For a robot with redundant sensors and actuators distributed throughout its body, it is difficult to construct a controller or a neural network using all of them due to computational cost and complexity. Therefore, it is effective to extract functionally related sensors and actuators, group them, and construct a controller or a network for each of these groups. In this study, the functional and spatial connections among sensors and actuators are embedded into a graph structure and a method for automatic grouping is developed. Taking a musculoskeletal humanoid with a large number of redundant muscles as an example, this method automatically divides all the muscles into regions such as the forearm, upper arm, scapula, neck, etc., which has been done by humans based on a geometric model. The functional relationship among the muscles and the spatial relationship of the neural connections are calculated without a geometric model.

Semantically rich descriptions of manufacturing machines, offered in a machine-interpretable code, can provide interesting benefits in Industry 4.0 scenarios. However, the lack of that type of descriptions is evident. In this paper we present the development effort made to build an ontology, called ExtruOnt, for describing a type of manufacturing machine, more precisely, a type that performs an extrusion process (extruder). Although the scope of the ontology is restricted to a concrete domain, it could be used as a model for the development of other ontologies for describing manufacturing machines in Industry 4.0 scenarios. The terms of the ExtruOnt ontology provide different types of information related with an extruder, which are reflected in distinct modules that constitute the ontology. Thus, it contains classes and properties for expressing descriptions about components of an extruder, spatial connections, features, and 3D representations of those components, and finally the sensors used to capture indicators about the performance of this type of machine. The ontology development process has been carried out in close collaboration with domain experts.