverwatchSection
B Section
HMMWV#8
HMMWV#6
HMMWV#5
DeployToStartPointConductRightFlankReconConductDominantTerrainReconConductAmbushSiteReconMoveToControlPoint
SendReport
NormalRouteReconSituation ConductRightFlankRecon
ConductWaterObstacleRecon WaterObstacleDetected
AssessMinefieldRecon MinefieldDetected
DefileDetected ConductDefileRecon
LateralRouteDetected ConductLateralRouteRecon
Selection Conditions Selected Plan
PLAN SELECTION TABLE
PLAN STATE-TABLEInput Conditions Output Commands
S1 sq5_NoBypassOnRouteSide
S2 SetupReport&NewControlMeasures sq5_ReconToFarFlank sq6_ConductTravelingOverwatch sq8_VisuallyClearObstacle-FarSide
NewPlan S1 SetupControlMeasures sq5_ReconToRouteFlank sq6_ConductTravelingOverwatch sq8_VisuallyClearObstacle-FarSide
ConductWaterObstacleRecon
S2 sq5_NoBypassTowardBoundary
S0 SetupReport&NewControlMeasures sq5_MoveTacticallyToControlPoint sq6_ConductTravelingOverwatch sq8_MoveTacticallyToControlPoint
S1 sq5_PossibleFordDetected S4 SetupReport&NewControlMeasures sq5_ConductFordRecon sq6_ConductNearSideOverwatch sq8_VisuallyClearObstacle-FarSide
S1 sq5_LateralBypassFound
S7 SetupReport&ControlMeasures sq5_ConductObstacleFarSideRecon sq6_ConductTravelingOverwatch sq8_VisuallyClearToRoute
S4 sq5_FordNotPassable
S1 SetupControlMeasures sq5_ReconToRouteFlank sq6_ConductTravelingOverwatch sq8_VisuallyClearObstacle-FarSide
S4 sq5_FordLooksPassable S5 SetupReport&NewControlMeasures sq5_MoveToCover/ConcealPosition sq6_ConductNearSideOverwatch sq8_VisuallyClearObstacle-FarSide
ConductRightFlankRecon
BEHAVIORGENERATION
STATUS
STATUS
NEXTSUBGOAL
.COMMANDEDTASK (GOAL)
DriveOnTwoLaneRd
PassVehInFront
PassVehInFront
DriveOnTwoLaneRd
NegotiateLaneConstrict
PassVehInFront . STATE-TABLES
WaterDepthToSixFeet
WaterCoveredLand
MajorGroundDeformation
TractionSlip
LegalToPassMarshDetectedSomeWaterVisible
Mosses,Evergreens,andShrubs
StagnantWater
IndeterminantGroundLevel
SignificantTractionSlip
OrganicMaterialOnWaterSurface
BogDetected
ErodedEarthEmbankments
FlowingWater
NonVegetatedWaterInMiddleNarrowWidth,IndeterminantLength
StreamDetected
ErodedEarthEmbankments
FlowingWater
NonVegetatedWaterInMiddleSignificantWidth,IndeterminantLength
RiverDetected
WaterSheenOnGroundSurface
LittleToNoVegetationSignificantTractionSlip
RuttedWithStandingWater
MudDetected
SignificantGroundDeformation
ExtensiveGrassyVegetation
LongLeafGrasses - very flat, long green leaves-purple/rose/yellow flowers.
Reeds - tall, woody, thin, round, hollow jointed (tan-to-green) stem plants, long narrow green blade leaves, large feathery panicles (elongated clusters of tan/white/purple flowers along main stem).
Sedges - triangular tan/green stem plants, papyrus, narrow green to tan grass- like leaves, spikelets of inconspicuous tan-to-yellow-to-white flowers.
Bulrushes - tall tan-to-green stems, with dark brown cylindrical seed heads that explode into white down, long flat green sword shaped leaves, cattails.
Water Lilies - very large floating green leaves with white flowers.
