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ontologyV06.owl
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Anders Nilsson authoredAnders Nilsson authored
ontologyV06.owl 278.47 KiB
<?xml version="1.0"?>
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>Very precise kinematic, but small working area. This is used for special applications.</rdfs:comment>
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<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Task and Skills of Optical Sensors v1.1
part:7</rdfs:comment>
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<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Structured Description of Skills and Device 1.0
pag:11
Tasks and Skills of Ocptical Sensor 1.1
Cap: 3</rdfs:comment>
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>This is a malleable procedure. The material is feed between at least two rotating rolls. There are various types of rollling.</rdfs:comment>
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<owl:Class rdf:about="#Precision"/>
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<owl:disjointWith>
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<owl:Class rdf:ID="Electro-discharge-machine"/>
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<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Smooth finishing of metallic surfaces, mostly wholes to increase size, shape or surface performance.</rdfs:comment>
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<owl:Class rdf:ID="Saw"/> </owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="Lap"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="Lathe"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="File"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="Thrust"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#DetectColor">
<owl:disjointWith rdf:resource="#DetectContrast"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#isSkillOf"/>
</owl:onProperty>
<owl:someValuesFrom>
<owl:Class rdf:ID="OpticColorSensor"/>
</owl:someValuesFrom>
</owl:Restriction>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#DetectLuminescence"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#DetectObject"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Detect"/>
</rdfs:subClassOf>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Tasks and Skills of Ocptical Sensor 1.1
Cap: 4</rdfs:comment>
</owl:Class>
<owl:Class rdf:ID="AdjustCurrentToRelease">
<rdfs:subClassOf>
<owl:Restriction>
<owl:allValuesFrom>
<owl:Class rdf:ID="MagnetGripper"/>
</owl:allValuesFrom>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#isSkillOf"/>
</owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:ID="AdjustVacuumToRelease"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="OpenFingers"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="OpenClaws"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:ID="Release"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:ID="MagneticSensor">
<rdfs:subClassOf>
<owl:Class rdf:ID="Sensor"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:ID="Age"> <owl:disjointWith>
<owl:Class rdf:ID="Anneal"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:ID="ModifyWorkpieceProperties"/>
</rdfs:subClassOf>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Improve the mechanical resistivity by modifying the crystal structure. This is done by heating and fast cooling down.</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:ID="Temper"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Reach">
<owl:disjointWith>
<owl:Class rdf:about="#MaterialOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#InsideOrOutsidePicking"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaximumVacuum"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MinMeasurementRange"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfFingers"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith>
<owl:Class rdf:about="#CycleTime"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith>
<owl:Class rdf:about="#ResponseTime"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfFingers"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Physical_Properties_Gripper"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#ElectricallySupported"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Precision"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfVacuum"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Resolution"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ShapeOfClaws"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfMagnet"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith>
<owl:Class rdf:about="#Accuracy"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaxLiftWeight"/>
</owl:disjointWith> <owl:disjointWith>
<owl:Class rdf:about="#StiffnessOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith>
<owl:Class rdf:about="#ControlSystem"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#WorkFrame"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Payload"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Communicational"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfMovableClaws"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#DegreesOfFreedom"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#SwitchingFrequency"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#DriveSystem"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#PathVelocityFluctuation"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ToolInterface"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#LaserClass"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Quality_Criteria"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#LightSpotSize"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfActuation"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaximumForce"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#DiameterOfGripper"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Property">
<owl:disjointWith>
<owl:Class rdf:ID="Device"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="Task"/>
</owl:disjointWith>
<owl:disjointWith> <owl:Class rdf:ID="Skill"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:ID="ManufacturingFunction">
<owl:disjointWith>
<owl:Class rdf:ID="SensorFunction"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:ID="MainFunction"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:ID="ManipulationAndHandlingFunction"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="AssemblyFunction"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#DetectLuminescence">
<owl:disjointWith>
<owl:Class rdf:about="#DetectObject"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Tasks and Skills of Ocptical Sensor 1.1
Cap: 5</rdfs:comment>
<rdfs:subClassOf>
<owl:Restriction>
<owl:someValuesFrom>
<owl:Class rdf:ID="OpticLuminescenceScanner"/>
</owl:someValuesFrom>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#isSkillOf"/>
</owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#DetectContrast"/>
<owl:disjointWith rdf:resource="#DetectColor"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#Detect"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#Read">
<owl:disjointWith>
<owl:Class rdf:ID="ImageAnalysis"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="Check"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Measure"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="Determine"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="Sort"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Task and Skills of Optical Sensors v1.1
part:7</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:ID="Classify"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="Scan"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Detect"/>
</owl:disjointWith> <rdfs:subClassOf>
<owl:Class rdf:about="#SensorFunction"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:ID="VacuumGripper">
<owl:disjointWith>
<owl:Class rdf:about="#MagnetGripper"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Restriction>
<owl:someValuesFrom>
<owl:Class rdf:about="#AdjustVacuumToRelease"/>
</owl:someValuesFrom>
<owl:onProperty>
<owl:ObjectProperty rdf:ID="hasSkill"/>
</owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:ID="PincerGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="FingerGripper"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:ID="Gripper"/>
</rdfs:subClassOf>
<rdfs:subClassOf>
<owl:Restriction>
<owl:someValuesFrom>
<owl:Class rdf:ID="AdjustVacuumToGrip"/>
</owl:someValuesFrom>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasSkill"/>
</owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#OpticLuminescenceScanner">
<rdfs:subClassOf>
<owl:Class rdf:ID="OpticSensor"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#OpticColorSensor"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#OpticContrastScanner"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Tasks and Skills of Ocptical Sensor 1.1
Cap: 5</rdfs:comment>
</owl:Class>
<owl:Class rdf:ID="PlaybackRobot">
<owl:disjointWith>
<owl:Class rdf:ID="VariableSequenceRobot"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Introdution to Robotics
(Analysis, System, Applications)
Saeed B. Niku</rdfs:comment>
<rdfs:subClassOf>
<owl:Class rdf:about="#Robot"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:ID="NumericalControl"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="IntelligentRobot"/>
</owl:disjointWith> <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#DeprecatedClass"/>
</owl:Class>
<owl:Class rdf:about="#Anneal">
<rdfs:subClassOf>
<owl:Class rdf:about="#ModifyWorkpieceProperties"/>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#Age"/>
<owl:disjointWith>
<owl:Class rdf:about="#Temper"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Set specific material properties by heating, holding the heat for a specific time and cooling down.</rdfs:comment>
</owl:Class>
<owl:Class rdf:about="#ModifyWorkpieceProperties">
<owl:disjointWith>
<owl:Class rdf:ID="Coat"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Separate"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Modify some physical properties of the workpiece.</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#Form"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="Join"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="Mold"/>
</owl:disjointWith>
<rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
</owl:Class>
<owl:Class rdf:about="#MaximumForce">
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfMovableClaws"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:ID="Physical_Properties"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#Resolution"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ShapeOfClaws"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#DegreesOfFreedom"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ToolInterface"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#LightSpotSize"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#InsideOrOutsidePicking"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#DriveSystem"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith>
<owl:Class rdf:about="#Accuracy"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#DiameterOfGripper"/> </owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfVacuum"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#StiffnessOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Communicational"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith>
<owl:Class rdf:about="#PathVelocityFluctuation"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#WorkFrame"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaterialOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Quality_Criteria"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ControlSystem"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith>
<owl:Class rdf:about="#LaserClass"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MinMeasurementRange"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfActuation"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfFingers"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ElectricallySupported"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith>
<owl:Class rdf:about="#Payload"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#SwitchingFrequency"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfMagnet"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ResponseTime"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfFingers"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaxLiftWeight"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith>
<owl:Class rdf:about="#CycleTime"/> </owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Precision"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaximumVacuum"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#ReadBarCode">
<owl:disjointWith rdf:resource="#Read2DMatrixCode"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Task and Skills of Optical Sensors v1.1
part:7</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#ReadOpticalCharacters"/>
</owl:disjointWith>
<rdfs:subClassOf rdf:resource="#Read"/>
</owl:Class>
<owl:Class rdf:ID="SmartCamera">
<rdfs:subClassOf>
<owl:Class rdf:about="#OpticSensor"/>
</rdfs:subClassOf>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Tasks and Skills of Ocptical Sensor 1.1
Cap: 7</rdfs:comment>
</owl:Class>
<owl:Class rdf:about="#MeasureAngle">
<rdfs:subClassOf>
<owl:Class rdf:about="#Measure"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#MeasureDistance"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MeasureArea"/>
</owl:Class>
<owl:Class rdf:about="#Extrude">
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>This is mainly used to create profiles, tubes and wires.</rdfs:comment>
<owl:disjointWith rdf:resource="#Roll"/>
<owl:disjointWith>
<owl:Class rdf:about="#Deep-Draw"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Forge"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Flang"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Press"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Stretch-Form"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Bead"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#True"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Fold"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Bend"/> </owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Form"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#Crush"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:ID="OpticDistanceSensorScanner">
<owl:disjointWith>
<owl:Class rdf:ID="EncoderWireDrawDistanceSensor"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="UltrasonicDistanceSensor"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="EncoderLinearDistanceSensor"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>distanceMeasurements.pdf
SICK
pag 4</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:ID="OpticDistanceSensorReflector"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#OpticSensor"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#Determine">
<owl:disjointWith rdf:resource="#Read"/>
<owl:disjointWith>
<owl:Class rdf:about="#Detect"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#SensorFunction"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#Measure"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Check"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Sort"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ImageAnalysis"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Scan"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Classify"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Structured Description of Skills and Device 1.0
pag:5</rdfs:comment>
</owl:Class>
<owl:Class rdf:ID="CoordinateReferenceSystem">
<rdfs:subClassOf rdf:resource="#Arrangement"/>
<owl:disjointWith>
<owl:Class rdf:ID="MountedDeviceOrientation"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="PhysicalInterface"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="PowerConsumption"/> </owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="EnclosureRatingIP"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="MaxAmbientTemperature"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="MinAmbientTemperature"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="MountedDevicePosition"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#SpecialKinematicRobot">
<owl:disjointWith rdf:resource="#HexapodRobot"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#Robot"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#CartesianRobot"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ArticulatedRobot"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ScaraRobot"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Everything else which cannot be sorted in one of the other categories.</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#SimpleKinematicRobot"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ParallelKinematicRobot"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:ID="Cast">
<rdfs:subClassOf>
<owl:Class rdf:about="#Mold"/>
</rdfs:subClassOf>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>From fluid metallic material a solid workpiece is created.</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:ID="Sinter"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="ElectrolyticSegregate"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Crush">
<owl:disjointWith>
<owl:Class rdf:about="#Deep-Draw"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Roll"/>
<owl:disjointWith>
<owl:Class rdf:about="#Flang"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Bead"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Press"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Stretch-Form"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Relative change of length by pressure force.</rdfs:comment>
<owl:disjointWith> <owl:Class rdf:about="#True"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Fold"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Bend"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Forge"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Form"/>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#Extrude"/>
</owl:Class>
<owl:Class rdf:ID="BlobAnalysis">
<owl:disjointWith>
<owl:Class rdf:ID="CompressDecompressImageData"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="SegmentImage"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="CalibrateImage"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="ExtractEdges"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="TrasformImage"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#ImageAnalysis"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:ID="FilterImage"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:ID="Store">
<rdfs:subClassOf>
<owl:Class rdf:about="#ManipulationAndHandlingFunction"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:ID="NotClassified"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="Secure"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Move"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="ModifyAmount"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Forge">
<owl:disjointWith>
<owl:Class rdf:about="#Bend"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Roll"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>The workpiece is heated, the whole profile is plasticised. In doing so the crystal structure of the workpiece changes and the workpiece becomes softer.</rdfs:comment>
<owl:disjointWith rdf:resource="#Crush"/>
<owl:disjointWith rdf:resource="#Extrude"/>
<owl:disjointWith>
<owl:Class rdf:about="#Deep-Draw"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Bead"/> </owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Press"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#True"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Flang"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Fold"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Form"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#Stretch-Form"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#AdjustVacuumToRelease">
<owl:disjointWith rdf:resource="#AdjustCurrentToRelease"/>
<owl:disjointWith>
<owl:Class rdf:about="#OpenClaws"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#OpenFingers"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Release"/>
</rdfs:subClassOf>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#isSkillOf"/>
</owl:onProperty>
<owl:someValuesFrom rdf:resource="#VacuumGripper"/>
</owl:Restriction>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#SensorFunction">
<owl:disjointWith>
<owl:Class rdf:about="#AssemblyFunction"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Structured Description of Skills and Device 1.0
pag:6-7
(breakdown of properties)</rdfs:comment>
<owl:disjointWith rdf:resource="#ManufacturingFunction"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#MainFunction"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#ManipulationAndHandlingFunction"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Restriction>
<owl:allValuesFrom>
<owl:Class rdf:about="#Sensor"/>
</owl:allValuesFrom>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#isSkillOf"/>
</owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#Pan">
<rdfs:subClassOf>
<owl:Class rdf:about="#Move"/> </rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#Pass"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Position"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Displace"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Arrange"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Move a part from one to another orientation and position by rotation around an axis which does not intersect with the part.</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#Convey"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Turn"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Feed"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Orient"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:ID="Solder">
<owl:disjointWith>
<owl:Class rdf:ID="Assemble"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="Fill"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="Clinch"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Join"/>
</rdfs:subClassOf>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>This is a thermic procedure to connect workpieces. Then, a fluid phase is created by melting solder (additional material).</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:ID="Weld"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="Glue"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="Bolt"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="Rivet"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Rub">
<owl:disjointWith>
<owl:Class rdf:about="#File"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Cut"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Thrust"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Grind"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Lathe"/>
</owl:disjointWith> <owl:disjointWith>
<owl:Class rdf:about="#Drill"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Thermal-Separate"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Saw"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Mill"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Separate"/>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#Hone"/>
<owl:disjointWith>
<owl:Class rdf:about="#Plane"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Electro-discharge-machine"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Create wholes and increase the fitting quality.</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#Broach"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Lap"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:ID="ClassifyObject">
<rdfs:subClassOf>
<owl:Class rdf:about="#Classify"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:ID="Physical_Properties_Robot">
<rdfs:subClassOf>
<owl:Class rdf:about="#Physical_Properties"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#AssemblyFunction">
<owl:disjointWith>
<owl:Class rdf:about="#ManipulationAndHandlingFunction"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#SensorFunction"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#MainFunction"/>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#ManufacturingFunction"/>
</owl:Class>
<owl:Class rdf:about="#FingerGripper">
<owl:disjointWith>
<owl:Class rdf:about="#PincerGripper"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasSkill"/>
</owl:onProperty>
<owl:someValuesFrom>
<owl:Class rdf:about="#OpenFingers"/>
</owl:someValuesFrom>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasSkill"/>
</owl:onProperty> <owl:someValuesFrom>
<owl:Class rdf:ID="CloseFingers"/>
</owl:someValuesFrom>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf>
<owl:Class rdf:about="#Gripper"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#MagnetGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#VacuumGripper"/>
</owl:Class>
<owl:Class rdf:about="#ResponseTime">
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#DriveSystem"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Accuracy"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#StiffnessOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ControlSystem"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith>
<owl:Class rdf:about="#Precision"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#LaserClass"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#WorkFrame"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfVacuum"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ToolInterface"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ElectricallySupported"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaxLiftWeight"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaximumVacuum"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith>
<owl:Class rdf:about="#InsideOrOutsidePicking"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith>
<owl:Class rdf:about="#Communicational"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfFingers"/>
</owl:disjointWith>
<owl:disjointWith> <owl:Class rdf:about="#NumberOfMovableClaws"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MinMeasurementRange"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith rdf:resource="#MaximumForce"/>
<owl:disjointWith>
<owl:Class rdf:about="#SwitchingFrequency"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#LightSpotSize"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfActuation"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#PathVelocityFluctuation"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Resolution"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfMagnet"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Payload"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#DegreesOfFreedom"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#CycleTime"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#DiameterOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfFingers"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaterialOfGripper"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Quality_Criteria"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#ShapeOfClaws"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#MountedDeviceOrientation">
<rdfs:subClassOf rdf:resource="#Arrangement"/>
<owl:disjointWith>
<owl:Class rdf:about="#EnclosureRatingIP"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MinAmbientTemperature"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#PowerConsumption"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#PhysicalInterface"/>
</owl:disjointWith> <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
<owl:disjointWith>
<owl:Class rdf:about="#MaxAmbientTemperature"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MountedDevicePosition"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:ID="PlaybackCtrl">
<owl:disjointWith>
<owl:Class rdf:ID="NumericalCtrl"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Capability of replaying preteached sequences and commands.
