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<article xmlns:xlink="http://www.w3.org/1999/xlink">
  <front>
    <journal-meta />
    <article-meta>
      <title-group>
        <article-title>Relativizing Concept Descriptions to Comparison Classes in ALC</article-title>
      </title-group>
      <contrib-group>
        <contrib contrib-type="author">
          <string-name>Szymon Klarman</string-name>
          <email>sklarman@few.vu.nl</email>
          <xref ref-type="aff" rid="aff0">0</xref>
        </contrib>
        <contrib contrib-type="author">
          <string-name>Stefan Schlobach</string-name>
          <email>schlobac@few.vu.nl</email>
          <xref ref-type="aff" rid="aff0">0</xref>
        </contrib>
        <aff id="aff0">
          <label>0</label>
          <institution>Department of Arti cial Intelligence, Vrije Universiteit Amsterdam</institution>
          ,
          <addr-line>De Boelelaan 1081a, 1081 HV Amsterdam</addr-line>
          ,
          <country country="NL">The Netherlands</country>
        </aff>
      </contrib-group>
      <abstract>
        <p>Context-sensitivity has been for long a subject of study in linguistics, logic and computer science. Recently the problem of representing and reasoning with contextual knowledge has been brought up in the research on the Semantic Web. In this paper we introduce a conservative extension to the Description Logic ALC which supports representation of ontologies containing relative terms, such as `big' or `tall', whose meaning depends on the reference to a particular comparison class (context). We specify the syntax and semantics of the language and present a sound and complete tableau decision procedure.</p>
      </abstract>
    </article-meta>
  </front>
  <body>
    <sec id="sec-1">
      <title>Introduction</title>
      <p>
        incoherencies simply by recognizing that certain terms, call them relative1, such
as The Biggest, acquire de nite meanings only when put in the context of
other denoting expressions | in this case, expressions denoting speci c
collections of objects, so-called comparison classes, with respect to which the relative
terms are used [
        <xref ref-type="bibr" rid="ref2 ref3 ref4">2,3,4</xref>
        ].
      </p>
      <p>
        The problem of context-sensitivity has been for a long time a subject of
studies in linguistics, logic and even computer science. Recently, it has been
also encountered in the research on the Semantic Web [
        <xref ref-type="bibr" rid="ref5 ref6">5,6</xref>
        ], where the need
for representing and reasoning with imperfect information becomes ever more
pressing. Relativity of meaning appears as one of common types of such
imperfection. Alas, Description Logics (DLs), which form the foundation of the Web
Ontology Language [
        <xref ref-type="bibr" rid="ref7">7</xref>
        ], the basic knowledge representation formalism on the
Semantic Web, were originally developed for modeling crisp, static and
unambiguous knowledge, and as such, are incapable of handling the task seamlessly.
Consequently, it has become highly desirable to look for more expressive, ideally
backward compatible languages to meet the new application requirements [
        <xref ref-type="bibr" rid="ref8 ref9">8,9</xref>
        ].
      </p>
      <p>In this paper we de ne a simple, conservative extension to the DL ALC,
which is intended for representation of context-sensitive terminologies, where by
contexts we understand speci cally comparison classes with respect to which
the relative terms acquire precise meanings. In the following section we formally
de ne the language, next we present a tableau calculus for deciding satis ability,
and nally, in the last two sections, we shortly position our work in a broader
perspective and conclude the presentation.
2</p>
    </sec>
    <sec id="sec-2">
      <title>Representation Language</title>
      <p>The language CALC , introduced in this section, extends the basic ALC logic
with two modal-like operators, enabling construction of contextualized concept
descriptions, which internalize the use of comparison classes in the language.
The classes are denoted by means of arbitrary concept descriptions. Formally,
the novel feature of CALC is founded on an extra modal dimension incorporated
into DL interpretations, whose possible states are represented by subsets of the
object domain.</p>
      <p>In the following subsections we rst shortly recap the basic notions concerning
DLs and then give a detailed account of the syntax and semantics of CALC .
2.1</p>
      <sec id="sec-2-1">
        <title>Description Logic ALC</title>
        <p>
          A DL language is speci ed by a signature = (NI ; NC ; NR), where NI is a set
of individual names, NC a set of concept names, and NR a set of role names,
and a set of logical operators enabling construction of complex formulas [
          <xref ref-type="bibr" rid="ref10">10</xref>
          ].
