1 (課程博士(英文))別紙4Date of sublnission (month day, year)

07 09th 2021

Deparlmcn{ ofComputer science

SludcntlD Number

D165305

and EnglneeTing
PP11Can【's namcUn 入liura
SupeYvlsors

asald Aono

Liliana viⅡamar G6mez

Abstract (Doctor)
Title ofThesis01]t010gy・based Kno、vledge Management system with vel'baHntel'action and concept
Learning for Home S引'vice Robots

Approx. 80o words
Service robotics, which refers to assistant robots at home, has been 牙ainin牙 importance.
Researchers are creatin客 robots to accompany and fulfi11the needs of older adults or disabledhumans. Developin今 a sefvice robot that can support people at home is stiH an open chaⅡenge
that many researchers are tar曾etin宮Service robots need ski11S and characteristics to be involved in the social environment of

humans. severalfactors, such as the interaction with humans, the response and speed, andthe usefulness for theil tasks, must be considefed for service robots.八10reover, they need toIearn and adapt to their particular house settin牙S, make decisions, and behave accordingly.
The ultimate goal of this research is to create fU11y autonomous robots that help people
at home in diverse ways. Therefore, it is necessary to provide the robot with different ski11S

depending on the scenario facin套, such as vision,1an宮Ua牙e communication, or learnin晉. whilea service robot can be equipped with the 宮eneral knowled宮e and ski11S to cope W北h the most
Common situations at home,北 also mi牙ht encounter new scenarios, and hence, it must know
What to do in such a case. For a seTvice robot,1earnin牙 a new concept by itself is a crucialfactor.

The contributions of this research are focused on the development of a system forService robots performin曾 taS1ζS at home and are divided into two main components. The firstComponent is buildin曾 an ont010宮y'based lくnowledge Mana套ement system W北h verbal
Interaction for command lnterpretation and Execution by Home service Robots.

We develop a system for service robots that combines ont010套ical knowledge reasoning
and human‑robot interaction to interpret natura1 1an宮Uage commands and successfU11y
P田'form household chores, such as findin晉 and deHvering objects. we use an ont010gy torepresent the general information of the components in the environment and theirrelationships; moreover, the system Hnks natura11an又Uage commands, the ont010牙y object
representation, and the real objects'information. The robot disambiguates uncertain requests

through spoken interaction with the human before completing a task.1t utilizes infofmation
丘'om the ont010宮ical knowledge to create more precise questions.

The second component is realizing ont010容y 'Learning of New concepts combining
Textural Knowledge, visual Analysis, and user lnteraction for service Robots Applications
On this part, the robot is provided with another essential feature to adapt inside a homeenvironment.＼入7e focus on the learning of new ont010牙ical concepts oriented to service robot

applications. we propose combinin今 textural knowledge, visual analysis, and user interaction
to determine the correct placement of the new concept in the ont010宮y structure. we aim to
make the robot able to extend its ont010套ical knowled宮e as needed. Moreover, the systeln'S
functionality and performance are demonstrated by experiments in a simulated environment.