This includes as well very simple controllers like Pick-and-Placers. They are capable of replaying a pick sequence.</rdfs:comment>
<rdfs:subClassOf>
<owl:Class rdf:about="#ControlSystem"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:ID="IntelligentCtrl"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#DiameterOfGripper">
<owl:disjointWith>
<owl:Class rdf:about="#Resolution"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Physical_Properties_Gripper"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith>
<owl:Class rdf:about="#DegreesOfFreedom"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaterialOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfMagnet"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfFingers"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumForce"/>
<owl:disjointWith>
<owl:Class rdf:about="#Precision"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ShapeOfClaws"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaximumVacuum"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#CycleTime"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ResponseTime"/>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
<owl:disjointWith> <owl:Class rdf:about="#WorkFrame"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaxLiftWeight"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#SwitchingFrequency"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Payload"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Communicational"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfMovableClaws"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#InsideOrOutsidePicking"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfVacuum"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith>
<owl:Class rdf:about="#ElectricallySupported"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ControlSystem"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ToolInterface"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Accuracy"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#DriveSystem"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Quality_Criteria"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#LightSpotSize"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MinMeasurementRange"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfActuation"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfFingers"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#LaserClass"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#StiffnessOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#PathVelocityFluctuation"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:ID="Count">
<rdfs:subClassOf>
<owl:Class rdf:about="#Check"/>
</rdfs:subClassOf> </owl:Class>
<owl:Class rdf:about="#DetectObject">
<owl:disjointWith rdf:resource="#DetectLuminescence"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#Detect"/>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#DetectContrast"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Tasks and Skills of Ocptical Sensor 1.1
Cap: 2</rdfs:comment>
<owl:disjointWith rdf:resource="#DetectColor"/>
</owl:Class>
<owl:Class rdf:about="#MaximumVacuum">
<owl:disjointWith>
<owl:Class rdf:about="#LaserClass"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MinMeasurementRange"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfMagnet"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Payload"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfFingers"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfMovableClaws"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#DiameterOfGripper"/>
<owl:disjointWith rdf:resource="#ResponseTime"/>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfActuation"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#CycleTime"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#WorkFrame"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Physical_Properties_Gripper"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#ToolInterface"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Accuracy"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfVacuum"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ControlSystem"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith>
<owl:Class rdf:about="#Quality_Criteria"/> </owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaterialOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Communicational"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#LightSpotSize"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaxLiftWeight"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith rdf:resource="#MaximumForce"/>
<owl:disjointWith>
<owl:Class rdf:about="#ElectricallySupported"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfFingers"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#SwitchingFrequency"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith>
<owl:Class rdf:about="#ShapeOfClaws"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#DriveSystem"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#StiffnessOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#PathVelocityFluctuation"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith>
<owl:Class rdf:about="#Resolution"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#InsideOrOutsidePicking"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith>
<owl:Class rdf:about="#DegreesOfFreedom"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Precision"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Skill">
<owl:disjointWith>
<owl:Class rdf:about="#Device"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Restriction>
<owl:allValuesFrom>
<owl:Class rdf:about="#Device"/>
</owl:allValuesFrom>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#isSkillOf"/>
</owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf rdf:resource="http://www.w3.org/2002/07/owl#Thing"/> <owl:disjointWith rdf:resource="#Property"/>
<owl:disjointWith>
<owl:Class rdf:about="#Task"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Structured Description of Skills and Device 1.0
pag:5
(Breakdown of Skills)</rdfs:comment>
</owl:Class>
<owl:Class rdf:about="#VariableSequenceRobot">
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Introdution to Robotics
(Analysis, System, Applications)
Saeed B. Niku</rdfs:comment>
<owl:disjointWith rdf:resource="#PlaybackRobot"/>
<rdf:type rdf:resource="http://www.w3.org/2002/07/owl#DeprecatedClass"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#Robot"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#IntelligentRobot"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumericalControl"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Stretch-Form">
<rdfs:subClassOf>
<owl:Class rdf:about="#Form"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#Deep-Draw"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Press"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Flang"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#True"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Fold"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Bend"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Extrude"/>
<owl:disjointWith rdf:resource="#Roll"/>
<owl:disjointWith rdf:resource="#Crush"/>
<owl:disjointWith rdf:resource="#Forge"/>
<owl:disjointWith>
<owl:Class rdf:about="#Bead"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#NumberOfFingers">
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith>
<owl:Class rdf:about="#Resolution"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#InsideOrOutsidePicking"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#DriveSystem"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#SwitchingFrequency"/> </owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#DegreesOfFreedom"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#LightSpotSize"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#StiffnessOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#PathVelocityFluctuation"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaterialOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Accuracy"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Physical_Properties_Gripper"/>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfActuation"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfMovableClaws"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#WorkFrame"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ShapeOfClaws"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Payload"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumForce"/>
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith rdf:resource="#ResponseTime"/>
<owl:disjointWith>
<owl:Class rdf:about="#ToolInterface"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ElectricallySupported"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MinMeasurementRange"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Precision"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaxLiftWeight"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith rdf:resource="#DiameterOfGripper"/>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfVacuum"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#CycleTime"/>
</owl:disjointWith> <owl:disjointWith>
<owl:Class rdf:about="#TypeOfFingers"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Quality_Criteria"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#LaserClass"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Communicational"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith>
<owl:Class rdf:about="#ControlSystem"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfMagnet"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:ID="MoveFromTo">
<rdfs:subClassOf>
<owl:Class rdf:about="#NotClassified"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:ID="Place"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="Pick"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>How a robot moves from A to B.
Also included are movements of simple kinematics like Move Up (for one linear - maybe pneumatic - axis).</rdfs:comment>
</owl:Class>
<owl:Class rdf:ID="CloseClaws">
<rdfs:subClassOf>
<owl:Restriction>
<owl:someValuesFrom>
<owl:Class rdf:about="#PincerGripper"/>
</owl:someValuesFrom>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#isSkillOf"/>
</owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf>
<owl:Class rdf:ID="Grasp"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#AdjustVacuumToGrip"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="AdjustCurrentToGrip"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#CloseFingers"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#TypeOfMagnet">
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfActuation"/>
</owl:disjointWith>
<owl:disjointWith> <owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith>
<owl:Class rdf:about="#DriveSystem"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#PathVelocityFluctuation"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#CycleTime"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaxLiftWeight"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith>
<owl:Class rdf:about="#InsideOrOutsidePicking"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ToolInterface"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#WorkFrame"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Communicational"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaterialOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#StiffnessOfGripper"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Physical_Properties_Gripper"/>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#ResponseTime"/>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Precision"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Accuracy"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#SwitchingFrequency"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#LaserClass"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumForce"/>
<owl:disjointWith>
<owl:Class rdf:about="#ControlSystem"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfMovableClaws"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfFingers"/>
</owl:disjointWith> <owl:disjointWith>
<owl:Class rdf:about="#MinMeasurementRange"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ElectricallySupported"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ShapeOfClaws"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#DegreesOfFreedom"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Resolution"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Quality_Criteria"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Payload"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#LightSpotSize"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfVacuum"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith rdf:resource="#NumberOfFingers"/>
<owl:disjointWith rdf:resource="#DiameterOfGripper"/>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
</owl:Class>
<owl:Class rdf:about="#CycleTime">
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith>
<owl:Class rdf:about="#WorkFrame"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#DegreesOfFreedom"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
<owl:disjointWith>
<owl:Class rdf:about="#SwitchingFrequency"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ShapeOfClaws"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith>
<owl:Class rdf:about="#LightSpotSize"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#StiffnessOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaterialOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfActuation"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith>
<owl:Class rdf:about="#PathVelocityFluctuation"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#LaserClass"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MinMeasurementRange"/> </owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Precision"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Resolution"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfFingers"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith>
<owl:Class rdf:about="#MaxLiftWeight"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#TypeOfMagnet"/>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ElectricallySupported"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfVacuum"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#NumberOfFingers"/>
<owl:disjointWith>
<owl:Class rdf:about="#Accuracy"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ResponseTime"/>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith>
<owl:Class rdf:about="#ToolInterface"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfMovableClaws"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Communicational"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#DriveSystem"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumForce"/>
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ControlSystem"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Quality_Criteria"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#InsideOrOutsidePicking"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#DiameterOfGripper"/>
<owl:disjointWith>
<owl:Class rdf:about="#Payload"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:ID="ElectricalInterface">
<owl:disjointWith>
<owl:Class rdf:ID="BusInterface"/>
</owl:disjointWith> <owl:disjointWith>
<owl:Class rdf:ID="CommunicationProtocol"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Communicational"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#Weld">
<owl:disjointWith>
<owl:Class rdf:about="#Bolt"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Clinch"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Fill"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Assemble"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Join"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#Glue"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Solder"/>
<owl:disjointWith>
<owl:Class rdf:about="#Rivet"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>This is a permanent connection of workpieces by using heat and/or pressure. The material keeps its properties when welded.</rdfs:comment>
</owl:Class>
<owl:Class rdf:about="#Accuracy">
<owl:disjointWith rdf:resource="#CycleTime"/>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#SwitchingFrequency"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ToolInterface"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaxLiftWeight"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#TypeOfMagnet"/>
<owl:disjointWith rdf:resource="#DiameterOfGripper"/>
<owl:disjointWith>
<owl:Class rdf:about="#ControlSystem"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ElectricallySupported"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfMovableClaws"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith>
<owl:Class rdf:about="#MaterialOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#WorkFrame"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith>
<owl:Class rdf:about="#PathVelocityFluctuation"/> </owl:disjointWith>
<owl:disjointWith rdf:resource="#NumberOfFingers"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#Quality_Criteria"/>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith rdf:resource="#ResponseTime"/>
<owl:disjointWith>
<owl:Class rdf:about="#InsideOrOutsidePicking"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MinMeasurementRange"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#LaserClass"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#DegreesOfFreedom"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Resolution"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ShapeOfClaws"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfVacuum"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfFingers"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfActuation"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Payload"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Precision"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#LightSpotSize"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Communicational"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#StiffnessOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#DriveSystem"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumForce"/>
</owl:Class>
<owl:Class rdf:about="#Temper">
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Influence the mechanical stresses of the workpiece. The material is given a regular structure.</rdfs:comment>
<owl:disjointWith rdf:resource="#Age"/>
<rdfs:subClassOf rdf:resource="#ModifyWorkpieceProperties"/>
<owl:disjointWith rdf:resource="#Anneal"/> </owl:Class>
<owl:Class rdf:about="#MainFunction">
<owl:disjointWith>
<owl:Class rdf:ID="AdditionalFunction"/>
</owl:disjointWith>
<rdfs:subClassOf rdf:resource="#Skill"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Structured Description of Skills and Device 1.0
pag:5
(Breakdown of Skills)</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:ID="DiagnosticFunction"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Lap">
<owl:disjointWith>
<owl:Class rdf:about="#Mill"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Broach"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Plane"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Saw"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#File"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Separate"/>
</rdfs:subClassOf>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Flatten surfaces while keeping very low tolerances. Moveable, rolling grains are used between the lapping plate and the workpiece.</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#Thermal-Separate"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Drill"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Electro-discharge-machine"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Rub"/>
<owl:disjointWith rdf:resource="#Hone"/>
<owl:disjointWith>
<owl:Class rdf:about="#Thrust"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Grind"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Cut"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Lathe"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#AdjustVacuumToGrip">
<owl:disjointWith>
<owl:Class rdf:about="#CloseFingers"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Grasp"/>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#CloseClaws"/>
<owl:disjointWith>
<owl:Class rdf:about="#AdjustCurrentToGrip"/> </owl:disjointWith>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#isSkillOf"/>
</owl:onProperty>
<owl:someValuesFrom rdf:resource="#VacuumGripper"/>
</owl:Restriction>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#CompressDecompressImageData">
<owl:disjointWith rdf:resource="#BlobAnalysis"/>
<owl:disjointWith>
<owl:Class rdf:about="#ExtractEdges"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#SegmentImage"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TrasformImage"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#ImageAnalysis"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#CalibrateImage"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#FilterImage"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:ID="Width">
<owl:disjointWith>
<owl:Class rdf:ID="Mass"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="MechanicalResistance"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="Length"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="Cost"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="ID"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Physical_Properties"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:ID="Shape"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="Height"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="Material"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:ID="Varnish">
<rdfs:subClassOf>
<owl:Class rdf:about="#Coat"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:ID="Powder-coat"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="Electroplate"/>
</owl:disjointWith> <owl:disjointWith>
<owl:Class rdf:ID="Hot-galvanise"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Put colour or any other material onto the surface, either by spraying or painting.</rdfs:comment>