1 Philosophy of language quali es such terms generically as syncategorematic. More
precisely, a term is syncategorematic if it does not form a denoting expression by
itself. See e.g. [
          <xref ref-type="bibr" rid="ref1">1</xref>
          ].
        </p>
        <p>The DL ALC sanctions concept descriptions de ned by means of concept names
(atomic concepts), special symbols &gt;; ? and the following concept constructors:</p>
        <p>C; D; r ! :C j C u D j C t D j 9r:C j 8r:C</p>
        <p>A knowledge base K = (T ; A) in ALC, consists of the terminological and the
assertional component. A (general) TBox T contains concept inclusion axioms
C v D (abbreviated to C D whenever C v D and D v C) for arbitrary
concept descriptions C and D. An ABox A contains axioms of possibly two forms:
concept assertions C(a) and role assertions r(a; b), where a, b are individual
names, C a concept, and r a role.</p>
        <p>The semantics is de ned in terms of an interpretation I = ( I ; I ), where
I is a non-empty domain of individuals, and I is an interpretation function,
which speci es the meaning of the vocabulary by mapping every a 2 NI to an
element of I , every C 2 NC to a subset of I and every r 2 NR to a subset
of I I . The function is inductively extended over complex terms in a usual
way, according to the xed semantics of the logical operators. An interpretation
I satis es an axiom in either of the following cases:
{ I j= C v D i
{ I j= C(a) i
{ I j= r(a; b) i</p>
        <p>CI DI
aI 2 CI</p>
        <p>haI ; bI i 2 rI</p>
        <p>Finally, I is said to be a model of a DL knowledge base, i.e. it makes the
knowledge base true, if and only if it satis es all its axioms.
2.2</p>
      </sec>
      <sec id="sec-2-2">
        <title>Description Logic CALC</title>
        <p>The syntax of ALC is extended in CALC with two additional concept constructors,
based on modal-like operators h i and [ ]:</p>
        <p>C; D ! hDiC j [D]C</p>
        <p>A contextualized concept description consists of a relative concept C and
a speci ed comparison class D, which co-determines the meaning of C.
Intuitively, hDiC denotes all objects which are C as considered in the context of all
objects which are D, whereas [D]C denotes all objects which are either not D
or otherwise (like in the former case) are C as considered in the context of all
objects which are D. For instance, hCityiThe Biggest describes the
individuals that are the biggest as considered in the context of (all and only) cities,
while [European City]:The Biggest describes all those individuals that are
either not European cities, or if they are, they are not the biggest ones in that
context. Other than that CALC does not di er from ALC on the syntactic level.</p>
        <p>More interesting changes appear in the semantics of the language, which is
essentially augmented with an additional modal dimension, with possible states
| comparison classes | corresponding to subsets of the (global) domain of
interpretation, and the accessibility relation corresponding to the -ordering of
those subsets. In each state the vocabulary (of the relevant part) of the language
is interpreted independently from the others. De nition 1 introduces the notion
of context structure which characterizes an interpretation of a CALC language.
De nition 1. A context structure for a set of languages fLwgw2W is a tuple
C = hW; C; ; fIwgw2W i, where:
{ W }( ) is a set of comparison classes, with 2 W and ; 62 W ,
{ C W W is an accessibility relation, s.t. w C v i v w
{ is a global domain of interpretation,
{ Iw = ( Iw ; Iw ) is an interpretation of Lw with respect to w:</p>
        <p>Iw = w is a non-empty domain of individuals,</p>
        <p>Iw is an interpretation function de ned as usual.</p>
        <p>Instead of speaking of one language L, in many cases it is more convenient
to refer to particular sublanguages fLwgw2W , which are based on the parts
of the vocabulary of L deemed meaningful in particular contexts.2 We assume
that individual names are interpreted rigidly, i.e. for every a 2 NI and every
w; v 2 W , such that a belongs to the vocabulary of Lw and Lv, the context
structure has to satisfy aIw = aIv . It is easy to observe that C imposes a partial
order (re exive, asymmetric and transitive) on the set of contexts, with the root
w^ = 2 W as its least element. Thus context structures correspond to rooted,
partially ordered Kripke frames.</p>
        <p>Given a context structure C = hW; C; ; fIwgw2W i we can now properly
de ne the semantics of contextualized concept descriptions.</p>
        <p>(hDiC)Iw = fx 2
([D]C)Iw = fx 2</p>
        <p>Iw j 9w C v;
Iw j 8w C v;</p>
        <p>Iv = DIw : x 2 CIv g
Iv = DIw : x 2</p>
        <p>Iv implies x 2 CIv g</p>
        <p>As usual the operators can be de ned in terms of their dual counterparts,
i.e. [D]C = :hDi:C and hDiC = :[D]:C. Furthermore, another less common
relationship between the operators can also be derived, namely: [D]C = :D t
hDiC and hDiC = D u [D]C.</p>
        <p>As expected, the notion of satisfaction in CALC is relativized to context
structure and a particular comparison class in that structure. A context structure C
is a model of a knowledge base if and only if all the axioms in that knowledge
base are satis ed at the root of C.</p>
        <p>{ C; w^ j= C v D i
{ C; w^ j= C(a) i
{ C; w^ j= r(a; b) i</p>
        <p>CIw^ DIw^
aIw^ 2 CIw^</p>
        <p>haIw^ ; bIw^ i 2 rIw^</p>
        <p>Note, that we interpret all axioms only at the roots of models. It follows that
both syntactically and semantically CALC is a conservative extension of ALC,
i.e. every satis able ALC knowledge base is a satis able CALC knowledge base.
2 For instance, the name Moscow is not meaningful when the focus is only on the Asian
cities. Similarly, some concepts can be applicable only with respect to particular
types of objects, e.g. natural numbers can be neither Hot nor :Hot.</p>
      </sec>
    </sec>
    <sec id="sec-3">
      <title>Tableau Calculus</title>
      <p>
        The tableau calculus for CALC , presented in this section, is an extension of the
well-known procedures for ALC [
        <xref ref-type="bibr" rid="ref11 ref12">11,12</xref>
        ]. The proof of satis ability of a formula
# is a process of nding a complete and clash-free constraint system for # (a set
of logical constraints) by means of tableau rules. If such a system exists then #
is satis able. The constraint systems are constructed by iterative application of
inference rules to the constraints in the system.
      </p>
      <p>Apart from terms representing domain objects I = NI [ fx; y; : : :g, the
calculus involves a set of context labels C = f ; ; : : :g used for marking comparison
classes, where each label is a nite sequence of concept descriptions separated
with a vertical line: = C1 j C2 j : : : j Cn. The empty label 2 C refers to the
root of the context structure. The labels can be rendered into CALC by means of
the function p : C 7! L, such that for every = C1 j : : : j Cn 1 j Cn 2 C :
p( ) = hC1i : : : hCn 1iCn ;
p( ) = &gt;
)u if : (C u D)(x) 2 S</p>
      <p>then set S0 := S [ f : C(x); : D(x)g
)t if : (C t D)(x) 2 S</p>
      <p>then set S0 := S [ f : C(x)g or S0 := S [ f : D(x)g
)9 if : (9r:C)(x) 2 S and x is not blocked in
then set S0 := S [ f : r(x; y); : C(y)g, for a new
-minimal y
)8 if : (8r:C)(x) 2 S and : r(x; y) 2 S</p>
      <p>then set S0 := S [ f : C(y)g
) if : (&gt; C) 2 S and : (x) 2 S</p>
      <p>then set S0 := S [ f : C(x)g
)6 if : (C 6 D) 2 S
then set S0 := S [ f : C(x); :D(x)g
or S0 := S [ f : :C(x); D(x)g, for a a new
)B if fC j
for a xed
: C(y) 2 Sg
and y</p>
      <p>fC j : C(x) 2 Sg
x then mark y as blocked in</p>
      <p>by x</p>
      <p>A tableau proof for # = Vi #i, where every #i is a DL axiom, is initiated
by setting a constraint system containing : #i for all i. At every stage of the
procedure, the system contains only elements of the form: (1) : C(x); (2)
: r(x; y); (3) : &gt; C; (4) : C 6 D; for some 2 C , x; y 2 I and
concept/role descriptions C; D; r. Note that TBox axioms can be rewritten in a
usual manner into a single constraint : &gt; d
assume that all concepts descriptions are given inCvtDhe2TN:egCattioDn.NWoremmalorFeoorvmer,
and that all occurrences of [D]C are replaced with the equisatis able :DthDiC.</p>
      <p>The standard ALC inference rules are restated in Table 1. As usual we assume
a well-ordering of the individual variables used in a proof for a proper
application of the blocking mechanism. We always require that applications of the
)9 rule are deferred until no other rules apply. We say that a system contains
a clash if for some , x and A it contains both : A(x) and : :A(x). Besides
)h i if : hCiD(x) 2 S</p>
      <p>then set S0 := S [ f j C : D(x)g
) if j C : (x) 2 S</p>
      <p>then set S0 := S [ f : C(x)g
)6= if : C(x) 2 S and : :C(x) 2 S
then set S0 := S [ f : p( ) 6 p( )g
the ALC component, the inference engine comprises three additional rules,
presented in Table 2. The meaning of the )h i rule is straightforward: it introduces
a relative concept assertion within the scope of a newly generated context label,
this way marking a transition of the proof into a di erent comparison class. The
two remaining rules require some more comment. The ) rule accounts for the
A ewnMnnnnnnnhAinnnnnnnnn QQQQQIQQQQQ</p>
      <p>hBi
IA =AI
S Y ? e{hAik{{{{q{9 B fCCCCCIB =BI=</p>
      <p>}{{{{ hBiCCCCC!
