Robots operating in an open world will encounter novel objects with unknown physical properties, such as mass, friction, or size. These robots will need to sense these properties through interaction prior to performing downstream tasks with the objects. We propose a method that autonomously learns tactile exploration policies by developing a generative world model that is leveraged to 1) estimate the object's physical parameters using a differentiable Bayesian filtering algorithm and 2) develop an exploration policy using an information-gathering model predictive controller. We evaluate our method on three simulated tasks where the goal is to estimate a desired object property (mass, height or toppling height) through physical interaction. We find that our method is able to discover policies that efficiently gather information about the desired property in an intuitive manner. Finally, we validate our method on a real robot system for the height estimation task, where our method is able to successfully learn and execute an information-gathering policy from scratch.

We present the Frame-based ontology Design Outlet (FrODO), a novel method and tool for drafting ontologies from competency questions automatically. Competency questions are expressed as natural language and are a common solution for representing requirements in a number of agile ontology engineering methodologies, such as the eXtreme Design (XD) or SAMOD. FrODO builds on top of FRED. In fact, it leverages the frame semantics for drawing domain-relevant boundaries around the RDF produced by FRED from a competency question, thus drafting domain ontologies. We carried out a user-based study for assessing FrODO in supporting engineers for ontology design tasks. The study shows that FrODO is effective in this and the resulting ontology drafts are qualitative.

When I started learning about the semantic web, it was quite foreign territory and the practitioners all seemed to be talking over my head, so when I began to figure it out, I thought it would be valuable to write an introduction for those interested but a little put off. Well it's a whole bunch of things stitched together with many tools and different technologies and standards. Let's start with the problem that the semantic web is trying to solve. Microsoft explained it very well with its Bing commercials on search overload. Not that Bing solves it, but at least Microsoft is good at explaining the problem.

We present a machine-readable movement writing for sleight-of-hand moves with cards -- a "Labanotation of card magic." This scheme of movement writing contains 440 categories of motion, and appears to taxonomize all card sleights that have appeared in over 1500 publications. The movement writing is axiomatized in $\mathcal{SROIQ}$(D) Description Logic, and collected formally as an Ontology of Card Sleights, a computational ontology that extends the Basic Formal Ontology and the Information Artifact Ontology. The Ontology of Card Sleights is implemented in OWL DL, a Description Logic fragment of the Web Ontology Language. While ontologies have historically been used to classify at a less granular level, the algorithmic nature of card tricks allows us to transcribe a performer's actions step by step. We conclude by discussing design criteria we have used to ensure the ontology can be accessed and modified with a simple click-and-drag interface. This may allow database searches and performance transcriptions by users with card magic knowledge, but no ontology background.