</owl:Class>
<owl:Class rdf:about="#Sensor">
<owl:disjointWith>
<owl:Class rdf:about="#Gripper"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasSkill"/>
</owl:onProperty>
<owl:someValuesFrom rdf:resource="#SensorFunction"/>
</owl:Restriction>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#Robot"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Device"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#OpticColorSensor">
<rdfs:subClassOf>
<owl:Class rdf:about="#OpticSensor"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#OpticContrastScanner"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Tasks and Skills of Ocptical Sensor 1.1
Cap: 4</rdfs:comment>
</owl:Class>
<owl:Class rdf:about="#AdditionalFunction">
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Structured Description of Skills and Device 1.0
pag:5
(Breakdown of Skills)</rdfs:comment>
<rdfs:subClassOf rdf:resource="#Skill"/>
<owl:disjointWith rdf:resource="#MainFunction"/>
<owl:disjointWith>
<owl:Class rdf:about="#DiagnosticFunction"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#DiagnosticFunction">
<owl:disjointWith rdf:resource="#AdditionalFunction"/>
<owl:disjointWith rdf:resource="#MainFunction"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Structured Description of Skills and Device 1.0
pag:5
(Breakdown of Skills)</rdfs:comment>
<rdfs:subClassOf rdf:resource="#Skill"/>
</owl:Class>
<owl:Class rdf:about="#CloseFingers">
<owl:disjointWith rdf:resource="#AdjustVacuumToGrip"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:someValuesFrom rdf:resource="#FingerGripper"/>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#isSkillOf"/>
</owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf> <rdfs:subClassOf>
<owl:Class rdf:about="#Grasp"/>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#CloseClaws"/>
<owl:disjointWith>
<owl:Class rdf:about="#AdjustCurrentToGrip"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Saw">
<owl:disjointWith>
<owl:Class rdf:about="#Drill"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Hone"/>
<owl:disjointWith>
<owl:Class rdf:about="#Thermal-Separate"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Lathe"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Grind"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Thrust"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Rub"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>A steel plate with teeth attached to it removes thin chippings by moving into the material. This is widely used for wood, stone, metal, plastics and other solid materials.</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#Cut"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Separate"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#File"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Broach"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Lap"/>
<owl:disjointWith>
<owl:Class rdf:about="#Plane"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Electro-discharge-machine"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Mill"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#OpenFingers">
<rdfs:subClassOf>
<owl:Class rdf:about="#Release"/>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#AdjustVacuumToRelease"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:someValuesFrom rdf:resource="#FingerGripper"/>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#isSkillOf"/>
</owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#OpenClaws"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#AdjustCurrentToRelease"/>
</owl:Class>
<owl:Class rdf:about="#Broach"> <owl:disjointWith rdf:resource="#Lap"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#Separate"/>
</rdfs:subClassOf>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>The workpiece is given the tool's contour. This is used where contours are necessary which cannot be created by milling or lathing.</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#Grind"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Cut"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Electro-discharge-machine"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Thrust"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Drill"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Mill"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Plane"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Saw"/>
<owl:disjointWith>
<owl:Class rdf:about="#Thermal-Separate"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Hone"/>
<owl:disjointWith rdf:resource="#Rub"/>
<owl:disjointWith>
<owl:Class rdf:about="#Lathe"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#File"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Coat">
<owl:disjointWith>
<owl:Class rdf:about="#Form"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Separate"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Join"/>
</owl:disjointWith>
<rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Put a permanent layer of formless material onto the workpiece.</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#Mold"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ModifyWorkpieceProperties"/>
</owl:Class>
<owl:Class rdf:about="#TypeOfActuation">
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith rdf:resource="#DiameterOfGripper"/>
<owl:disjointWith>
<owl:Class rdf:about="#LaserClass"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ShapeOfClaws"/>
</owl:disjointWith> <owl:disjointWith>
<owl:Class rdf:about="#ElectricallySupported"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumForce"/>
<owl:disjointWith rdf:resource="#TypeOfMagnet"/>
<owl:disjointWith>
<owl:Class rdf:about="#InsideOrOutsidePicking"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfFingers"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#DriveSystem"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith>
<owl:Class rdf:about="#Communicational"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith>
<owl:Class rdf:about="#MaterialOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#CycleTime"/>
<owl:disjointWith>
<owl:Class rdf:about="#Resolution"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#DegreesOfFreedom"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#PathVelocityFluctuation"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ResponseTime"/>
<owl:disjointWith>
<owl:Class rdf:about="#MaxLiftWeight"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#WorkFrame"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfVacuum"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
<owl:disjointWith>
<owl:Class rdf:about="#SwitchingFrequency"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#NumberOfFingers"/>
<owl:disjointWith rdf:resource="#Accuracy"/>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith>
<owl:Class rdf:about="#Precision"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#LightSpotSize"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Quality_Criteria"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Payload"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ControlSystem"/> </owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ToolInterface"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfMovableClaws"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#StiffnessOfGripper"/>
</owl:disjointWith>
<rdfs:subClassOf rdf:resource="#Physical_Properties_Robot"/>
<owl:disjointWith>
<owl:Class rdf:about="#MinMeasurementRange"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#DegreesOfFreedom">
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith rdf:resource="#Accuracy"/>
<owl:disjointWith rdf:resource="#NumberOfFingers"/>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#CycleTime"/>
<owl:disjointWith>
<owl:Class rdf:about="#Quality_Criteria"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#TypeOfActuation"/>
<owl:disjointWith rdf:resource="#TypeOfMagnet"/>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith>
<owl:Class rdf:about="#ControlSystem"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Resolution"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#StiffnessOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#PathVelocityFluctuation"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfMovableClaws"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#LaserClass"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ToolInterface"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfFingers"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith>
<owl:Class rdf:about="#Communicational"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaxLiftWeight"/>
</owl:disjointWith> <owl:disjointWith>
<owl:Class rdf:about="#ShapeOfClaws"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#SwitchingFrequency"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#DriveSystem"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MinMeasurementRange"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#LightSpotSize"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
<owl:disjointWith>
<owl:Class rdf:about="#ElectricallySupported"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfVacuum"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#DiameterOfGripper"/>
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith>
<owl:Class rdf:about="#Payload"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumForce"/>
<owl:disjointWith>
<owl:Class rdf:about="#Precision"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ResponseTime"/>
<owl:disjointWith>
<owl:Class rdf:about="#MaterialOfGripper"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Physical_Properties"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#InsideOrOutsidePicking"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#WorkFrame"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Drill">
<rdfs:subClassOf>
<owl:Class rdf:about="#Separate"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#Thermal-Separate"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Lathe"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Broach"/>
<owl:disjointWith rdf:resource="#Hone"/>
<owl:disjointWith>
<owl:Class rdf:about="#File"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Saw"/>
<owl:disjointWith>
<owl:Class rdf:about="#Mill"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Electro-discharge-machine"/>
</owl:disjointWith> <owl:disjointWith>
<owl:Class rdf:about="#Cut"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Lap"/>
<owl:disjointWith>
<owl:Class rdf:about="#Thrust"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Rub"/>
<owl:disjointWith>
<owl:Class rdf:about="#Plane"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Grind"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Create a circular whole in the workpiece.</rdfs:comment>
</owl:Class>
<owl:Class rdf:about="#Bend">
<owl:disjointWith>
<owl:Class rdf:about="#Fold"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Stretch-Form"/>
<owl:disjointWith>
<owl:Class rdf:about="#Deep-Draw"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Roll"/>
<owl:disjointWith>
<owl:Class rdf:about="#Press"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Flang"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Extrude"/>
<owl:disjointWith rdf:resource="#Forge"/>
<owl:disjointWith>
<owl:Class rdf:about="#True"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Crush"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#Form"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#Bead"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Put a bending moment to the material which causes a malleable, i.e. permanent deformation.</rdfs:comment>
</owl:Class>
<owl:Class rdf:about="#Orient">
<owl:disjointWith>
<owl:Class rdf:about="#Feed"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Turn"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Pan"/>
<owl:disjointWith>
<owl:Class rdf:about="#Pass"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Displace"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Convey"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Position"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Arrange"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#Move"/> </rdfs:subClassOf>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Move a part from an undefined to a well-defined orientation. The part's position is not important here.</rdfs:comment>
</owl:Class>
<owl:Class rdf:about="#File">
<owl:disjointWith>
<owl:Class rdf:about="#Lathe"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Thrust"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Plane"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Electro-discharge-machine"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Rub"/>
<owl:disjointWith rdf:resource="#Broach"/>
<owl:disjointWith rdf:resource="#Lap"/>
<owl:disjointWith>
<owl:Class rdf:about="#Grind"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Hone"/>
<owl:disjointWith rdf:resource="#Saw"/>
<owl:disjointWith>
<owl:Class rdf:about="#Cut"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Drill"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>The workpiece is fixed while a metal plate performs a cutting movement and a feed motion. This is done manually very often.</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#Mill"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Thermal-Separate"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Separate"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#Length">
<owl:disjointWith>
<owl:Class rdf:about="#Shape"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MechanicalResistance"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Material"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ID"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Cost"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Physical_Properties"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#Height"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Width"/>
<owl:disjointWith>
<owl:Class rdf:about="#Mass"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#ElectricallySupported">
<owl:disjointWith> <owl:Class rdf:about="#DriveSystem"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Resolution"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaterialOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#TypeOfActuation"/>
<owl:disjointWith>
<owl:Class rdf:about="#Precision"/>
</owl:disjointWith>
<rdfs:subClassOf rdf:resource="#Physical_Properties_Robot"/>
<owl:disjointWith>
<owl:Class rdf:about="#SwitchingFrequency"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Quality_Criteria"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#StiffnessOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfMovableClaws"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfVacuum"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
<owl:disjointWith>
<owl:Class rdf:about="#ToolInterface"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Payload"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaxLiftWeight"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#PathVelocityFluctuation"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith rdf:resource="#NumberOfFingers"/>
<owl:disjointWith rdf:resource="#TypeOfMagnet"/>
<owl:disjointWith>
<owl:Class rdf:about="#LightSpotSize"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#LaserClass"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#DiameterOfGripper"/>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#WorkFrame"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#CycleTime"/>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfFingers"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumForce"/>
<owl:disjointWith>
<owl:Class rdf:about="#Communicational"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#LightType"/> <owl:disjointWith>
<owl:Class rdf:about="#ControlSystem"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith>
<owl:Class rdf:about="#InsideOrOutsidePicking"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Accuracy"/>
<owl:disjointWith>
<owl:Class rdf:about="#ShapeOfClaws"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MinMeasurementRange"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith rdf:resource="#ResponseTime"/>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#WorkFrame">
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfVacuum"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#LaserClass"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#TypeOfMagnet"/>
<owl:disjointWith>
<owl:Class rdf:about="#InsideOrOutsidePicking"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
<owl:disjointWith>
<owl:Class rdf:about="#DriveSystem"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Accuracy"/>
<owl:disjointWith>
<owl:Class rdf:about="#MaterialOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#TypeOfActuation"/>
<owl:disjointWith>
<owl:Class rdf:about="#MinMeasurementRange"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#PathVelocityFluctuation"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Precision"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Payload"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumForce"/>
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith>
<owl:Class rdf:about="#LightSpotSize"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfMovableClaws"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith> <owl:Class rdf:about="#ToolInterface"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Communicational"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#CycleTime"/>
<owl:disjointWith>
<owl:Class rdf:about="#StiffnessOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Quality_Criteria"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
<rdfs:subClassOf rdf:resource="#Property"/>
<owl:disjointWith rdf:resource="#DiameterOfGripper"/>
<owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
<owl:disjointWith>
<owl:Class rdf:about="#SwitchingFrequency"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ElectricallySupported"/>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith>
<owl:Class rdf:about="#Resolution"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ResponseTime"/>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith>
<owl:Class rdf:about="#ShapeOfClaws"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ControlSystem"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfFingers"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaxLiftWeight"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#NumberOfFingers"/>
</owl:Class>
<owl:Class rdf:about="#Separate">
<owl:disjointWith>
<owl:Class rdf:about="#Form"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Coat"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Modify the workpiece by breaking the coherence at some location.</rdfs:comment>
<owl:disjointWith rdf:resource="#ModifyWorkpieceProperties"/>
<rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
<owl:disjointWith>
<owl:Class rdf:about="#Join"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Mold"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#SwitchingFrequency">
<owl:disjointWith rdf:resource="#Accuracy"/>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
<owl:disjointWith> <owl:Class rdf:about="#TypeOfFingers"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaterialOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MinMeasurementRange"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#TypeOfMagnet"/>
<owl:disjointWith rdf:resource="#ElectricallySupported"/>
<owl:disjointWith>
<owl:Class rdf:about="#StiffnessOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#DiameterOfGripper"/>
<owl:disjointWith rdf:resource="#CycleTime"/>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith>
<owl:Class rdf:about="#PathVelocityFluctuation"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfVacuum"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ToolInterface"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#WorkFrame"/>
<owl:disjointWith rdf:resource="#TypeOfActuation"/>
<owl:disjointWith>
<owl:Class rdf:about="#Precision"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Quality_Criteria"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#LaserClass"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaxLiftWeight"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Quality_Criteria"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Communicational"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ControlSystem"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ShapeOfClaws"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#NumberOfFingers"/>
<owl:disjointWith>
<owl:Class rdf:about="#DriveSystem"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#LightSpotSize"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ResponseTime"/> <owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith>
<owl:Class rdf:about="#Resolution"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#InsideOrOutsidePicking"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfMovableClaws"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
<owl:disjointWith>
<owl:Class rdf:about="#Payload"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith rdf:resource="#MaximumForce"/>
<owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
</owl:Class>
<owl:Class rdf:about="#NumericalCtrl">
<rdfs:subClassOf>
<owl:Class rdf:about="#ControlSystem"/>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#PlaybackCtrl"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Capability of setting up movements via numerical positions instead of functions.</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#IntelligentCtrl"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Electroplate">
<owl:disjointWith>
<owl:Class rdf:about="#Powder-coat"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Hot-galvanise"/>
</owl:disjointWith>
<rdfs:subClassOf rdf:resource="#Coat"/>
<owl:disjointWith rdf:resource="#Varnish"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Put the material to the surface with the help of some electrochemical processes.</rdfs:comment>
</owl:Class>
<owl:Class rdf:about="#PincerGripper">
<rdfs:subClassOf>
<owl:Restriction>