B j A IBjA =AIB B j B
hBt?QiQQQQQQ(</p>
      <p>B8 t ?
IBjB =BIB</p>
      <p>IBt? =(Bt?)I</p>
      <p>Fig. 2. A tree of context labels and the underlying context structure.
fact that the accessibility relation between comparison classes has to follow their
-ordering. Hence all individual terms introduced in a proof within the scope
of a particular context label have to be simultaneously represented within the
scope of its predecessor, and moreover they have to occur there as instances of
the concept which denotes the successor comparison class. The ) rule ensures
that exactly these conditions are satis ed. The )6= rule resolves synonymity
between certain context labels. Observe, that the labeling generated by )h i is
tree-shaped (see Figure 2), while the C ordering of the comparison classes does
not have to be such in principle. In fact, di erent context labels (or rather their
p-translations) might denote exactly the same comparison classes (e.g. consider
operators hBi and hB t ?i in the picture). This is not a problem as long as
there is no potential clash between the assertions occurring within the scope of
di erent labels. In case there is such a possibility, the rule ensures that the labels
indeed represent non-equivalent comparison classes.</p>
      <p>
        It can be shown that the basic results of soundness, termination and
completeness hold for the calculus. Below we prove termination and sketch the proofs
of the remaining theorems. For their full versions we refer to the accompanying
technical report [
        <xref ref-type="bibr" rid="ref13">13</xref>
        ].
      </p>
      <p>Lemma 1 (Soundness). Let S be a complete clash-free constraint system for
#. Then # is satis able.</p>
      <p>Sketch of proof. As in the typical proofs of soundness for tableau procedures for
DLs, we use S as `a guide' to show that there exists a model for #. To this end
we rst de ne a structure C = hW; C; ; fIwgw2W i as follows:
{ w 2 W for every occurring in S, where</p>
      <p>w = Iw comprises all terms x such that : (x) 2 S
{ C for every and = j C occurring in S
{ x 2 AIw for every , x and A such that : A(x) 2 S
{ aIw = a for every and a 2 obj (#) such that : (a) 2 S
{ rIw (x; y) for every , x, y and r such that : r(x; y) 2 S (or
in case x is blocked in by z)
: r(z; y) 2 S
Next, we show by induction on the structure of # that if w^ is the root of C then
C; w^ j= #. Finally, we acknowledge that C, as de ned above, might not necessarily
be a context structure in the sense of De nition 1. Nevertheless, we show that
there always exists a way of transforming C into a proper context structure C0,
such that if # is satis ed in C then it is also satis ed in C0. This proves the
existence of a model for # and thus concludes the proof of soundness.
Lemma 2 (Termination). There is no in nite sequence of inference steps via
the tableau rules.</p>
      <p>Proof. Consider a formula # in NNF with all occurrences of [D]C transformed
into :D t hDiC. Clearly, there is only a nite number of h i operators used in #,
and hence, there can be only a nite number of unique context labels occurring
in the tableau proof for # due to application of the )h i rule. Given that, there
can be also only nite number of inference steps via the )6= rule, as well as via
the ) rule for any individual variable. Note, that other than occurrences of h i
# does not contain any symbols from beyond the ALC, hence the only problem
for termination is posed by application of the )9 rule (clearly, upon suspending
it there can be always only a nite number of possible inference steps). But given
a nite number of context labels it has to be the case that at some point the )B
rule applies, and all -minimal individual variables occurring in S are blocked.