SaturatedGround
Six Feetof Water
PlantHeight
6-18"
6-48"
1-6'
3-9'
Float
LargeSurfaceAreaOfStillWater
LargeAreaWithoutGrasses,Trees,ShrubsOrganicMaterialMayBeOnWaterSurface Pond/LakeDetectedBoundedBySwamp,Marsh
MostlyTrees,SomeBushes
SlowMovingWaterCoveredLandSignificantTractionSlip
ExtensiveWaterSurfaceVisibleSwampDetected
MajorGroundDeformation
WaterObstacleDetected
15 cm
2.4 cm .9 to 2.7m
3 cm
DeployToStartPointConductMainRouteReconEvaluate&ClassifyObstructionMoveToControlPoint
Interchange Formats andUpper Ontologies
• OWL– Neutral (W3C) interchange format– XML base enables use XSLT transforms– Provides access to emerging semantic web technologies
• OWL-S– Rich semantics for describing complex processes (without
being too complicated)– Well suited to agent architectures
• Pieces of SUMO (Suggested Upper Merged Ontology)– Class structure and properties provide a good starting point for
developing domain specific ontology– Native KIF format too complex for target community and not
necessary for requirements capture• Namespaces
– Used quite a bit to make ontology more manageable
IGV Conceptual ModelService
TroopCommander
Agent
ServicePlatoonLeaderAgent
ServiceSectionLeadAgent
ServiceVehicle
CommanderAgent
ServiceMobilitySystemAgent
ServicePropulsionSubsystem
Agent
ServicePlatoonLeaderAgent
ServicePlatoonLeaderAgent
ServiceSectionLeadAgent
ServiceSectionLeadAgent
ServiceVehicle
CommanderAgent
ServiceVehicle
CommanderAgent
ServiceSurvivability
SystemAgent
ServiceSurveillance
SystemAgent
ServiceLocalizationSubsystem
AgentService
AuxiliarySubsystem
Agent
EngineComponent
TransmissionComponent
External Service Request by a process
ServiceLethalitySystemAgent
ServiceAutomotiveSubsystem
Agent
ServiceSupportSystemAgent
ServiceNavigationSubsystem
Agent
Track-DriveComponent
BrakeComponent
Tactical BehaviorsPlan State-Table Selection
ScoutPlatoon
3rd
B Section
HMMWV#5
HMMWV#8
HMMWV#6
A Section
Squad/VehHMMWV #7
Squad/VehHMMWV #3
Squad/VehHMMWV #2
C Section
HMMWV#10
HMMWV#9
HMMWV#4 PSG
ConductRightFlankReconConductRouteReconToBridgeConductLeftFlankRecon
Recon toRightFlank
Conduct Traveling Overwatch
Visually ClearObs Far-Side
Visually Clear Route
Conduct Traveling Overwatch
Conduct Recon ToCP
Conduct Traveling Overwatch
Conduct Route Recon To CP
Support Route Recon
NoBypassOnLeft
ConductRouteReconBridgeDetected
ConductWaterBridgeRecon
ConductWaterObsRecon
WaterObsDetectedBridge
Detected
SENSORYINPUT
GENERIC 4D/RCSAGENT
CONTROL MODULE
SENSORYPROCESSING
KNOWLEDGEDATABASE
BEHAVIORGENERATION
WORLDMODEL
VALUEJUDGMENT
STATUS
STATUS COMMANDEDTASK (GOAL)
COMMANDEDSUBGOALS
BEHAVIORGENERATION
STATUS
STATUS
NEXTSUBGOAL
.COMMANDEDTASK (GOAL)
DriveOnTwoLaneRd
PassVehInFront
PassVehInFront
DriveOnTwoLaneRd
NegotiateLaneConstrict
PassVehInFront . STATE-TABLES
Gear ChangeRequired
Commanded VelocityPositive But Gear Is In
Reverse
Commanded VelocityNegative But Gear Is
In Forward
(or)
Commanded VelocityPositive(AND)
Gears In Reverse
Commanded Velocity Negative(AND)
Gears In Forward