<owl:someValuesFrom rdf:resource="#CloseClaws"/>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasSkill"/>
</owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf>
<owl:Class rdf:about="#Gripper"/>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#FingerGripper"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:someValuesFrom>
<owl:Class rdf:about="#OpenClaws"/>
</owl:someValuesFrom>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasSkill"/>
</owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#VacuumGripper"/>
<owl:disjointWith>
<owl:Class rdf:about="#MagnetGripper"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:ID="Repeatability"> <rdfs:subClassOf>
<owl:Class rdf:about="#Quality_Criteria"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#Precision"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Detect">
<owl:disjointWith>
<owl:Class rdf:about="#Sort"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Read"/>
<owl:disjointWith>
<owl:Class rdf:about="#Classify"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Measure"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Determine"/>
<owl:disjointWith>
<owl:Class rdf:about="#Scan"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Structured Description of Skills and Device 1.0
pag:5
Tasks and Skills of Ocptical Sensor 1.1
Cap: 2-5</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#Check"/>
</owl:disjointWith>
<rdfs:subClassOf rdf:resource="#SensorFunction"/>
<owl:disjointWith>
<owl:Class rdf:about="#ImageAnalysis"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:ID="Assembly">
<rdfs:subClassOf>
<owl:Class rdf:about="#Device"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#Convey">
<owl:disjointWith>
<owl:Class rdf:about="#Turn"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Orient"/>
<owl:disjointWith>
<owl:Class rdf:about="#Displace"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Feed"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Move a part (or transported material) from one undefined to another undefined position. The trajectory and the orientation of the parts while moved are not necessarily defined.</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#Position"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Pass"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Pan"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#Move"/>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#Arrange"/>
</owl:Class>
<owl:Class rdf:ID="Circular">
<rdfs:subClassOf rdf:resource="#MoveFromTo"/>
<owl:disjointWith>
<owl:Class rdf:ID="AsFastAsPossible"/> </owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="Karthesian"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#ShapeOfClaws">
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfFingers"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Communicational"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#InsideOrOutsidePicking"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Resolution"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#DriveSystem"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumForce"/>
<owl:disjointWith>
<owl:Class rdf:about="#MinMeasurementRange"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#WorkFrame"/>
<owl:disjointWith>
<owl:Class rdf:about="#Precision"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#LightSpotSize"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfVacuum"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#TypeOfMagnet"/>
<owl:disjointWith rdf:resource="#DiameterOfGripper"/>
<owl:disjointWith>
<owl:Class rdf:about="#ToolInterface"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Accuracy"/>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith>
<owl:Class rdf:about="#Payload"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaterialOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Arrangement"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#Physical_Properties_Gripper"/>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith rdf:resource="#CycleTime"/>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfMovableClaws"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#PathVelocityFluctuation"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#NumberOfFingers"/>
<owl:disjointWith> <owl:Class rdf:about="#LaserClass"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaxLiftWeight"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith>
<owl:Class rdf:about="#Quality_Criteria"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#TypeOfActuation"/>
<owl:disjointWith rdf:resource="#ResponseTime"/>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
<owl:disjointWith>
<owl:Class rdf:about="#StiffnessOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ElectricallySupported"/>
<owl:disjointWith>
<owl:Class rdf:about="#ControlSystem"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#SwitchingFrequency"/>
</owl:Class>
<owl:Class rdf:about="#NumericalControl">
<owl:disjointWith rdf:resource="#VariableSequenceRobot"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Introdution to Robotics
(Analysis, System, Applications)
Saeed B. Niku</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#IntelligentRobot"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#PlaybackRobot"/>
<rdf:type rdf:resource="http://www.w3.org/2002/07/owl#DeprecatedClass"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#Robot"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#MaxAmbientTemperature">
<owl:disjointWith>
<owl:Class rdf:about="#PhysicalInterface"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
<owl:disjointWith>
<owl:Class rdf:about="#EnclosureRatingIP"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#PowerConsumption"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
<rdfs:subClassOf rdf:resource="#Arrangement"/>
<owl:disjointWith>
<owl:Class rdf:about="#MinAmbientTemperature"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MountedDevicePosition"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Shape">
<owl:disjointWith>
<owl:Class rdf:about="#MechanicalResistance"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Material"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Length"/> <owl:disjointWith>
<owl:Class rdf:about="#Cost"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Width"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#Physical_Properties"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#ID"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Height"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Mass"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:ID="SortObjects">
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Task and Skills of Optical Sensors v1.1
part:7</rdfs:comment>
<rdfs:subClassOf>
<owl:Class rdf:about="#Sort"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:ID="ManipulationAndHandling">
<rdfs:subClassOf>
<owl:Class rdf:about="#Device"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#Grind">
<owl:disjointWith rdf:resource="#Rub"/>
<owl:disjointWith>
<owl:Class rdf:about="#Lathe"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Increase the surface performance, flatten the surface.</rdfs:comment>
<owl:disjointWith rdf:resource="#Hone"/>
<owl:disjointWith>
<owl:Class rdf:about="#Thermal-Separate"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Plane"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Broach"/>
<owl:disjointWith rdf:resource="#File"/>
<owl:disjointWith rdf:resource="#Saw"/>
<owl:disjointWith>
<owl:Class rdf:about="#Electro-discharge-machine"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Lap"/>
<owl:disjointWith>
<owl:Class rdf:about="#Thrust"/>
</owl:disjointWith>
<rdfs:subClassOf rdf:resource="#Separate"/>
<owl:disjointWith>
<owl:Class rdf:about="#Mill"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Cut"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Drill"/>
</owl:Class>
<owl:Class rdf:about="#Classify">
<rdfs:subClassOf rdf:resource="#SensorFunction"/>
<owl:disjointWith rdf:resource="#Detect"/>
<owl:disjointWith>
<owl:Class rdf:about="#ImageAnalysis"/>
</owl:disjointWith> <owl:disjointWith rdf:resource="#Read"/>
<owl:disjointWith>
<owl:Class rdf:about="#Scan"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Sort"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Measure"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Determine"/>
<owl:disjointWith>
<owl:Class rdf:about="#Check"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Structured Description of Skills and Device 1.0
pag:5</rdfs:comment>
</owl:Class>
<owl:Class rdf:about="#Communicational">
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfFingers"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#NumberOfFingers"/>
<owl:disjointWith>
<owl:Class rdf:about="#MaterialOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ResponseTime"/>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith>
<owl:Class rdf:about="#ToolInterface"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#LaserClass"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#CycleTime"/>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfMovableClaws"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Resolution"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#InsideOrOutsidePicking"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith rdf:resource="#SwitchingFrequency"/>
<owl:disjointWith rdf:resource="#DiameterOfGripper"/>
<owl:disjointWith>
<owl:Class rdf:about="#Quality_Criteria"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#TypeOfActuation"/>
<owl:disjointWith rdf:resource="#WorkFrame"/>
<owl:disjointWith>
<owl:Class rdf:about="#DriveSystem"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Accuracy"/>
<owl:disjointWith>
<owl:Class rdf:about="#PathVelocityFluctuation"/>
</owl:disjointWith>
<rdfs:subClassOf rdf:resource="#Property"/>
<owl:disjointWith>
<owl:Class rdf:about="#ControlSystem"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith rdf:resource="#TypeOfMagnet"/> <owl:disjointWith>
<owl:Class rdf:about="#MaxLiftWeight"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#StiffnessOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfVacuum"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Precision"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Payload"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumForce"/>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith rdf:resource="#ElectricallySupported"/>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#LightSpotSize"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ShapeOfClaws"/>
<owl:disjointWith>
<owl:Class rdf:about="#MinMeasurementRange"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
</owl:Class>
<owl:Class rdf:about="#BusInterface">
<owl:disjointWith>
<owl:Class rdf:about="#CommunicationProtocol"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ElectricalInterface"/>
<rdfs:subClassOf rdf:resource="#Communicational"/>
</owl:Class>
<owl:Class rdf:about="#EncoderLinearDistanceSensor">
<owl:disjointWith>
<owl:Class rdf:about="#EncoderWireDrawDistanceSensor"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#OpticDistanceSensorScanner"/>
<owl:disjointWith>
<owl:Class rdf:about="#OpticDistanceSensorReflector"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>distanceMeasurements.pdf
SICK
pag 4</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#UltrasonicDistanceSensor"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:ID="EncoderSensor"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#Cost">
<owl:disjointWith>
<owl:Class rdf:about="#Mass"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Material"/>
</owl:disjointWith> <owl:disjointWith>
<owl:Class rdf:about="#MechanicalResistance"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Width"/>
<owl:disjointWith rdf:resource="#Length"/>
<owl:disjointWith>
<owl:Class rdf:about="#Height"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Shape"/>
<rdfs:subClassOf rdf:resource="#Property"/>
<owl:disjointWith>
<owl:Class rdf:about="#ID"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#StiffnessOfGripper">
<owl:disjointWith rdf:resource="#NumberOfFingers"/>
<owl:disjointWith rdf:resource="#SwitchingFrequency"/>
<owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
<owl:disjointWith rdf:resource="#ResponseTime"/>
<owl:disjointWith>
<owl:Class rdf:about="#Precision"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#TypeOfActuation"/>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Communicational"/>
<owl:disjointWith rdf:resource="#MaximumForce"/>
<owl:disjointWith>
<owl:Class rdf:about="#LaserClass"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ElectricallySupported"/>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith rdf:resource="#CycleTime"/>
<owl:disjointWith>
<owl:Class rdf:about="#Resolution"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Accuracy"/>
<owl:disjointWith>
<owl:Class rdf:about="#InsideOrOutsidePicking"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#TypeOfMagnet"/>
<owl:disjointWith>
<owl:Class rdf:about="#DriveSystem"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaxLiftWeight"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Quality_Criteria"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith>
<owl:Class rdf:about="#ToolInterface"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfMovableClaws"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Payload"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith rdf:resource="#ShapeOfClaws"/> <owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith>
<owl:Class rdf:about="#LightSpotSize"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MinMeasurementRange"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ControlSystem"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Physical_Properties_Gripper"/>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#DiameterOfGripper"/>
<owl:disjointWith>
<owl:Class rdf:about="#PathVelocityFluctuation"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#WorkFrame"/>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfVacuum"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfFingers"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaterialOfGripper"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Height">
<owl:disjointWith>
<owl:Class rdf:about="#MechanicalResistance"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Physical_Properties"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#Mass"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Length"/>
<owl:disjointWith>
<owl:Class rdf:about="#ID"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Material"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Width"/>
<owl:disjointWith rdf:resource="#Shape"/>
<owl:disjointWith rdf:resource="#Cost"/>
</owl:Class>
<owl:Class rdf:about="#Material">
<rdfs:subClassOf>
<owl:Class rdf:about="#Physical_Properties"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#Mass"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Shape"/>
<owl:disjointWith rdf:resource="#Cost"/>
<owl:disjointWith rdf:resource="#Height"/>
<owl:disjointWith rdf:resource="#Width"/>
<owl:disjointWith>
<owl:Class rdf:about="#MechanicalResistance"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Length"/>
<owl:disjointWith>
<owl:Class rdf:about="#ID"/> </owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Quality_Criteria">
<owl:disjointWith rdf:resource="#MaximumForce"/>
<owl:disjointWith>
<owl:Class rdf:about="#Payload"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfMovableClaws"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaxLiftWeight"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#WorkFrame"/>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<rdfs:subClassOf rdf:resource="#Property"/>
<owl:disjointWith>
<owl:Class rdf:about="#LightSpotSize"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith rdf:resource="#ElectricallySupported"/>
<owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
<owl:disjointWith>
<owl:Class rdf:about="#Physical_Properties"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfVacuum"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith rdf:resource="#DiameterOfGripper"/>
<owl:disjointWith>
<owl:Class rdf:about="#MaterialOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#NumberOfFingers"/>
<owl:disjointWith>
<owl:Class rdf:about="#ControlSystem"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#InsideOrOutsidePicking"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#PathVelocityFluctuation"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#LaserClass"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith rdf:resource="#ShapeOfClaws"/>
<owl:disjointWith rdf:resource="#TypeOfMagnet"/>
<owl:disjointWith>
<owl:Class rdf:about="#DriveSystem"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#SwitchingFrequency"/>
<owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
<owl:disjointWith rdf:resource="#Communicational"/>
<owl:disjointWith>
<owl:Class rdf:about="#MinMeasurementRange"/>
</owl:disjointWith> <owl:disjointWith rdf:resource="#TypeOfActuation"/>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfFingers"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith>
<owl:Class rdf:about="#ToolInterface"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
</owl:Class>
<owl:Class rdf:about="#MeasureDistance">
<owl:disjointWith rdf:resource="#MeasureAngle"/>
<owl:disjointWith rdf:resource="#MeasureArea"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#Measure"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:ID="DetermineOrientationOfObject">
<rdfs:subClassOf rdf:resource="#Determine"/>
<owl:disjointWith>
<owl:Class rdf:ID="DetermineMotionOfObject"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="DeterminePositionOfObject"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#MagnetGripper">
<rdfs:subClassOf>
<owl:Restriction>
<owl:someValuesFrom>
<owl:Class rdf:about="#AdjustCurrentToGrip"/>
</owl:someValuesFrom>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasSkill"/>
</owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasSkill"/>
</owl:onProperty>
<owl:someValuesFrom rdf:resource="#AdjustCurrentToRelease"/>
</owl:Restriction>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#FingerGripper"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#Gripper"/>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#VacuumGripper"/>
<owl:disjointWith rdf:resource="#PincerGripper"/>
</owl:Class>
<owl:Class rdf:about="#True">
<owl:disjointWith rdf:resource="#Stretch-Form"/>
<owl:disjointWith rdf:resource="#Roll"/>
<owl:disjointWith>
<owl:Class rdf:about="#Deep-Draw"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Flang"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Crush"/>
<owl:disjointWith>
<owl:Class rdf:about="#Press"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Bead"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Bend"/>
<owl:disjointWith rdf:resource="#Extrude"/> <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Machine finishing after e.g. folding</rdfs:comment>
<rdfs:subClassOf>
<owl:Class rdf:about="#Form"/>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#Forge"/>
<owl:disjointWith>
<owl:Class rdf:about="#Fold"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:ID="TorqueForceSensor">
<rdfs:subClassOf rdf:resource="#Sensor"/>
</owl:Class>
<owl:Class rdf:about="#Flang">
<owl:disjointWith rdf:resource="#Forge"/>
<owl:disjointWith>
<owl:Class rdf:about="#Fold"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Deep-Draw"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Bend"/>
<owl:disjointWith>
<owl:Class rdf:about="#Bead"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Orthogonal bending up of the border of metal sheets. This is used for creating pipe connections and is widely used in the manufacturing of air channels.</rdfs:comment>
<owl:disjointWith rdf:resource="#Stretch-Form"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#Form"/>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#True"/>
<owl:disjointWith>
<owl:Class rdf:about="#Press"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Crush"/>
<owl:disjointWith rdf:resource="#Roll"/>
<owl:disjointWith rdf:resource="#Extrude"/>
</owl:Class>
<owl:Class rdf:about="#ReadOpticalCharacters">
<owl:disjointWith rdf:resource="#ReadBarCode"/>
<owl:disjointWith rdf:resource="#Read2DMatrixCode"/>
<rdfs:subClassOf rdf:resource="#Read"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Task and Skills of Optical Sensors v1.1
part:7</rdfs:comment>
</owl:Class>
<owl:Class rdf:about="#Bolt">
<rdfs:subClassOf>
<owl:Class rdf:about="#Join"/>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#Weld"/>
<owl:disjointWith>
<owl:Class rdf:about="#Rivet"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Glue"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Solder"/>
<owl:disjointWith>
<owl:Class rdf:about="#Fill"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Clinch"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Bolts are removable elements to create a connection between two or more workpieces.</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#Assemble"/> </owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Gripper">
<owl:disjointWith>
<owl:Class rdf:about="#Robot"/>
</owl:disjointWith>
<rdfs:subClassOf rdf:resource="#ManipulationAndHandling"/>
<owl:disjointWith rdf:resource="#Sensor"/>
</owl:Class>
<owl:Class rdf:ID="StorePartlyOrdered">
<rdfs:subClassOf rdf:resource="#Store"/>
<owl:disjointWith>
<owl:Class rdf:ID="StoreUnOrdered"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="StoreInOrder"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Save workpieces which are geometrically defined in a well-defined position and/or orientation. This means position and orientation are only defined in some of their degrees of freedom.</rdfs:comment>
</owl:Class>
<owl:Class rdf:about="#Deep-Draw">
<owl:disjointWith rdf:resource="#Roll"/>
<owl:disjointWith rdf:resource="#Flang"/>
<owl:disjointWith>
<owl:Class rdf:about="#Bead"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Crush"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#Form"/>
</rdfs:subClassOf>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Change the shape of a sheet metal or plate by pressing into a hollow piece.
