1. 16 April 2011 Alan, Edison, etc, Saturday.

2. Knowledge, Planning and Robotics 1.Knowledge 2.Types of knowledge 3.Representation of knowledge 4.Planning 5.Knowledge for planning 6.Planning in robotics 7.Logic in robot planning and behavior

3. Knowledge Representation 1.Representational adequacy 1.declarative, procedural 2.Inferential adequacy 1.manipulate knowledge 2.incorporate new knowledge

4. Types of Knowledge 1.Simple facts 2.Complex organized knowledge 3.procedure - how to knowledge 4.meta-knowledge

5. Semantic Data Models High level model of model – Model of conceptual model Not tied to implementation concerns Focus on – expressiveness – simplicity – concise – formality

6. Semantic Nets Nodes represent Objects Links or Arcs represent Relationships – “instance of” - set membership – “is a” - inheritance – “ has a” - attribute descriptors – “part of” - aggregation

7. Has a Part-of Instance of Is a

8. Semantic Nets Advantages Disadvantages Flexible easy to understand support inheritance “natural” way to represent knowledge Hard to deal with exceptions procedural knowledge difficult to represent no standards for defining nodes or relationships

9. Classes, Objects, Attributes, Values - Object Orientation Classes describe common properties of objects Objects may be physical or conceptual Attributes are characteristics of objects Values are specific measures of Attributes for specific instances

10. Classes Specify common properties of instances support hierarchical classification superclass / subclass – subclass may be more refined version – each subclass inherits operations and attributes of its ancestors – subclass may have its own operations and attributes

11. Objects or Instances Refers to things identified in model of conceptual model – may be tangible (equipment, part, orders, squashed bananas) – may be mental constructs

12. Class vs instances instances

13. Inheritance Inheritance is sharing attributes and behaviors within a class of objects Person customer Employee Sales Person Manager Sale Manager

14. Encapsulation Attributes and behaviors (methods) integrated with the classes and objects Attributes: size, location, appearance

15. Polymorphism Each object responds in its unique way to messages When changed method When needed method

16. Object-Orientation Tool for managing complexity 1.emphasis on object structure 2.specify “what is” 3.mapped directly from semantic net

17. Rule Representations Rules are called productions Rule have two parts – condition part, premise -> IF – action part,conclusion-> THEN The action can: – add a fact to the knowledge base, – start a procedure – or display a screen

18. Rules represent knowledge Apply O-A-V framework (object-attribute- value) IF air vehicle is a plane AND plane maximum altitude is 40000 AND plane manufacturer is Boeing THEN ASK Flight Display 15

19. Representing knowledge Abstracting with rules – translate quantitative to qualitative – define technical terms – support generalized reasoning make rules for user – easy to understand – help user follow decision logic

20. Rule for understanding Quantitative to Qualitative – qualitative language is easier to understand – interpretation of numerical data – make user feel comfortable with decision logic If temperature > 200 and humidity is 85% then machine is slightly overheated

21. Definitional Rules Help communicate and train users Help user understand vocabulary Promotes common agreement on terms for expert, user and knowledge engineer IF you want more than one source file of classes THEN use package keyword

22. Rules support Generalizations Allow reasoning with from specialization to generalizations Support classification of objects at higher levels Support refinements

23. If pump operation temperature is over 300 AND water mixture pH > 5.2 THEN replace pump bearing and oil Surface Knowledge 1.Hard to understand 2.Difficult to learn reasoning strategies 3.hard to update and expand knowledge base

24. Hierarchical Classification Feature abstractions Solution abstractions Features Recommendations generalize Heuristic Match refine Abstraction draws out important aspects

25. Deep knowledge Hot Pump Low Temp Poor Oil Viscosity Lubrication defect causes Is a water mixture pH > 5.2temperature is over 300

26. Reasoning at higher level Lubrication defect requires Maintenance Fix heat damage Replace bearing and oil Type of Remedy

27. Rules Advantages Disadvantages Modular style - easy to add, update and delete natural for many problem domains uncertain knowledge may be represented May be difficult to understand may demonstrate unpredictable behavior extra effort required to representing structural knowledge

28. Predicate Logic Programming by description describe the problem’s facts built in inference engine combines and uses facts and rules to make inferences

29. Prolog Programming Declaring facts about objects and their relationships -> likes (john,mary) Defining rules about objects and relationships Asking Questions about objects sister-of(X,Y) :- female(X), parents(X,M,F), parent(Y,M,F)

30. Frames Similar to objects helps organize entities packages operations (demons) easy to modify extensible through inheritance

31. Mammal Frame

32. Frame - natural representation Can accommodate a taxonomy of knowledge contains defaults expectations represent procedural and declarative knowledge

33. Facets - properties of slots