Hence the tableau procedure for # terminates in a nite number of steps.
Lemma 3 (Completeness). If # is satis able then there exists a complete
clash-free constraint system for #.</p>
      <p>Sketch of proof. We assume # is satis able, with C = hW; C; ; fIwgw2W i being
a context structure such that C; w^ j= #. In a usual manner, we use C as an oracle
in determining the construction of a complete clash-free constraint system for
#. Essentially, we argue by induction on the possible applications of the tableau
rules, that given # is satis able, it is impossible to derive a clash in the process
of construction of a constraint system: if a constraint system for # is clash-free
before the application of a rule, it has to remain such also after that. Since,
by Lemma 2 the number of inference steps applicable to S has to be nite,
therefore at some point one has to obtain a complete constraint system, which
is clash-free.
4</p>
    </sec>
    <sec id="sec-4">
      <title>Relative Terminologies |</title>
    </sec>
    <sec id="sec-5">
      <title>Example</title>
      <p>For a small example of a CALC knowledge base we will formalize part of Figure 1
depicted in the introduction. Consider knowledge base K = (T ; A), where TBox
and ABox are de ned as follows:</p>
      <p>T = f (1) City European City t Asian City;
(2) European City u Asian City v ?;
(3) hCityiThe Biggest hAsian CityiThe Biggest g
A = f (4) hCityiThe Biggest(Tokyo);</p>
      <p>(5) hEuropean CityiThe Biggest(Moscow) g</p>
      <p>The TBox states that every city is either a European or an Asian city, and
that, in fact, the two classes are disjoint. The third axiom ensures that the
concept The Biggest has the same instances in the context of all cities, and
in the context of Asian cities. The axioms in the ABox assert that Tokyo is
the biggest among all cities, whereas Moscow is the biggest in the context of
European cities. Given this setup it can be shown, for instance, that the following
entailments hold:</p>
      <p>K j= hCity u :European CityiThe Biggest(Tokyo)</p>
      <p>K j= hCityi:The Biggest(Moscow)</p>
      <p>Due to limited space we will not present full tableau proofs and resort only
to informal arguments. The validity of the rst entailment rests on the fact that
according to the TBox Asian cities are exactly those that are non-European cities
(from 1). The comparison class denoted by Asian City is therefore equivalent
to that described by City u :European City, and so the two descriptions
represent in fact the same state in the context structure. Consequently, since
Tokyo is an instance of The Biggest in the former context (from 4 and 3), it
has to be such also in the latter.</p>
      <p>To see that the second entailment follows as well, assume on the contrary that
:hCityi:The Biggest(Moscow), i.e. :City t hCityiThe Biggest(Moscow).
Clearly Moscow is a city (from 5 and 1), hence it would have to be an instance
of The Biggest in the context of all cities, and consequently, in the context of
Asian cities (from 3). But this would mean that Moscow is an Asian city, which
is not true (from 2 and 5).</p>
      <p>
        Note that, as intended, there is no contradiction between the fact that Moscow
is an instance of The Biggest in the context of European cities and an instance
of :The Biggest in the context of all cities. Finally we can de ne a context
structure C = hW; C; ; fIwgw2W i which models K. We pose:
The logic discussed in the previous sections can be seen as a special case of
multidimensional DLs [
        <xref ref-type="bibr" rid="ref14 ref15">14,15</xref>
        ], and more generally, as an instance of multi-dimensional
modal logics [
        <xref ref-type="bibr" rid="ref12 ref16">16,12</xref>
        ], in which next to the standard object dimension we introduce
a second one, referring to the subsets of the object domain as the possible states
in the model. The scope of multi-dimensionality involved here, however, is very
limited, thus discharging a number of computational problems, which otherwise
are inherent to richer multi-dimensional formalisms. Notably, we were able to
de ne a terminating decision procedure without resorting to certain advanced
techniques such as based on quasimodels [
        <xref ref-type="bibr" rid="ref12 ref17">17,12</xref>
        ].