This is one of the most important procedures in mass production and small series production.</rdfs:comment>
<owl:disjointWith rdf:resource="#Stretch-Form"/>
<owl:disjointWith>
<owl:Class rdf:about="#Fold"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Bend"/>
<owl:disjointWith rdf:resource="#Forge"/>
<owl:disjointWith>
<owl:Class rdf:about="#Press"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Extrude"/>
<owl:disjointWith rdf:resource="#True"/>
</owl:Class>
<owl:Class rdf:about="#Glue">
<owl:disjointWith rdf:resource="#Bolt"/>
<owl:disjointWith>
<owl:Class rdf:about="#Clinch"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Join"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#Fill"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Assemble"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Weld"/>
<owl:disjointWith rdf:resource="#Solder"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Connect workpieces with the help of a glue. This is done by physical interaction of the glue at the workpieces' interfaces.</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#Rivet"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#PhysicalInterface">
<rdfs:subClassOf rdf:resource="#Arrangement"/>
<owl:disjointWith> <owl:Class rdf:about="#MinAmbientTemperature"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
<owl:disjointWith>
<owl:Class rdf:about="#EnclosureRatingIP"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#PowerConsumption"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MountedDevicePosition"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
<owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
</owl:Class>
<owl:Class rdf:about="#ManipulationAndHandlingFunction">
<owl:disjointWith rdf:resource="#ManufacturingFunction"/>
<rdfs:subClassOf rdf:resource="#MainFunction"/>
<owl:disjointWith rdf:resource="#SensorFunction"/>
<owl:disjointWith rdf:resource="#AssemblyFunction"/>
</owl:Class>
<owl:Class rdf:about="#OpenClaws">
<owl:disjointWith rdf:resource="#AdjustCurrentToRelease"/>
<owl:disjointWith rdf:resource="#OpenFingers"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#Release"/>
</rdfs:subClassOf>
<rdfs:subClassOf>
<owl:Restriction>
<owl:someValuesFrom rdf:resource="#PincerGripper"/>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#isSkillOf"/>
</owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#AdjustVacuumToRelease"/>
</owl:Class>
<owl:Class rdf:about="#AsFastAsPossible">
<rdfs:subClassOf rdf:resource="#MoveFromTo"/>
<owl:disjointWith rdf:resource="#Circular"/>
<owl:disjointWith>
<owl:Class rdf:about="#Karthesian"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:ID="VisionSensor">
<rdfs:subClassOf rdf:resource="#SmartCamera"/>
</owl:Class>
<owl:Class rdf:about="#Pass">
<owl:disjointWith rdf:resource="#Arrange"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Move a part from one to another positition along an undefined trajectory. The part's orientation remains unchanged.</rdfs:comment>
<owl:disjointWith rdf:resource="#Convey"/>
<owl:disjointWith rdf:resource="#Orient"/>
<owl:disjointWith>
<owl:Class rdf:about="#Feed"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Turn"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Displace"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Position"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Pan"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#Move"/>
</rdfs:subClassOf>
</owl:Class> <owl:Class rdf:about="#Place">
<owl:disjointWith>
<owl:Class rdf:about="#Pick"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Picking is a sequence of moving somewhere, deactivating a gripper and moving back again.</rdfs:comment>
<owl:disjointWith rdf:resource="#MoveFromTo"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#NotClassified"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#Form">
<owl:disjointWith rdf:resource="#ModifyWorkpieceProperties"/>
<owl:disjointWith>
<owl:Class rdf:about="#Join"/>
</owl:disjointWith>
<rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
<owl:disjointWith>
<owl:Class rdf:about="#Mold"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Separate"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Create workpieces from solid raw pieces. The shape is permanently modified. The volumina remains the same.</rdfs:comment>
<owl:disjointWith rdf:resource="#Coat"/>
</owl:Class>
<owl:Class rdf:about="#Join">
<owl:disjointWith rdf:resource="#ModifyWorkpieceProperties"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>This is the creation of a long-term connection of workpieces with a geometrically defined, fixed shape or with formless-parts.</rdfs:comment>
<rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
<owl:disjointWith rdf:resource="#Form"/>
<owl:disjointWith rdf:resource="#Coat"/>
<owl:disjointWith rdf:resource="#Separate"/>
<owl:disjointWith>
<owl:Class rdf:about="#Mold"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#TypeOfVacuum">
<owl:disjointWith>
<owl:Class rdf:about="#Resolution"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
<owl:disjointWith rdf:resource="#ResponseTime"/>
<owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith rdf:resource="#ElectricallySupported"/>
<owl:disjointWith rdf:resource="#TypeOfActuation"/>
<owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
<owl:disjointWith rdf:resource="#NumberOfFingers"/>
<owl:disjointWith rdf:resource="#Accuracy"/>
<owl:disjointWith>
<owl:Class rdf:about="#DriveSystem"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaxLiftWeight"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#SwitchingFrequency"/>
<owl:disjointWith>
<owl:Class rdf:about="#ControlSystem"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Payload"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MinMeasurementRange"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Quality_Criteria"/> <owl:disjointWith>
<owl:Class rdf:about="#ToolInterface"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaterialOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith rdf:resource="#DiameterOfGripper"/>
<owl:disjointWith>
<owl:Class rdf:about="#LaserClass"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#CycleTime"/>
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith rdf:resource="#MaximumForce"/>
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Communicational"/>
<owl:disjointWith>
<owl:Class rdf:about="#InsideOrOutsidePicking"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#TypeOfMagnet"/>
<owl:disjointWith>
<owl:Class rdf:about="#PathVelocityFluctuation"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfMovableClaws"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfFingers"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#LightSpotSize"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Physical_Properties_Gripper"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Precision"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#WorkFrame"/>
<owl:disjointWith rdf:resource="#ShapeOfClaws"/>
</owl:Class>
<owl:Class rdf:about="#Resolution">
<owl:disjointWith rdf:resource="#NumberOfFingers"/>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#TypeOfVacuum"/>
<owl:disjointWith rdf:resource="#ShapeOfClaws"/>
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
<owl:disjointWith>
<owl:Class rdf:about="#MaterialOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#CycleTime"/>
<owl:disjointWith rdf:resource="#TypeOfMagnet"/>
<owl:disjointWith>
<owl:Class rdf:about="#MaxLiftWeight"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ControlSystem"/> </owl:disjointWith>
<owl:disjointWith rdf:resource="#TypeOfActuation"/>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#DriveSystem"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#LightSpotSize"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ToolInterface"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Payload"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfFingers"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Communicational"/>
<owl:disjointWith rdf:resource="#WorkFrame"/>
<owl:disjointWith rdf:resource="#SwitchingFrequency"/>
<owl:disjointWith>
<owl:Class rdf:about="#LaserClass"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith>
<owl:Class rdf:about="#Precision"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ResponseTime"/>
<owl:disjointWith rdf:resource="#Accuracy"/>
<owl:disjointWith rdf:resource="#DiameterOfGripper"/>
<owl:disjointWith>
<owl:Class rdf:about="#PathVelocityFluctuation"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumForce"/>
<owl:disjointWith>
<owl:Class rdf:about="#MinMeasurementRange"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfMovableClaws"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#InsideOrOutsidePicking"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ElectricallySupported"/>
<rdfs:subClassOf rdf:resource="#Quality_Criteria"/>
</owl:Class>
<owl:Class rdf:about="#OpticContrastScanner">
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Tasks and Skills of Ocptical Sensor 1.1
Cap: 3</rdfs:comment>
<rdfs:subClassOf>
<owl:Class rdf:about="#OpticSensor"/>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
<owl:disjointWith rdf:resource="#OpticColorSensor"/> </owl:Class>
<owl:Class rdf:about="#CartesianRobot">
<owl:disjointWith>
<owl:Class rdf:about="#ParallelKinematicRobot"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#Robot"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#ArticulatedRobot"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#SimpleKinematicRobot"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#HexapodRobot"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>These machines move along the cartesian axes, i.e. they don't have revolute joints. Sometimes, there is a kind of portal where they move in. They are usually used for packing, palletizing and so on where they move heavy loads.</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#ScaraRobot"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:ID="CheckSurfaceForIrregularities">
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Task and Skills of Optical Sensors v1.1
part:7</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:ID="CheckPosition"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Check"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#Powder-coat">
<owl:disjointWith rdf:resource="#Varnish"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>The powder becomes electrostatically charged and sprayed to the workpiece. Then it is burned into the workpiece.</rdfs:comment>
<rdfs:subClassOf rdf:resource="#Coat"/>
<owl:disjointWith rdf:resource="#Electroplate"/>
<owl:disjointWith>
<owl:Class rdf:about="#Hot-galvanise"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#LightSpotSize">
<owl:disjointWith>
<owl:Class rdf:about="#Payload"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Precision"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#TypeOfActuation"/>
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Quality_Criteria"/>
<owl:disjointWith rdf:resource="#TypeOfMagnet"/>
<owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
<owl:disjointWith>
<owl:Class rdf:about="#DriveSystem"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith>
<owl:Class rdf:about="#MaterialOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Communicational"/>
<owl:disjointWith rdf:resource="#WorkFrame"/> <owl:disjointWith>
<owl:Class rdf:about="#ControlSystem"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
<owl:disjointWith rdf:resource="#ResponseTime"/>
<owl:disjointWith rdf:resource="#DiameterOfGripper"/>
<owl:disjointWith rdf:resource="#ElectricallySupported"/>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfFingers"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#TypeOfVacuum"/>
<owl:disjointWith rdf:resource="#NumberOfFingers"/>
<owl:disjointWith rdf:resource="#SwitchingFrequency"/>
<owl:disjointWith>
<owl:Class rdf:about="#InsideOrOutsidePicking"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ShapeOfClaws"/>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Physical_Properties_Sensor"/>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#Accuracy"/>
<owl:disjointWith rdf:resource="#CycleTime"/>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
<owl:disjointWith>
<owl:Class rdf:about="#MinMeasurementRange"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith rdf:resource="#Resolution"/>
<owl:disjointWith>
<owl:Class rdf:about="#MaxLiftWeight"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#PathVelocityFluctuation"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfMovableClaws"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumForce"/>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith>
<owl:Class rdf:about="#LaserClass"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ToolInterface"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Reach"/>
</owl:Class>
<owl:Class rdf:about="#Assemble">
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Putting together two workpieces.</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#Fill"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Glue"/>
<owl:disjointWith rdf:resource="#Bolt"/>
<owl:disjointWith>
<owl:Class rdf:about="#Clinch"/>
</owl:disjointWith>
<rdfs:subClassOf rdf:resource="#Join"/>
<owl:disjointWith>
<owl:Class rdf:about="#Rivet"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Solder"/> <owl:disjointWith rdf:resource="#Weld"/>
</owl:Class>
<owl:Class rdf:about="#MaxLiftWeight">
<owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
<owl:disjointWith>
<owl:Class rdf:about="#PathVelocityFluctuation"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Payload"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith rdf:resource="#Accuracy"/>
<owl:disjointWith rdf:resource="#DiameterOfGripper"/>
<owl:disjointWith rdf:resource="#TypeOfVacuum"/>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfFingers"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith>
<owl:Class rdf:about="#ToolInterface"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ControlSystem"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#InsideOrOutsidePicking"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Quality_Criteria"/>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfMovableClaws"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith rdf:resource="#TypeOfActuation"/>
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith rdf:resource="#ShapeOfClaws"/>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#LaserClass"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
<owl:disjointWith rdf:resource="#ResponseTime"/>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith rdf:resource="#Communicational"/>
<owl:disjointWith rdf:resource="#TypeOfMagnet"/>
<owl:disjointWith rdf:resource="#MaximumForce"/>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#LightSpotSize"/>
<owl:disjointWith>
<owl:Class rdf:about="#MinMeasurementRange"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
<owl:disjointWith>
<owl:Class rdf:about="#MaterialOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#WorkFrame"/>
<owl:disjointWith rdf:resource="#Resolution"/>
<owl:disjointWith>
<owl:Class rdf:about="#Precision"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ElectricallySupported"/>
<owl:disjointWith rdf:resource="#CycleTime"/>
<owl:disjointWith rdf:resource="#NumberOfFingers"/>
<owl:disjointWith>
<owl:Class rdf:about="#DriveSystem"/>
</owl:disjointWith>
<owl:disjointWith> <owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#SwitchingFrequency"/>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Physical_Properties_Gripper"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:ID="GeneralParallelGripper">
<owl:disjointWith>
<owl:Class rdf:ID="LineParallelGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="CircularParallelGripper"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:ID="ParallelGripper"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:ID="Part">
<owl:disjointWith>
<owl:Class rdf:ID="Merge"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Create a subset of a defined size from a superset.
Separating is a special case of parting with size 1.</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:ID="Assign"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="Divide"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="Unify"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="Branch"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#ModifyAmount"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#MinMeasurementRange">
<owl:disjointWith rdf:resource="#Quality_Criteria"/>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith rdf:resource="#NumberOfFingers"/>
<owl:disjointWith>
<owl:Class rdf:about="#InsideOrOutsidePicking"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumForce"/>
<owl:disjointWith>
<owl:Class rdf:about="#PathVelocityFluctuation"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
<owl:disjointWith>
<owl:Class rdf:about="#Payload"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith>
<owl:Class rdf:about="#Precision"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfFingers"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith> <owl:disjointWith>
<owl:Class rdf:about="#LaserClass"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Accuracy"/>
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith rdf:resource="#ShapeOfClaws"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#Physical_Properties_Sensor"/>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#ElectricallySupported"/>
<owl:disjointWith rdf:resource="#SwitchingFrequency"/>
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#DriveSystem"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaxLiftWeight"/>
<owl:disjointWith rdf:resource="#LightSpotSize"/>
<owl:disjointWith rdf:resource="#TypeOfVacuum"/>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ControlSystem"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Communicational"/>
<owl:disjointWith rdf:resource="#TypeOfMagnet"/>
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith rdf:resource="#DiameterOfGripper"/>
<owl:disjointWith>
<owl:Class rdf:about="#MaterialOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#WorkFrame"/>
<owl:disjointWith rdf:resource="#TypeOfActuation"/>
<owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
<owl:disjointWith rdf:resource="#CycleTime"/>
<owl:disjointWith>
<owl:Class rdf:about="#ToolInterface"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfMovableClaws"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ResponseTime"/>
<owl:disjointWith rdf:resource="#Resolution"/>
</owl:Class>
<owl:Class rdf:about="#TrasformImage">
<owl:disjointWith>
<owl:Class rdf:about="#FilterImage"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#CompressDecompressImageData"/>
<owl:disjointWith>
<owl:Class rdf:about="#CalibrateImage"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ExtractEdges"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#SegmentImage"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#BlobAnalysis"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#ImageAnalysis"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#MountedDevicePosition"> <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
<owl:disjointWith>
<owl:Class rdf:about="#EnclosureRatingIP"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
<owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
<owl:disjointWith>
<owl:Class rdf:about="#MinAmbientTemperature"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#PowerConsumption"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#PhysicalInterface"/>
<rdfs:subClassOf rdf:resource="#Arrangement"/>
</owl:Class>
<owl:Class rdf:about="#Thermal-Separate">
<owl:disjointWith rdf:resource="#Broach"/>
<owl:disjointWith>
<owl:Class rdf:about="#Cut"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Hone"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Cut a contour with the help of a laser, a plasma cutter or a cutting torch.</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#Plane"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Electro-discharge-machine"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Saw"/>
<owl:disjointWith rdf:resource="#Drill"/>
<owl:disjointWith rdf:resource="#Rub"/>
<owl:disjointWith>
<owl:Class rdf:about="#Thrust"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Mill"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Lathe"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Lap"/>
<rdfs:subClassOf rdf:resource="#Separate"/>
<owl:disjointWith rdf:resource="#Grind"/>
<owl:disjointWith rdf:resource="#File"/>
</owl:Class>
<owl:Class rdf:about="#Secure">
<owl:disjointWith>
<owl:Class rdf:about="#NotClassified"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Move"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ModifyAmount"/>
</owl:disjointWith>
<rdfs:subClassOf rdf:resource="#ManipulationAndHandlingFunction"/>
<owl:disjointWith rdf:resource="#Store"/>
</owl:Class>
<owl:Class rdf:about="#ToolInterface">
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith>
<owl:Class rdf:about="#DriveSystem"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Precision"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
<owl:disjointWith rdf:resource="#TypeOfMagnet"/>
<owl:disjointWith> <owl:Class rdf:about="#TypeOfFingers"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Communicational"/>
<owl:disjointWith>
<owl:Class rdf:about="#InsideOrOutsidePicking"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ControlSystem"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
<owl:disjointWith rdf:resource="#WorkFrame"/>
<owl:disjointWith rdf:resource="#Resolution"/>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfMovableClaws"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumForce"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>How to connect a tool to a robot.</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ElectricallySupported"/>
<owl:disjointWith>
<owl:Class rdf:about="#PathVelocityFluctuation"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
<owl:disjointWith rdf:resource="#ResponseTime"/>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith rdf:resource="#MaxLiftWeight"/>
<owl:disjointWith rdf:resource="#MinMeasurementRange"/>
<owl:disjointWith rdf:resource="#ShapeOfClaws"/>
<owl:disjointWith rdf:resource="#CycleTime"/>
<owl:disjointWith>
<owl:Class rdf:about="#MaterialOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#TypeOfActuation"/>
<rdfs:subClassOf rdf:resource="#Property"/>
<owl:disjointWith rdf:resource="#SwitchingFrequency"/>
<owl:disjointWith rdf:resource="#NumberOfFingers"/>
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith rdf:resource="#Accuracy"/>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith rdf:resource="#LightSpotSize"/>
<owl:disjointWith rdf:resource="#TypeOfVacuum"/>
<owl:disjointWith>
<owl:Class rdf:about="#LaserClass"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith>
<owl:Class rdf:about="#Payload"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Quality_Criteria"/>
<owl:disjointWith rdf:resource="#DiameterOfGripper"/>
</owl:Class>
<owl:Class rdf:about="#NumberOfMovableClaws">
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith> <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
<owl:disjointWith rdf:resource="#MinMeasurementRange"/>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith rdf:resource="#ToolInterface"/>
<owl:disjointWith rdf:resource="#SwitchingFrequency"/>
<owl:disjointWith rdf:resource="#DiameterOfGripper"/>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaxLiftWeight"/>
<owl:disjointWith rdf:resource="#TypeOfMagnet"/>
<owl:disjointWith rdf:resource="#Resolution"/>
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ElectricallySupported"/>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#CycleTime"/>
<owl:disjointWith rdf:resource="#Quality_Criteria"/>
<owl:disjointWith>
<owl:Class rdf:about="#LaserClass"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#NumberOfFingers"/>
<owl:disjointWith>
<owl:Class rdf:about="#DriveSystem"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumForce"/>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith rdf:resource="#Communicational"/>
<owl:disjointWith rdf:resource="#Accuracy"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#Physical_Properties_Gripper"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfFingers"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith rdf:resource="#ShapeOfClaws"/>
<owl:disjointWith rdf:resource="#LightSpotSize"/>
<owl:disjointWith>
<owl:Class rdf:about="#ControlSystem"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ResponseTime"/>
<owl:disjointWith>
<owl:Class rdf:about="#Precision"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#InsideOrOutsidePicking"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaterialOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#TypeOfActuation"/>
<owl:disjointWith rdf:resource="#WorkFrame"/>
<owl:disjointWith rdf:resource="#TypeOfVacuum"/>
<owl:disjointWith>
<owl:Class rdf:about="#Payload"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#PathVelocityFluctuation"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Sort">
<owl:disjointWith>
<owl:Class rdf:about="#ImageAnalysis"/>
</owl:disjointWith>
<owl:disjointWith> <owl:Class rdf:about="#Scan"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Detect"/>
<owl:disjointWith rdf:resource="#Read"/>
<rdfs:subClassOf rdf:resource="#SensorFunction"/>
<owl:disjointWith>
<owl:Class rdf:about="#Measure"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Structured Description of Skills and Device 1.0
pag:5</rdfs:comment>
<owl:disjointWith rdf:resource="#Determine"/>
<owl:disjointWith>
<owl:Class rdf:about="#Check"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Classify"/>
</owl:Class>
<owl:Class rdf:about="#Divide">
<owl:disjointWith>
<owl:Class rdf:about="#Merge"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#ModifyAmount"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#Assign"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Unify"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Part"/>
<owl:disjointWith>
<owl:Class rdf:about="#Branch"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Create a subset from a superset.
