## 4 Adaptation
### Use Cases
#### 4.1.2. KIDE4 BinPicking: Bin-Picking Robot  
The second use case the dialogue system was adapted for is a bin-picking robot. This robot, which can be seen in Figure 4, is able to pick different printer cartridges from a table, identify their brand and color and classify them between two different containers according to the criteria established by the operator (that is, whether the cartridges of a specific color or brand should be placed in a container or another). It is also possible to interact with the system through gestures to convey the destination container or cartridge or to make the robot stop or continue. In this sense, gestures can be complementary to voice commands. As in the previous case, the target language for interaction is Spanish. For this use case, the key elements to extract are **actions** and **targets**--which may correspond to **brands**, **colours** and **containers**--as it can be observed in Example (2). Furthermore, the key element extraction is also adapted to detect **pointers** that may imply the presence of a gesture referred to a container or cartridge, such as \"here\" or \"this\", as Examples (3) and (4) show. 1. **Pon\({}_{action}\)**el \(\textbf{azul}_{target-colour}\)** en el contenedor \(\textbf{1}_{target-container}\)
2. **Put\({}_{action}\)** the \(\textbf{blue}_{target-colour}\)** one in container \(\textbf{1}_{target-container}\)
3. **Pon\({}_{action}\)****est\({}_{pointer-cartridge}\)** en el contenedor \(\textbf{1}_{target-container}\)
4. **Put\({}_{action}\)****this\({}_{pointer-cartridge}\)** one in container \(\textbf{1}_{target-container}\)
5. **Pon\({}_{action}\)****el \(\textbf{azul}_{target-colour}\)****aqui\({}_{pointer-container}\)** \begin{table}
\begin{tabular}{l c c c c c c} \hline \hline  & \multicolumn{2}{c}{**Dialogue**} & \multicolumn{2}{c}{**Domain**} & \multicolumn{2}{c}{**All**} \\ \hline  & **Total** & **Reused** & **Total** & **Reused** & **Total** & **Reused** \\ \hline KIDE4 Guide & 81 & 73 (90.1\%) & 43 & 43 (100\%) & 124 & 116 (93.5\%) \\ KIDE4 BinPicking & 73 & 73 (100\%) & 40 & 36 (90\%) & 113 & 109 (96.5\%) \\ KIDE4 CMMS & 73 & 73 (100\%) & 35 & 35 (100\%) & 108 & 108 (100\%) \\ KIDE4 Assistant & 73 & 73 (100\%) & 171 & 169 (98.8\%) & 244 & 242 (99.2\%) \\ \hline \hline \end{tabular}
\end{table} 
Table 1: Classes for each KIDE4I adaptation: total and reused from other resources (TODO included). \begin{table}
\begin{tabular}{l c c c c c c} \hline \hline  & \multicolumn{2}{c}{**Dialogue**} & \multicolumn{2}{c}{**Domain**} & \multicolumn{2}{c}{**All**} \\ \hline  & **Total** & **Auto** & **Total** & **Auto** & **Total** & **Auto** \\ \hline KIDE4 Guide & 110 & 75 (68.2\%) & 604 & 449 (74.3\%) & 714 & 524 (73.4\%) \\ KIDE4 BinPicking & 75 & 75 (100\%) & 278 & 201 (72.3\%) & 353 & 276 (78.2\%) \\ KIDE4 CMMS & 75 & 75 (100\%) & 150 & 99 (66\%) & 225 & 174 (77.3\%) \\ KIDE4 Assistant & 75 & 75 (100\%) & 546 & 478 (87.5\%) & 621 & 548 (88.2\%) \\ \hline \hline \end{tabular}
\end{table} 
Table 2: Instances for each KIDE4I adaptation: total and obtained automatically. \(\textbf{Put}_{action}\) the \(\textbf{blue}_{target-colour}\) one \(\textbf{here}_{pointer-container}\)  
An initial analysis of the data generated for the guide use case has showed that the definitions for its key element extraction component could be reused, so only small modifications on definitions to include pointers and rule modelling were necessary to create the FOMA rules for key element extraction. For the interpreter, only minimal adaptations were required. This reuse of definitions has drastically reduced the time to obtain Foma rules which, added to the generality of the interpreter, has allowed to obtain a functional key element extraction component in a reasonable amount of time, reducing around a 90% of the work required.