      </p>
      <p>
        In general, the problem of representing and reasoning with contextual
knowledge, in particular in relation to DL-like knowledge bases, has been quite broadly
studied in the literature, for instance in [
        <xref ref-type="bibr" rid="ref18 ref19 ref20 ref21 ref6">6,18,19,20,21</xref>
        ]. However, the vast
majority of authors considers the notion of context on a very abstract level, merely
as a speci c (limited) view on the application domain, without explicating the
formal character of that speci city. In particular there has been no attempt of
formalizing contexts as comparison classes in DL. On the other hand, the general
semantic intuition of introducing an additional modal dimension, in an explicit
(e.g. by context indexing [
        <xref ref-type="bibr" rid="ref19">19</xref>
        ]) or an implicit (e.g. by reference to subsets of
possible models of knowledge base [
        <xref ref-type="bibr" rid="ref20">20</xref>
        ]) manner, remains the same as in our
approach.
      </p>
      <p>
        Finally, from a di erent perspective, CALC shares also some signi cant
similarities with dynamic epistemic logics, and in particular, with the public
announcement logic (PAL) [
        <xref ref-type="bibr" rid="ref22">22</xref>
        ], which studies the dynamics of information ow
in epistemic models. Interestingly, the two special operators used in CALC can
be to some extent interpreted as public announcements (in the sense used in
PAL), whose role is to reduce the description (epistemic) model to only those
individuals (epistemic states) that satisfy given description (formula). Unlike
in PAL, however, we allow for much deeper revisions of the models, involving
also the interpretation function, e.g. it is possible that after contextualizing the
representation by hCi there are no individuals that are C, simply because C
gets essentially reinterpreted in the accessed context. For that reason it is also
not possible to reduce reasoning in CALC to the PAL case, for which there exist
tableau proof procedures, e.g. [
        <xref ref-type="bibr" rid="ref23">23</xref>
        ].
6
      </p>
    </sec>
    <sec id="sec-6">
      <title>Conclusions and Future Work</title>
      <p>Providing a sound formal account of context-sensitivity and related phenomena,
which abound in the real-life knowledge representation and reasoning scenarios,
is a longstanding challenge in Arti cial Intelligence, and quite recently, also in
the research on the Semantic Web. In this paper we have addressed a very
speci c form of that problem, namely, representation of relative terms, whose
meaning depends on the selection of comparison classes, to which the terms are
applied. For such tasks we have proposed language CALC , a simple extension
of the DL ALC, which by utilizing an additional modal dimension introduced
into standard ALC models allows for a roughly independent interpretation of
the vocabulary of the language in the context of di erent comparison classes.
This way the resulting reasoning regime complies much closer to the intuitions
associated with the use of relative terms in the natural language, e.g. it does not
allow for inferring contradiction based on existence of complementary statements
about an object, as long as the statements apply to di erent comparison classes.</p>
      <p>
        Admittedly, the scope of the proposal is very limited and in no way can
it pretend to have solved the problem of context-sensitivity in the DL-based
representations of knowledge. Nevertheless, we have showed that by a careful
use of supplementary modal dimensions one can obtain extra expressive power,
which on the one hand is su cient to handle certain interesting representation
problems, while on the other does not require deep revisions on the syntactic,
semantic nor, most importantly, the proof-theoretic side of the basic DL paradigm.
Our belief is that in a similar manner, aspects of multi-dimensionality can o er
convenient formal means for addressing other phenomena related to imperfect
knowledge, such as uncertainty or vagueness, which currently are approached on
the grounds of formalisms involving a thorough reconstruction of the semantics
and the proof theory of DLs, e.g. probabilistic, possibilistic or fuzzy DLs [
        <xref ref-type="bibr" rid="ref8">8</xref>
        ].
      </p>
      <p>In the future work on CALC we want to focus on de ning suitable mechanisms
of support for both relative and absolute (rigid) terms, preferably by
distinguishing between local (contextualized) and global (applicable to all contexts)
terminological constraints, so that some parts of vocabulary can be rendered
context-independent. In a broader perspective, we intend to investigate ways of
extending the approach to other types of context-sensitivity as well as to other
aspects of imperfect knowledge representations.</p>
      <p>Acknowledgements The rst author is funded by a Hewlett-Packard Labs
Innovation Research Program.</p>
    </sec>
  </body>
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