The size of source and target sets does not necessarily have to be defined.</rdfs:comment>
</owl:Class>
<owl:Class rdf:about="#Physical_Properties_Gripper">
<rdfs:subClassOf>
<owl:Class rdf:about="#Physical_Properties"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#Mold">
<owl:disjointWith rdf:resource="#ModifyWorkpieceProperties"/>
<rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
<owl:disjointWith rdf:resource="#Separate"/>
<owl:disjointWith rdf:resource="#Coat"/>
<owl:disjointWith rdf:resource="#Join"/>
<owl:disjointWith rdf:resource="#Form"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>From a formless material a workpiece is created. The original material can be in either form like gaseous, vaporous, fluid, solid (powderous, grainy), papescent, paste-like, ...</rdfs:comment>
</owl:Class>
<owl:Class rdf:about="#LaserClass">
<owl:disjointWith>
<owl:Class rdf:about="#Payload"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith rdf:resource="#WorkFrame"/>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith rdf:resource="#Resolution"/>
<owl:disjointWith rdf:resource="#Accuracy"/>
<owl:disjointWith>
<owl:Class rdf:about="#MaterialOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#NumberOfFingers"/>
<owl:disjointWith>
<owl:Class rdf:about="#Precision"/>
</owl:disjointWith> <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
<owl:disjointWith rdf:resource="#MaxLiftWeight"/>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
<owl:disjointWith>
<owl:Class rdf:about="#InsideOrOutsidePicking"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
<owl:disjointWith rdf:resource="#MinMeasurementRange"/>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
<owl:disjointWith rdf:resource="#Quality_Criteria"/>
<owl:disjointWith rdf:resource="#LightSpotSize"/>
<owl:disjointWith rdf:resource="#ShapeOfClaws"/>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#TypeOfVacuum"/>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfFingers"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ToolInterface"/>
<owl:disjointWith>
<owl:Class rdf:about="#DriveSystem"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#Physical_Properties_Sensor"/>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#CycleTime"/>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith rdf:resource="#Communicational"/>
<owl:disjointWith rdf:resource="#DiameterOfGripper"/>
<owl:disjointWith rdf:resource="#ResponseTime"/>
<owl:disjointWith>
<owl:Class rdf:about="#ControlSystem"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#TypeOfMagnet"/>
<owl:disjointWith rdf:resource="#MaximumForce"/>
<owl:disjointWith rdf:resource="#TypeOfActuation"/>
<owl:disjointWith rdf:resource="#ElectricallySupported"/>
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#PathVelocityFluctuation"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#IntelligentRobot">
<owl:disjointWith rdf:resource="#VariableSequenceRobot"/>
<owl:disjointWith rdf:resource="#NumericalControl"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Introdution to Robotics
(Analysis, System, Applications)
Saeed B. Niku</rdfs:comment>
<rdfs:subClassOf>
<owl:Class rdf:about="#Robot"/>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#PlaybackRobot"/>
<rdfs:subClassOf rdf:resource="http://www.w3.org/2002/07/owl#Thing"/>
<rdf:type rdf:resource="http://www.w3.org/2002/07/owl#DeprecatedClass"/>
</owl:Class>
<owl:Class rdf:about="#Merge">
<owl:disjointWith> <owl:Class rdf:about="#Unify"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Branch"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Combine subflows of material to a superflow.</rdfs:comment>
<owl:disjointWith rdf:resource="#Divide"/>
<owl:disjointWith>
<owl:Class rdf:about="#Assign"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Part"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#ModifyAmount"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#ImageAnalysis">
<owl:disjointWith rdf:resource="#Detect"/>
<owl:disjointWith rdf:resource="#Sort"/>
<owl:disjointWith>
<owl:Class rdf:about="#Measure"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Classify"/>
<owl:disjointWith>
<owl:Class rdf:about="#Scan"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Check"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Determine"/>
<rdfs:subClassOf rdf:resource="#SensorFunction"/>
<owl:disjointWith rdf:resource="#Read"/>
</owl:Class>
<owl:Class rdf:about="#Clinch">
<owl:disjointWith rdf:resource="#Assemble"/>
<rdfs:subClassOf rdf:resource="#Join"/>
<owl:disjointWith rdf:resource="#Weld"/>
<owl:disjointWith rdf:resource="#Glue"/>
<owl:disjointWith rdf:resource="#Solder"/>
<owl:disjointWith rdf:resource="#Bolt"/>
<owl:disjointWith>
<owl:Class rdf:about="#Rivet"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>This is a connection of metal sheets without any additional material. The workpieces are deformed between a stamp and a template to generate a pushbutton-like shape.</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#Fill"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Fill">
<owl:disjointWith rdf:resource="#Assemble"/>
<owl:disjointWith rdf:resource="#Bolt"/>
<owl:disjointWith rdf:resource="#Clinch"/>
<owl:disjointWith rdf:resource="#Glue"/>
<owl:disjointWith rdf:resource="#Weld"/>
<owl:disjointWith rdf:resource="#Solder"/>
<owl:disjointWith>
<owl:Class rdf:about="#Rivet"/>
</owl:disjointWith>
<rdfs:subClassOf rdf:resource="#Join"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Fill a workpiece with a cubic capacity.</rdfs:comment>
</owl:Class>
<owl:Class rdf:about="#DriveSystem">
<owl:disjointWith rdf:resource="#LightSpotSize"/>
<owl:disjointWith rdf:resource="#Communicational"/>
<owl:disjointWith rdf:resource="#ShapeOfClaws"/>
<owl:disjointWith rdf:resource="#MaximumForce"/>
<owl:disjointWith rdf:resource="#CycleTime"/>
<owl:disjointWith rdf:resource="#NumberOfFingers"/> <owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith rdf:resource="#Accuracy"/>
<owl:disjointWith rdf:resource="#TypeOfVacuum"/>
<owl:disjointWith>
<owl:Class rdf:about="#ControlSystem"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith>
<owl:Class rdf:about="#Precision"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#DiameterOfGripper"/>
<owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
<owl:disjointWith rdf:resource="#Quality_Criteria"/>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MinMeasurementRange"/>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ElectricallySupported"/>
<owl:disjointWith rdf:resource="#WorkFrame"/>
<owl:disjointWith>
<owl:Class rdf:about="#InsideOrOutsidePicking"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#SwitchingFrequency"/>
<owl:disjointWith>
<owl:Class rdf:about="#Payload"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ToolInterface"/>
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#TypeOfMagnet"/>
<owl:disjointWith rdf:resource="#ResponseTime"/>
<owl:disjointWith rdf:resource="#MaxLiftWeight"/>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfFingers"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith>
<owl:Class rdf:about="#PathVelocityFluctuation"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#TypeOfActuation"/>
<rdfs:subClassOf rdf:resource="#Physical_Properties_Robot"/>
<owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
<owl:disjointWith rdf:resource="#LaserClass"/>
<owl:disjointWith rdf:resource="#Resolution"/>
<owl:disjointWith>
<owl:Class rdf:about="#MaterialOfGripper"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:ID="TactileProximitySwitch">
<rdfs:subClassOf>
<owl:Class rdf:ID="TactileSensor"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#Precision">
<owl:disjointWith rdf:resource="#MaxLiftWeight"/>
<owl:disjointWith rdf:resource="#ToolInterface"/>
<owl:disjointWith rdf:resource="#TypeOfActuation"/>
<owl:disjointWith>
<owl:Class rdf:about="#Payload"/> </owl:disjointWith>
<rdfs:subClassOf rdf:resource="#Quality_Criteria"/>
<owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
<owl:disjointWith rdf:resource="#ResponseTime"/>
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MinMeasurementRange"/>
<owl:disjointWith>
<owl:Class rdf:about="#MaterialOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Communicational"/>
<owl:disjointWith rdf:resource="#CycleTime"/>
<owl:disjointWith rdf:resource="#SwitchingFrequency"/>
<owl:disjointWith rdf:resource="#Repeatability"/>
<owl:disjointWith rdf:resource="#WorkFrame"/>
<owl:disjointWith rdf:resource="#TypeOfMagnet"/>
<owl:disjointWith rdf:resource="#DriveSystem"/>
<owl:disjointWith rdf:resource="#Accuracy"/>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#InsideOrOutsidePicking"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumForce"/>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith rdf:resource="#Resolution"/>
<owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
<owl:disjointWith rdf:resource="#LightSpotSize"/>
<owl:disjointWith>
<owl:Class rdf:about="#PathVelocityFluctuation"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfFingers"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#NumberOfFingers"/>
<owl:disjointWith rdf:resource="#DiameterOfGripper"/>
<owl:disjointWith rdf:resource="#ShapeOfClaws"/>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith rdf:resource="#TypeOfVacuum"/>
<owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ElectricallySupported"/>
<owl:disjointWith rdf:resource="#LaserClass"/>
<owl:disjointWith>
<owl:Class rdf:about="#ControlSystem"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Rivet">
<rdfs:subClassOf rdf:resource="#Join"/>
<owl:disjointWith rdf:resource="#Glue"/>
<owl:disjointWith rdf:resource="#Assemble"/>
<owl:disjointWith rdf:resource="#Solder"/>
<owl:disjointWith rdf:resource="#Fill"/>
<owl:disjointWith rdf:resource="#Bolt"/>
<owl:disjointWith rdf:resource="#Weld"/>
<owl:disjointWith rdf:resource="#Clinch"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Connect workpieces with the help of a deformed, cylindrical connection element.</rdfs:comment>
</owl:Class> <owl:Class rdf:about="#Physical_Properties_Sensor">
<rdfs:subClassOf>
<owl:Class rdf:about="#Physical_Properties"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#Mill">
<owl:disjointWith rdf:resource="#File"/>
<owl:disjointWith rdf:resource="#Drill"/>
<owl:disjointWith rdf:resource="#Thermal-Separate"/>
<owl:disjointWith rdf:resource="#Hone"/>
<owl:disjointWith rdf:resource="#Saw"/>
<owl:disjointWith rdf:resource="#Rub"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>The tool moves over the workpiece to remove chipping. The tool is fed in a linear motion over the workpiece while the tool is rotating.</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#Electro-discharge-machine"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Plane"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Lap"/>
<owl:disjointWith>
<owl:Class rdf:about="#Cut"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Thrust"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Lathe"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Grind"/>
<owl:disjointWith rdf:resource="#Broach"/>
<rdfs:subClassOf rdf:resource="#Separate"/>
</owl:Class>
<owl:Class rdf:about="#IntelligentCtrl">
<owl:disjointWith rdf:resource="#NumericalCtrl"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#ControlSystem"/>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#PlaybackCtrl"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>This includes calculating up functions for setting positions and trajectories.</rdfs:comment>
</owl:Class>
<owl:Class rdf:about="#Grasp">
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Structured Description of Skills and Device 1.0
pag:5
Keep a workpiece temporarily in a given position and orientation.</rdfs:comment>
<rdfs:subClassOf rdf:resource="#Secure"/>
<owl:disjointWith>
<owl:Class rdf:about="#Release"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Branch">
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Divide a material flow into subflows.</rdfs:comment>
<owl:disjointWith rdf:resource="#Divide"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#ModifyAmount"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#Unify"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Merge"/>
<owl:disjointWith>
<owl:Class rdf:about="#Assign"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Part"/>
</owl:Class> <owl:Class rdf:ID="ElectricalConnector">
<rdfs:subClassOf rdf:resource="#ToolInterface"/>
<owl:disjointWith>
<owl:Class rdf:ID="MechanicalConnector"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>How to connect a tool electrically.</rdfs:comment>
</owl:Class>
<owl:Class rdf:about="#CircularParallelGripper">
<owl:disjointWith>
<owl:Class rdf:about="#LineParallelGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#GeneralParallelGripper"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#ParallelGripper"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#Thrust">
<owl:disjointWith>
<owl:Class rdf:about="#Lathe"/>
</owl:disjointWith>
<rdfs:subClassOf rdf:resource="#Separate"/>
<owl:disjointWith rdf:resource="#Rub"/>
<owl:disjointWith>
<owl:Class rdf:about="#Cut"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Mill"/>
<owl:disjointWith>
<owl:Class rdf:about="#Electro-discharge-machine"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#File"/>
<owl:disjointWith rdf:resource="#Drill"/>
<owl:disjointWith rdf:resource="#Hone"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>The tool performs a cutting movement and a reverse movement.</rdfs:comment>
<owl:disjointWith rdf:resource="#Broach"/>
<owl:disjointWith rdf:resource="#Grind"/>
<owl:disjointWith rdf:resource="#Lap"/>
<owl:disjointWith rdf:resource="#Thermal-Separate"/>
<owl:disjointWith rdf:resource="#Saw"/>
<owl:disjointWith>
<owl:Class rdf:about="#Plane"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Sinter">
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>By using powder material, a workpiece is formed. By heating the workpiece is hardened by avoiding a fluid phase.</rdfs:comment>
<owl:disjointWith rdf:resource="#Cast"/>
<owl:disjointWith>
<owl:Class rdf:about="#ElectrolyticSegregate"/>
</owl:disjointWith>
<rdfs:subClassOf rdf:resource="#Mold"/>
</owl:Class>
<owl:Class rdf:ID="OpticReflexSwitch">
<owl:disjointWith>
<owl:Class rdf:ID="InductiveProximitySwitch"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Tasks and Skills of Ocptical Sensor 1.1
Cap: 2</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:ID="OpticThroughBeanSwitches"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#OpticSensor"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#Mass">
<owl:disjointWith> <owl:Class rdf:about="#ID"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MechanicalResistance"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Material"/>
<owl:disjointWith rdf:resource="#Width"/>
<owl:disjointWith rdf:resource="#Cost"/>
<owl:disjointWith rdf:resource="#Shape"/>
<owl:disjointWith rdf:resource="#Height"/>
<owl:disjointWith rdf:resource="#Length"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#Physical_Properties"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#Fold">
<owl:disjointWith rdf:resource="#Stretch-Form"/>
<owl:disjointWith rdf:resource="#Crush"/>
<owl:disjointWith rdf:resource="#True"/>
<owl:disjointWith rdf:resource="#Roll"/>
<owl:disjointWith rdf:resource="#Extrude"/>
<owl:disjointWith rdf:resource="#Deep-Draw"/>
<rdfs:subClassOf rdf:resource="#Form"/>
<owl:disjointWith>
<owl:Class rdf:about="#Bead"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Bend"/>
<owl:disjointWith rdf:resource="#Flang"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Buckle, squeeze or crop thin, malleable and/or flexible materials like sheet metals and plates.</rdfs:comment>
<owl:disjointWith rdf:resource="#Forge"/>
<owl:disjointWith>
<owl:Class rdf:about="#Press"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Lathe">
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>The workpiece turns on a lathe. The cutting movement is performed by its turning movement. The tool is fixed and removes chips from the workpiece. Usually only rotation-symmetric workpieces are handled here.</rdfs:comment>
<owl:disjointWith rdf:resource="#Rub"/>
<owl:disjointWith rdf:resource="#File"/>
<owl:disjointWith>
<owl:Class rdf:about="#Cut"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Hone"/>
<owl:disjointWith>
<owl:Class rdf:about="#Plane"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Grind"/>
<rdfs:subClassOf rdf:resource="#Separate"/>
<owl:disjointWith rdf:resource="#Mill"/>
<owl:disjointWith>
<owl:Class rdf:about="#Electro-discharge-machine"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Saw"/>
<owl:disjointWith rdf:resource="#Lap"/>