New StartupAndOperateCommand S1 proc_StartEngine
S2 S1 EngineStarted
S2 GearChangeRequired S3 proc_ChangeGear
S3 GearChanged S2
S2 NewCommandedVelocity S4 proc_AdjustEngineThrottle
S2 S4 EngineThrottleAdjusted
S2 ShutDownRequested S5 proc_SetGearToPark
S5 GearInPark S6 ShutDownEngine
StartUpAndOperate
Input Conditions Output Commands
S6 EngineShutDown S0 Done
New StartupAndOperateCommand S1 proc_StartEngine
S2 S1 EngineStarted
S2 GearChangeRequired S3 proc_ChangeGear
S3 GearChanged S2
S2 NewCommandedVelocity S4 proc_AdjustEngineThrottle
S2 S4 EngineThrottleAdjusted
S2 ShutDownRequested S5 proc_SetGearToPark
S5 GearInPark S6 ShutDownEngine
StartUpAndOperate
Input Conditions Output Commands
S6 EngineShutDown S0 Done
Conditions
ScoutPlatoon
3rd
B Section
HMMWV#5
HMMWV#8
HMMWV#6
A Section
Squad/VehHMMWV #7
Squad/VehHMMWV #3
Squad/VehHMMWV #2
C Section
HMMWV#10
HMMWV#9
HMMWV#4 PSG
ConductRightFlankReconConductRouteReconToBridgeConductLeftFlankRecon
Recon toRightFlank
Conduct Traveling Overwatch
Visually ClearObs Far-Side
Visually Clear Route
Conduct Traveling Overwatch
Conduct Recon ToCP
Conduct Traveling Overwatch
Conduct Route Recon To CP
Support Route Recon
NoBypassOnLeft
ConductRouteReconBridgeDetected
ConductWaterBridgeRecon
ConductWaterObsRecon
WaterObsDetectedBridge
Detected
SENSORYINPUT
GENERIC 4D/RCSAGENT
CONTROL MODULE
SENSORYPROCESSING
KNOWLEDGEDATABASE
BEHAVIORGENERATION
WORLDMODEL
VALUEJUDGMENT
STATUS
STATUS COMMANDEDTASK (GOAL)
COMMANDEDSUBGOALS
BEHAVIORGENERATION
STATUS
STATUS
NEXTSUBGOAL
.COMMANDEDTASK (GOAL)
DriveOnTwoLaneRd
PassVehInFront
PassVehInFront
DriveOnTwoLaneRd
NegotiateLaneConstrict
PassVehInFront . STATE-TABLES
New StartupAndOperateCommand S1 proc_StartEngine
S2 S1 EngineStarted
S2 GearChangeRequired S3 proc_ChangeGear
S3 GearChanged S2
S2 NewCommandedVelocity S4 proc_AdjustEngineThrottle
S2 S4 EngineThrottleAdjusted
S2 ShutDownRequested S5 proc_SetGearToPark
S5 GearInPark S6 ShutDownEngine
StartUpAndOperate
Input Conditions Output Commands
S6 EngineShutDown S0 Done
Gear ChangeRequired
Commanded VelocityPositive But Gear Is In
Reverse
Commanded VelocityNegative But Gear Is
In Forward
(or)
Commanded VelocityPositive(AND)
Gears In Reverse
Commanded Velocity Negative(AND)
Gears In Forward
Gear ChangeRequired
Commanded VelocityPositive But Gear Is In
Reverse
Commanded VelocityNegative But Gear Is
In Forward
(or)
Commanded VelocityPositive(AND)
Gears In Reverse
Commanded Velocity Negative(AND)
Gears In Forward
Issues and Lessons Learned• Developing an ontology is a slow iterative process
– It difficult to evaluate a model construct without inputting detail. – It is very difficult to change the model once you have entered
any level of detail.
• Difficult to develop consistent rules for when to use a Classes vs. an Instance in a large domain– Is knowledge in class restrictions or instances?
• Difficult to present large models to domain experts• Experiences with OWL-S shows that it has applications
outside of the semantic web.– Would like to get involved in its development