A proposed ontology to support the hardware design of building inspection robot systems |
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Affiliation: | 1. State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China;2. School of Mechanical and Electrical Engineering, Central South University, Changsha 410083, China;3. National NC System Engineering Research Center, Huazhong University of Science and Technology, Wuhan 430074, China;1. State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China;2. State Key Laboratory of Material Processing and Die & Mould Technology, Huazhong University of Science and Technology, Wuhan 430074, China;1. Institute of Intelligence Science and Engineering, Shenzhen Polytechnic, Shenzhen 518055, China;2. School of Information and Control Engineering, Liaoning Petrochemical University, Fushun 113001, China;3. College of Electrical, Energy and Power Engineering, Yangzhou University, Yangzhou 225009, China |
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Abstract: | Due to the growing number of architecturally complex buildings built in recent decades, mobile building inspection robot systems are required to operate in increasingly complex environments. This leads to higher requirements for their hardware design. The existing literature on the design of building inspection robots has implicitly mentioned the impact of building environments and building defects on defining robot hardware design requirements. However, the explicit representation of what information is required to define a specific hardware requirement is stimissing. To fill this gap, this paper presents an ontology that provides an overview of the building and inspection domain objects that affect the determination of robot hardware design requirements (RoboDesign). It also explores the relationship between specific robot hardware requirements and features of complex buildings and their defects. The RoboDesign ontology integrates two main domain ontology models including a Robot System Model and a Building and Defect Model. A content evaluation and an automated consistency checking are conducted for the internal evaluation of the ontology. Additionally, the proposed ontology is implemented in two wall-climbing inspection robot design cases to check if the investigation of the robot’s application environment is comprehensive. The validation results also demonstrate that the use of the proposed ontological model allows to efficiently retrieve information required to determine a particular hardware requirement. |
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Keywords: | Building Inspection Robot Robot Hardware Design Robot Hardware Requirement Ontology Knowledge Representation |
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