<owl:disjointWith rdf:resource="#Thrust"/>
<owl:disjointWith rdf:resource="#Drill"/>
<owl:disjointWith rdf:resource="#Broach"/>
<owl:disjointWith rdf:resource="#Thermal-Separate"/>
</owl:Class>
<owl:Class rdf:ID="InductiveSensor">
<rdfs:subClassOf rdf:resource="#Sensor"/>
</owl:Class>
<owl:Class rdf:about="#ModifyAmount">
<rdfs:subClassOf rdf:resource="#ManipulationAndHandlingFunction"/>
<owl:disjointWith rdf:resource="#Store"/>
<owl:disjointWith>
<owl:Class rdf:about="#Move"/>
</owl:disjointWith>
<owl:disjointWith> <owl:Class rdf:about="#NotClassified"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Secure"/>
</owl:Class>
<owl:Class rdf:about="#Press">
<owl:disjointWith rdf:resource="#Flang"/>
<owl:disjointWith rdf:resource="#Forge"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Modify the surface of a solid body with the help of a stamp. The feed rate is very slow, although the pressure is very high.</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#Bead"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Bend"/>
<owl:disjointWith rdf:resource="#Fold"/>
<owl:disjointWith rdf:resource="#Stretch-Form"/>
<rdfs:subClassOf rdf:resource="#Form"/>
<owl:disjointWith rdf:resource="#Deep-Draw"/>
<owl:disjointWith rdf:resource="#Roll"/>
<owl:disjointWith rdf:resource="#True"/>
<owl:disjointWith rdf:resource="#Crush"/>
<owl:disjointWith rdf:resource="#Extrude"/>
</owl:Class>
<owl:Class rdf:about="#EncoderWireDrawDistanceSensor">
<owl:disjointWith rdf:resource="#EncoderLinearDistanceSensor"/>
<owl:disjointWith rdf:resource="#OpticDistanceSensorScanner"/>
<owl:disjointWith>
<owl:Class rdf:about="#OpticDistanceSensorReflector"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>distanceMeasurements.pdf
SICK
pag 4</rdfs:comment>
<rdfs:subClassOf>
<owl:Class rdf:about="#EncoderSensor"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#UltrasonicDistanceSensor"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Hot-galvanise">
<owl:disjointWith rdf:resource="#Powder-coat"/>
<rdfs:subClassOf rdf:resource="#Coat"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>A metallic layer is put onto the workpieces by putting them into a smelter. This is mainly done to reduce corrosion.</rdfs:comment>
<owl:disjointWith rdf:resource="#Electroplate"/>
<owl:disjointWith rdf:resource="#Varnish"/>
</owl:Class>
<owl:Class rdf:about="#Position">
<owl:disjointWith>
<owl:Class rdf:about="#Turn"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Move a part from an undefined to a well-defined position. The part's orientation is not important here.</rdfs:comment>
<owl:disjointWith rdf:resource="#Pan"/>
<owl:disjointWith rdf:resource="#Orient"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#Move"/>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#Convey"/>
<owl:disjointWith rdf:resource="#Arrange"/>
<owl:disjointWith rdf:resource="#Pass"/>
<owl:disjointWith>
<owl:Class rdf:about="#Displace"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Feed"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Pick">
<rdfs:subClassOf> <owl:Class rdf:about="#NotClassified"/>
</rdfs:subClassOf>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Picking is a sequence of moving somewhere, activating a gripper and moving back again.</rdfs:comment>
<owl:disjointWith rdf:resource="#Place"/>
<owl:disjointWith rdf:resource="#MoveFromTo"/>
</owl:Class>
<owl:Class rdf:about="#OpticSensor">
<rdfs:subClassOf rdf:resource="#Sensor"/>
</owl:Class>
<owl:Class rdf:about="#Displace">
<owl:disjointWith rdf:resource="#Pass"/>
<owl:disjointWith rdf:resource="#Position"/>
<owl:disjointWith rdf:resource="#Pan"/>
<owl:disjointWith rdf:resource="#Arrange"/>
<owl:disjointWith rdf:resource="#Convey"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Move translationally a part along a straight line. The part's orientiation remains unchanged.</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#Turn"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Orient"/>
<owl:disjointWith>
<owl:Class rdf:about="#Feed"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Move"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#ArticulatedRobot">
<rdfs:subClassOf>
<owl:Class rdf:about="#Robot"/>
</rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#SimpleKinematicRobot"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#CartesianRobot"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>This is the standard industrial robot-type with usually 5 to 7 joints.</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#ScaraRobot"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ParallelKinematicRobot"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#HexapodRobot"/>
<owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
</owl:Class>
<owl:Class rdf:about="#Turn">
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Move a part from one to another orientation by turning it around an axis which intersects with the part.</rdfs:comment>
<owl:disjointWith rdf:resource="#Orient"/>
<owl:disjointWith rdf:resource="#Position"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#Move"/>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#Pan"/>
<owl:disjointWith>
<owl:Class rdf:about="#Feed"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Arrange"/>
<owl:disjointWith rdf:resource="#Pass"/>
<owl:disjointWith rdf:resource="#Displace"/>
<owl:disjointWith rdf:resource="#Convey"/>
</owl:Class>
<owl:Class rdf:about="#Check">
<owl:disjointWith>
<owl:Class rdf:about="#Scan"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Read"/> <owl:disjointWith rdf:resource="#Determine"/>
<owl:disjointWith rdf:resource="#ImageAnalysis"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Structured Description of Skills and Device 1.0
pag:5
Check if a part fulfils given conditions.</rdfs:comment>
<owl:disjointWith rdf:resource="#Sort"/>
<owl:disjointWith rdf:resource="#Classify"/>
<rdfs:subClassOf rdf:resource="#SensorFunction"/>
<owl:disjointWith rdf:resource="#Detect"/>
<owl:disjointWith>
<owl:Class rdf:about="#Measure"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Payload">
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith rdf:resource="#DiameterOfGripper"/>
<owl:disjointWith>
<owl:Class rdf:about="#ControlSystem"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfFingers"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Resolution"/>
<owl:disjointWith rdf:resource="#NumberOfFingers"/>
<owl:disjointWith rdf:resource="#MinMeasurementRange"/>
<owl:disjointWith>
<owl:Class rdf:about="#InsideOrOutsidePicking"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaxLiftWeight"/>
<owl:disjointWith rdf:resource="#SwitchingFrequency"/>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith rdf:resource="#Accuracy"/>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ResponseTime"/>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith rdf:resource="#Communicational"/>
<owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
<owl:disjointWith rdf:resource="#TypeOfActuation"/>
<owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
<owl:disjointWith>
<owl:Class rdf:about="#MaterialOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#LaserClass"/>
<owl:disjointWith>
<owl:Class rdf:about="#PathVelocityFluctuation"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ElectricallySupported"/>
<owl:disjointWith rdf:resource="#Quality_Criteria"/>
<owl:disjointWith rdf:resource="#ShapeOfClaws"/>
<owl:disjointWith rdf:resource="#WorkFrame"/>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#TypeOfVacuum"/>
<owl:disjointWith rdf:resource="#LightSpotSize"/>
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#Physical_Properties"/>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#ToolInterface"/> <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
<owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
<owl:disjointWith rdf:resource="#CycleTime"/>
<owl:disjointWith rdf:resource="#Precision"/>
<owl:disjointWith rdf:resource="#DriveSystem"/>
<owl:disjointWith rdf:resource="#MaximumForce"/>
</owl:Class>
<owl:Class rdf:about="#OpticThroughBeanSwitches">
<owl:disjointWith>
<owl:Class rdf:about="#InductiveProximitySwitch"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#OpticReflexSwitch"/>
<rdfs:subClassOf rdf:resource="#OpticSensor"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Tasks and Skills of Ocptical Sensor 1.1
Cap: 2</rdfs:comment>
</owl:Class>
<owl:Class rdf:about="#ParallelGripper">
<rdfs:subClassOf rdf:resource="#PincerGripper"/>
<owl:disjointWith>
<owl:Class rdf:ID="AngleGripper"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#InsideOrOutsidePicking">
<owl:disjointWith rdf:resource="#ToolInterface"/>
<owl:disjointWith rdf:resource="#DiameterOfGripper"/>
<owl:disjointWith rdf:resource="#Precision"/>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaxLiftWeight"/>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith>
<owl:Class rdf:about="#ControlSystem"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfFingers"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#LightSpotSize"/>
<rdfs:subClassOf rdf:resource="#Physical_Properties_Gripper"/>
<owl:disjointWith rdf:resource="#ShapeOfClaws"/>
<owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
<owl:disjointWith rdf:resource="#MaximumForce"/>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith rdf:resource="#ElectricallySupported"/>
<owl:disjointWith rdf:resource="#TypeOfMagnet"/>
<owl:disjointWith rdf:resource="#TypeOfActuation"/>
<owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
<owl:disjointWith rdf:resource="#Communicational"/>
<owl:disjointWith rdf:resource="#MinMeasurementRange"/>
<owl:disjointWith rdf:resource="#WorkFrame"/>
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#NumberOfFingers"/>
<owl:disjointWith rdf:resource="#SwitchingFrequency"/>
<owl:disjointWith rdf:resource="#ResponseTime"/>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith rdf:resource="#DriveSystem"/>
<owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
<owl:disjointWith>
<owl:Class rdf:about="#PathVelocityFluctuation"/> </owl:disjointWith>
<owl:disjointWith rdf:resource="#Payload"/>
<owl:disjointWith>
<owl:Class rdf:about="#MaterialOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Accuracy"/>
<owl:disjointWith rdf:resource="#LaserClass"/>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
<owl:disjointWith rdf:resource="#Quality_Criteria"/>
<owl:disjointWith rdf:resource="#TypeOfVacuum"/>
<owl:disjointWith rdf:resource="#CycleTime"/>
<owl:disjointWith rdf:resource="#Resolution"/>
</owl:Class>
<owl:Class rdf:about="#Electro-discharge-machine">
<rdfs:subClassOf rdf:resource="#Separate"/>
<owl:disjointWith rdf:resource="#Thrust"/>
<owl:disjointWith rdf:resource="#Drill"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>A spark removes material from the workpiece.</rdfs:comment>
<owl:disjointWith rdf:resource="#Mill"/>
<owl:disjointWith rdf:resource="#Saw"/>
<owl:disjointWith rdf:resource="#File"/>
<owl:disjointWith rdf:resource="#Lap"/>
<owl:disjointWith rdf:resource="#Grind"/>
<owl:disjointWith rdf:resource="#Thermal-Separate"/>
<owl:disjointWith rdf:resource="#Lathe"/>
<owl:disjointWith>
<owl:Class rdf:about="#Plane"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Broach"/>
<owl:disjointWith rdf:resource="#Rub"/>
<owl:disjointWith rdf:resource="#Hone"/>
<owl:disjointWith>
<owl:Class rdf:about="#Cut"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Assign">
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Create subsets of defined size or amount and move these subsets to a defined location.</rdfs:comment>
<owl:disjointWith rdf:resource="#Merge"/>
<owl:disjointWith rdf:resource="#Part"/>
<owl:disjointWith>
<owl:Class rdf:about="#Unify"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Branch"/>
<rdfs:subClassOf rdf:resource="#ModifyAmount"/>
<owl:disjointWith rdf:resource="#Divide"/>
</owl:Class>
<owl:Class rdf:about="#ControlSystem">
<owl:disjointWith rdf:resource="#LaserClass"/>
<owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
<owl:disjointWith rdf:resource="#Precision"/>
<owl:disjointWith rdf:resource="#Accuracy"/>
<owl:disjointWith rdf:resource="#ToolInterface"/>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ShapeOfClaws"/>
<owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
<owl:disjointWith rdf:resource="#CycleTime"/>
<owl:disjointWith rdf:resource="#Communicational"/>
<owl:disjointWith rdf:resource="#TypeOfMagnet"/>
<owl:disjointWith rdf:resource="#NumberOfFingers"/> <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#SwitchingFrequency"/>
<owl:disjointWith rdf:resource="#TypeOfVacuum"/>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
<owl:disjointWith rdf:resource="#TypeOfActuation"/>
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith>
<owl:Class rdf:about="#PathVelocityFluctuation"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfFingers"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith rdf:resource="#Resolution"/>
<owl:disjointWith rdf:resource="#Payload"/>
<owl:disjointWith rdf:resource="#Quality_Criteria"/>
<owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
<owl:disjointWith rdf:resource="#MaxLiftWeight"/>
<rdfs:subClassOf rdf:resource="#Property"/>
<owl:disjointWith rdf:resource="#MaximumForce"/>
<owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#DriveSystem"/>
<owl:disjointWith>
<owl:Class rdf:about="#MaterialOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#LightSpotSize"/>
<owl:disjointWith rdf:resource="#ResponseTime"/>
<owl:disjointWith rdf:resource="#ElectricallySupported"/>
<owl:disjointWith rdf:resource="#MinMeasurementRange"/>
<owl:disjointWith rdf:resource="#WorkFrame"/>
</owl:Class>
<owl:Class rdf:about="#Task">
<owl:disjointWith rdf:resource="#Property"/>
<owl:disjointWith rdf:resource="#Skill"/>
<owl:disjointWith>
<owl:Class rdf:about="#Device"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Robot">
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Introdution to Robotics
(Analysis, System, Applications)
Saeed B. Niku</rdfs:comment>
<owl:disjointWith rdf:resource="#Gripper"/>
<rdfs:subClassOf rdf:resource="#ManipulationAndHandling"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:someValuesFrom rdf:resource="#WorkFrame"/>
<owl:onProperty>
<owl:ObjectProperty rdf:ID="hasProperty"/>
</owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasProperty"/>
</owl:onProperty>
<owl:someValuesFrom rdf:resource="#Accuracy"/>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf> <owl:Restriction>
<owl:someValuesFrom rdf:resource="#DegreesOfFreedom"/>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasProperty"/>
</owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf>
<owl:Restriction>
<owl:someValuesFrom rdf:resource="#Payload"/>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasProperty"/>
</owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf>
<owl:Restriction>
<owl:someValuesFrom>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:someValuesFrom>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasProperty"/>
</owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#Sensor"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasProperty"/>
</owl:onProperty>
<owl:someValuesFrom rdf:resource="#TypeOfActuation"/>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasProperty"/>
</owl:onProperty>
<owl:someValuesFrom rdf:resource="#ToolInterface"/>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasProperty"/>
</owl:onProperty>
<owl:someValuesFrom rdf:resource="#Precision"/>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf>
<owl:Restriction>
<owl:someValuesFrom rdf:resource="#CycleTime"/>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasProperty"/>
</owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#PathVelocityFluctuation">
<owl:disjointWith rdf:resource="#LightSpotSize"/>
<owl:disjointWith rdf:resource="#Quality_Criteria"/>
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith rdf:resource="#TypeOfMagnet"/>
<owl:disjointWith rdf:resource="#ElectricallySupported"/>
<owl:disjointWith rdf:resource="#WorkFrame"/>
<owl:disjointWith rdf:resource="#Payload"/>
<owl:disjointWith rdf:resource="#MinMeasurementRange"/>
<owl:disjointWith rdf:resource="#SwitchingFrequency"/>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/> <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith rdf:resource="#Precision"/>
<owl:disjointWith rdf:resource="#ControlSystem"/>
<owl:disjointWith rdf:resource="#TypeOfVacuum"/>
<owl:disjointWith rdf:resource="#DiameterOfGripper"/>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#NumberOfFingers"/>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfFingers"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ToolInterface"/>
