I found a nice introduction to the use of RDF in Prolog (SWI-Prolog). It contains short primers for both RDF and Prolog, so it should be accessible to anyone with a minimal programming background:
Interestingly the author, Bijan Parsia, is one of the authors of Pellet, a d Java based OWL reasoner available in Bioclipse.
Furthermore, the above article is continued with a more in-depth tutorial on working with RDF in Prolog, which I'm going to go through as this is exactly what I'm about to do now: