Figure 1.
Overview of the system architecture with its three abstraction layers and their primary modules PEMKRE, HICEM, and LOCEM
Figure 2.
Visualization of an ontology-encoded abstract process with tasks, control nodes, and SPARQL-based semantic conditions for a plasterboard taping process. Parameters and semantic effects of tasks are not shown
Figure 3.
Internal architecture of the HICEM and the data flow between its components
Figure 4.
Behavior tree of the TAPE_LINE high-level action
Figure 5.
Invocation and monitoring of atomic actions by the LOCEM for one the higher-level actions sent by the HICEM
Figure 6.
RB-KAIROS+ robot and its customized equipment for a plasterboard wall preparation use case during the VOJEXT project
Figure 7.
Simplified excerpts from the workflow and dataflow within and between the layers for the taping process. The spraying and sanding processes are performed analogously
Figure 8.
Chronological sequence of actions related to demonstration runs of the robot performing the plasterboard wall preparation processes