# Ontology-Based Knowledge Representation in Robotic Systems: A Survey Oriented toward Applications
## 3 Analysis of Knowledge Representation Systems
### Architecture
The Therm_Hygrometric data acquisition module uses web services for acquiring the mean and standard deviation of humidity and temperature values, while illuminance and sound pressure are obtained from the user. The SmartRules [74] architecture for the semantic IoRT system contains two software layers. The lower abstract layer is a semantic facade that provides an interface for handling \begin{table}
\begin{tabular}{p{142.3 pt} p{142.3 pt} p{142.3 pt}} \hline \hline
**KRS** & **Major Elements of Architecture** \\ \hline
**KnowRob** & Three components & Interface shell, logic-based language, hybrid reasoning shell \\ \hline
**OROSU** & Multiple ontologies & Robotic and medical ontologies \\ \hline
**CARESSES** & Three modules & Cultural knowledge base (CKB), culturally sensitive planning and execution, culture-aware human-robot interaction \\ \hline
**PMK** & Four major components & Perception module, PM framework, TAMP planning, execution module \\ \hline
**SARbot** & Three-level control & Low-, middle-, and high-level controls \\ \hline
**IEQ** & Seven components & Knowledge base, dialog module, speech recognition module, light_Sound, and Therm_Hygrometricdata acquisition modules, normative reasoner module, suggestion module \\ \hline
**SmartRules** & Two software layers & Lower abstract layer, top reasoning layer \\ \hline
**ARBI** & Three components & Knowledge manager, task planner, context reasoner \\ \hline
**Worker-cobot** & Three steps & Holonic Control Architecture (HCA), knowledge exchange and reasoning step \\ \hline
**APRS** & Three models & Kitting workstation, action model, robot capability model \\ \hline \hline \end{tabular}
\end{table} 
Table 6: KRSs: architectural components. the heterogeneity of low-level components and abstracts access to MOs by transforming heterogeneous sensor data. The top reasoning layer, the reactive reasoning core (RRC), processes the abstraction layer information, performs reasoning, and generates actions, which are converted into commands for the lower layer, completing the perceive-plan-act cycle. Its model is written in the database, while its function is divided among three sub-modules known as the ontology (explained in Section 3.5), consistency checking, and reasoning module (discussed in Section 3.6). The consistency checking module monitors the stability of the model considering constraints given in the ontology. The ARBI [75] architecture uses an ontology-based knowledge model, and it is composed of a task planner, which is based on the JAM architecture [96], a context reasoner, and a knowledge manager. The knowledge manager processes the agents' queries through inference and matches name spaces for storing recognition and dialog data in the knowledge model. It employs a dialog management system and a perception and action engine. It uses the dialog manager to query the knowledge manager about the topic of the user's dialog for generating the final statement of the dialog by applying a situational knowledge response. The worker-cobot [76] architecture presents agile manufacturing using three main steps. At the first step, HCA is used to ensure the autonomy of the cooperative manufacturing system. A common language for representing the shared environment of workers and the cobot is also specified at this level. In the second step, knowledge exchange in the worker's and robot's understandable form is performed. The third step is to reason about the production demands and the cooperative work cell's status for obtaining agile manufacturing. The architecture of APRS kitting [77] for the domain of kit building consists of three models: The first model represents a kitting workstation with the objects (e.g., parts) and data (e.g., poses). The action model represents the structural components for the automatic generation of the Planning Domain Definition Language (PDDL) domain [97]. The robot capability model enables the robot to perform the specific action on one or more objects.