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Thanks for the information, Moritz.

I know swi-prolog and semweb, but only because of my limited knowledge about prolog, I did not find the relevant information. I will have a look again.

Yes, we are tentatively planning to use KnowRob, because of the ontology built with KnowRob. The only hesitation is that I cannot have a thorough understanding of it. It would be nice to have the access to the more up-to-date version, if possible. Many thanks.