<rdfs:subClassOf rdf:resource="#Quality_Criteria"/>
<owl:disjointWith rdf:resource="#ShapeOfClaws"/>
<owl:disjointWith rdf:resource="#MaxLiftWeight"/>
<owl:disjointWith>
<owl:Class rdf:about="#MaterialOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Communicational"/>
<owl:disjointWith rdf:resource="#MaximumForce"/>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
<owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
<owl:disjointWith rdf:resource="#DriveSystem"/>
<owl:disjointWith rdf:resource="#ResponseTime"/>
<owl:disjointWith rdf:resource="#TypeOfActuation"/>
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Accuracy"/>
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith rdf:resource="#LaserClass"/>
<owl:disjointWith rdf:resource="#CycleTime"/>
<owl:disjointWith rdf:resource="#Resolution"/>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#CommunicationProtocol">
<rdfs:subClassOf rdf:resource="#Communicational"/>
<owl:disjointWith rdf:resource="#BusInterface"/>
<owl:disjointWith rdf:resource="#ElectricalInterface"/>
</owl:Class>
<owl:Class rdf:about="#LineParallelGripper">
<owl:disjointWith rdf:resource="#CircularParallelGripper"/>
<owl:disjointWith rdf:resource="#GeneralParallelGripper"/>
<rdfs:subClassOf rdf:resource="#ParallelGripper"/>
</owl:Class>
<owl:Class rdf:about="#DetermineMotionOfObject">
<rdfs:subClassOf rdf:resource="#Determine"/>
<owl:disjointWith>
<owl:Class rdf:about="#DeterminePositionOfObject"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#DetermineOrientationOfObject"/>
</owl:Class>
<owl:Class rdf:about="#Bead">
<owl:disjointWith rdf:resource="#Flang"/>
<owl:disjointWith rdf:resource="#Stretch-Form"/>
<owl:disjointWith rdf:resource="#Bend"/>
<owl:disjointWith rdf:resource="#Deep-Draw"/>
<owl:disjointWith rdf:resource="#True"/>
<owl:disjointWith rdf:resource="#Crush"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string" >Create channel-shaped deepenings which are meant to increase the stiffness.</rdfs:comment>
<owl:disjointWith rdf:resource="#Forge"/>
<owl:disjointWith rdf:resource="#Extrude"/>
<rdfs:subClassOf rdf:resource="#Form"/>
<owl:disjointWith rdf:resource="#Fold"/>
<owl:disjointWith rdf:resource="#Press"/>
<owl:disjointWith rdf:resource="#Roll"/>
</owl:Class>
<owl:Class rdf:about="#UltrasonicDistanceSensor">
<owl:disjointWith rdf:resource="#EncoderLinearDistanceSensor"/>
<owl:disjointWith rdf:resource="#OpticDistanceSensorScanner"/>
<rdfs:subClassOf>
<owl:Class rdf:ID="UltrasonicSensor"/>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#EncoderWireDrawDistanceSensor"/>
<owl:disjointWith>
<owl:Class rdf:about="#OpticDistanceSensorReflector"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>distanceMeasurements.pdf
SICK
pag 4</rdfs:comment>
</owl:Class>
<owl:Class rdf:about="#StoreUnOrdered">
<owl:disjointWith>
<owl:Class rdf:about="#StoreInOrder"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Save workpieces which are geometrically defined in an undefined position and orientation.</rdfs:comment>
<rdfs:subClassOf rdf:resource="#Store"/>
<owl:disjointWith rdf:resource="#StorePartlyOrdered"/>
</owl:Class>
<owl:Class rdf:about="#MechanicalResistance">
<owl:disjointWith rdf:resource="#Length"/>
<owl:disjointWith>
<owl:Class rdf:about="#ID"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Shape"/>
<owl:disjointWith rdf:resource="#Width"/>
<owl:disjointWith rdf:resource="#Height"/>
<owl:disjointWith rdf:resource="#Cost"/>
<owl:disjointWith rdf:resource="#Mass"/>
<owl:disjointWith rdf:resource="#Material"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#Physical_Properties"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#TypeOfFingers">
<owl:disjointWith rdf:resource="#LaserClass"/>
<owl:disjointWith rdf:resource="#DriveSystem"/>
<owl:disjointWith rdf:resource="#ToolInterface"/>
<owl:disjointWith rdf:resource="#Resolution"/>
<owl:disjointWith rdf:resource="#TypeOfActuation"/>
<owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith rdf:resource="#Quality_Criteria"/>
<owl:disjointWith>
<owl:Class rdf:about="#MaterialOfGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith rdf:resource="#DiameterOfGripper"/>
<rdfs:subClassOf rdf:resource="#Physical_Properties_Gripper"/>
<owl:disjointWith rdf:resource="#WorkFrame"/>
<owl:disjointWith rdf:resource="#SwitchingFrequency"/>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith rdf:resource="#ControlSystem"/>
<owl:disjointWith> <owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith rdf:resource="#ElectricallySupported"/>
<owl:disjointWith rdf:resource="#Communicational"/>
<owl:disjointWith rdf:resource="#TypeOfMagnet"/>
<owl:disjointWith rdf:resource="#Payload"/>
<owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
<owl:disjointWith rdf:resource="#LightSpotSize"/>
<owl:disjointWith rdf:resource="#Accuracy"/>
<owl:disjointWith rdf:resource="#CycleTime"/>
<owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
<owl:disjointWith rdf:resource="#NumberOfFingers"/>
<owl:disjointWith rdf:resource="#Precision"/>
<owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
<owl:disjointWith rdf:resource="#MaxLiftWeight"/>
<owl:disjointWith rdf:resource="#ResponseTime"/>
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ShapeOfClaws"/>
<owl:disjointWith rdf:resource="#MaximumForce"/>
<owl:disjointWith rdf:resource="#MinMeasurementRange"/>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#TypeOfVacuum"/>
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
</owl:Class>
<owl:Class rdf:about="#MaterialOfGripper">
<owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
<owl:disjointWith rdf:resource="#ElectricallySupported"/>
<owl:disjointWith rdf:resource="#ControlSystem"/>
<owl:disjointWith rdf:resource="#TypeOfFingers"/>
<owl:disjointWith rdf:resource="#MaximumForce"/>
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith rdf:resource="#Resolution"/>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MinMeasurementRange"/>
<owl:disjointWith rdf:resource="#Reach"/>
<rdfs:subClassOf rdf:resource="#Physical_Properties_Gripper"/>
<owl:disjointWith rdf:resource="#Communicational"/>
<owl:disjointWith rdf:resource="#DriveSystem"/>
<owl:disjointWith rdf:resource="#MaxLiftWeight"/>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#TypeOfMagnet"/>
<owl:disjointWith rdf:resource="#Precision"/>
<owl:disjointWith rdf:resource="#ToolInterface"/>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith rdf:resource="#ShapeOfClaws"/>
<owl:disjointWith rdf:resource="#Accuracy"/>
<owl:disjointWith rdf:resource="#DiameterOfGripper"/>
<owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#NumberOfFingers"/>
<owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
<owl:disjointWith rdf:resource="#TypeOfActuation"/>
<owl:disjointWith rdf:resource="#LaserClass"/>
<owl:disjointWith rdf:resource="#Quality_Criteria"/>
<owl:disjointWith rdf:resource="#LightSpotSize"/>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith rdf:resource="#CycleTime"/> <owl:disjointWith rdf:resource="#Payload"/>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
<owl:disjointWith rdf:resource="#ResponseTime"/>
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#TypeOfVacuum"/>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
<owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
<owl:disjointWith rdf:resource="#SwitchingFrequency"/>
<owl:disjointWith rdf:resource="#WorkFrame"/>
</owl:Class>
<owl:Class rdf:about="#Device">
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Structured Description of Skills and Device 1.0
pag:8</rdfs:comment>
<owl:disjointWith rdf:resource="#Task"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasProperty"/>
</owl:onProperty>
<owl:allValuesFrom rdf:resource="#Property"/>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf>
<owl:Restriction>
<owl:allValuesFrom rdf:resource="#Skill"/>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasSkill"/>
</owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#Property"/>
<owl:disjointWith rdf:resource="#Skill"/>
<rdfs:subClassOf rdf:resource="http://www.w3.org/2002/07/owl#Thing"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:someValuesFrom rdf:resource="#MainFunction"/>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasSkill"/>
</owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#ScaraRobot">
<owl:disjointWith rdf:resource="#ArticulatedRobot"/>
<owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
<owl:disjointWith rdf:resource="#CartesianRobot"/>
<owl:disjointWith rdf:resource="#HexapodRobot"/>
<owl:disjointWith>
<owl:Class rdf:about="#SimpleKinematicRobot"/>
</owl:disjointWith>
<rdfs:subClassOf rdf:resource="#Robot"/>
<owl:disjointWith>
<owl:Class rdf:about="#ParallelKinematicRobot"/>
</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Industrial type, but special kinematic arrangement. Well-known manufacturer: Bosch-Rexrodt.</rdfs:comment>
</owl:Class>
<owl:Class rdf:about="#SimpleKinematicRobot">
<rdfs:subClassOf rdf:resource="#Robot"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Simple, sometimes small machines with reduced capabilities, e.g. with only 1 DOF. These can be devices which are arranged to more complex machines.
Sometimes, the tool is already included in the robot, e.g. a gripper is already connected.</rdfs:comment>
<owl:disjointWith rdf:resource="#ScaraRobot"/>
<owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
<owl:disjointWith rdf:resource="#CartesianRobot"/> <owl:disjointWith rdf:resource="#HexapodRobot"/>
<owl:disjointWith rdf:resource="#ArticulatedRobot"/>
<owl:disjointWith>
<owl:Class rdf:about="#ParallelKinematicRobot"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#StoreInOrder">
<owl:disjointWith rdf:resource="#StorePartlyOrdered"/>
<owl:disjointWith rdf:resource="#StoreUnOrdered"/>
<rdfs:subClassOf rdf:resource="#Store"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Save workpieces which are geometrically defined in a well-defined position and/or orientation.</rdfs:comment>
</owl:Class>
<owl:Class rdf:about="#Cut">
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Divide a workpiece into two parts.</rdfs:comment>
<owl:disjointWith rdf:resource="#Mill"/>
<owl:disjointWith>
<owl:Class rdf:about="#Plane"/>
</owl:disjointWith>
<rdfs:subClassOf rdf:resource="#Separate"/>
<owl:disjointWith rdf:resource="#Hone"/>
<owl:disjointWith rdf:resource="#Thermal-Separate"/>
<owl:disjointWith rdf:resource="#Electro-discharge-machine"/>
<owl:disjointWith rdf:resource="#Rub"/>
<owl:disjointWith rdf:resource="#Grind"/>
<owl:disjointWith rdf:resource="#File"/>
<owl:disjointWith rdf:resource="#Lap"/>
<owl:disjointWith rdf:resource="#Drill"/>
<owl:disjointWith rdf:resource="#Thrust"/>
<owl:disjointWith rdf:resource="#Lathe"/>
<owl:disjointWith rdf:resource="#Broach"/>
<owl:disjointWith rdf:resource="#Saw"/>
</owl:Class>
<owl:Class rdf:about="#UltrasonicSensor">
<rdfs:subClassOf rdf:resource="#Sensor"/>
</owl:Class>
<owl:Class rdf:about="#ExtractEdges">
<owl:disjointWith>
<owl:Class rdf:about="#CalibrateImage"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#TrasformImage"/>
<rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
<owl:disjointWith>
<owl:Class rdf:about="#SegmentImage"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#CompressDecompressImageData"/>
<owl:disjointWith>
<owl:Class rdf:about="#FilterImage"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#BlobAnalysis"/>
</owl:Class>
<owl:Class rdf:about="#AngleGripper">
<owl:disjointWith rdf:resource="#ParallelGripper"/>
<rdfs:subClassOf rdf:resource="#PincerGripper"/>
</owl:Class>
<owl:Class rdf:about="#NotClassified">
<rdfs:subClassOf rdf:resource="#ManipulationAndHandlingFunction"/>
<owl:disjointWith rdf:resource="#Store"/>
<owl:disjointWith>
<owl:Class rdf:about="#Move"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ModifyAmount"/>
<owl:disjointWith rdf:resource="#Secure"/>
</owl:Class>
<owl:Class rdf:about="#CheckPosition">
<rdfs:subClassOf rdf:resource="#Check"/>
<owl:disjointWith rdf:resource="#CheckSurfaceForIrregularities"/>
</owl:Class>
<owl:Class rdf:about="#DeterminePositionOfObject"> <owl:disjointWith rdf:resource="#DetermineOrientationOfObject"/>
<rdfs:subClassOf rdf:resource="#Determine"/>
<owl:disjointWith rdf:resource="#DetermineMotionOfObject"/>
</owl:Class>
<owl:Class rdf:about="#EncoderSensor">
<rdfs:subClassOf rdf:resource="#Sensor"/>
</owl:Class>
<owl:Class rdf:about="#Karthesian">
<owl:disjointWith rdf:resource="#AsFastAsPossible"/>
<owl:disjointWith rdf:resource="#Circular"/>
<rdfs:subClassOf rdf:resource="#MoveFromTo"/>
</owl:Class>
<owl:Class rdf:about="#ParallelKinematicRobot">
<rdfs:subClassOf rdf:resource="#Robot"/>
<owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
<owl:disjointWith rdf:resource="#ArticulatedRobot"/>
<owl:disjointWith rdf:resource="#ScaraRobot"/>
<owl:disjointWith rdf:resource="#HexapodRobot"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Special kinematic arrangement like the one built in SMErobot.</rdfs:comment>
<owl:disjointWith rdf:resource="#CartesianRobot"/>
<owl:disjointWith rdf:resource="#SimpleKinematicRobot"/>
</owl:Class>
<owl:Class rdf:about="#SizeOfGripper">
<owl:disjointWith rdf:resource="#Accuracy"/>
<owl:disjointWith rdf:resource="#MaximumForce"/>
<owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
<owl:disjointWith rdf:resource="#ElectricallySupported"/>
<owl:disjointWith rdf:resource="#TypeOfFingers"/>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Payload"/>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith rdf:resource="#ControlSystem"/>
<owl:disjointWith rdf:resource="#ToolInterface"/>
<owl:disjointWith rdf:resource="#MaterialOfGripper"/>
<owl:disjointWith rdf:resource="#LightSpotSize"/>
<owl:disjointWith rdf:resource="#TypeOfActuation"/>
<owl:disjointWith rdf:resource="#CycleTime"/>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith rdf:resource="#ResponseTime"/>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
<owl:disjointWith rdf:resource="#Arrangement"/>
<rdfs:subClassOf rdf:resource="#Physical_Properties_Gripper"/>
<owl:disjointWith rdf:resource="#WorkFrame"/>
<owl:disjointWith rdf:resource="#TypeOfMagnet"/>
<owl:disjointWith rdf:resource="#Precision"/>
<owl:disjointWith rdf:resource="#Quality_Criteria"/>
<owl:disjointWith rdf:resource="#NumberOfFingers"/>
<owl:disjointWith rdf:resource="#LaserClass"/>
<owl:disjointWith rdf:resource="#DiameterOfGripper"/>
<owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
<owl:disjointWith rdf:resource="#TypeOfVacuum"/>
<owl:disjointWith rdf:resource="#MinMeasurementRange"/>
<owl:disjointWith rdf:resource="#DriveSystem"/>
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Communicational"/>
<owl:disjointWith rdf:resource="#MaxLiftWeight"/>
<owl:disjointWith rdf:resource="#Resolution"/>
<owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
<owl:disjointWith rdf:resource="#ShapeOfClaws"/> <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
<owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
</owl:Class>
<owl:Class rdf:about="#Measure">
<rdfs:subClassOf rdf:resource="#SensorFunction"/>
<owl:disjointWith rdf:resource="#Detect"/>
<owl:disjointWith rdf:resource="#Check"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Structured Description of Skills and Device 1.0
pag:5
Gather a value as a multiple of a reference value.</rdfs:comment>
<owl:disjointWith rdf:resource="#Sort"/>
<owl:disjointWith rdf:resource="#Determine"/>
<owl:disjointWith rdf:resource="#Classify"/>
<owl:disjointWith rdf:resource="#Read"/>
<owl:disjointWith>
<owl:Class rdf:about="#Scan"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ImageAnalysis"/>
</owl:Class>
<owl:Class rdf:about="#FilterImage">
<owl:disjointWith rdf:resource="#TrasformImage"/>
<owl:disjointWith rdf:resource="#BlobAnalysis"/>
<owl:disjointWith>
<owl:Class rdf:about="#SegmentImage"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ExtractEdges"/>
<rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
<owl:disjointWith rdf:resource="#CompressDecompressImageData"/>
<owl:disjointWith>
<owl:Class rdf:about="#CalibrateImage"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#SegmentImage">
<rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
<owl:disjointWith rdf:resource="#FilterImage"/>
<owl:disjointWith rdf:resource="#CompressDecompressImageData"/>
<owl:disjointWith rdf:resource="#TrasformImage"/>
<owl:disjointWith rdf:resource="#ExtractEdges"/>
<owl:disjointWith>
<owl:Class rdf:about="#CalibrateImage"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#BlobAnalysis"/>
</owl:Class>
<owl:Class rdf:about="#Unify">
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Create a superset from subsets.
The size of source and target sets does not necessarily have to be defined.</rdfs:comment>
<owl:disjointWith rdf:resource="#Divide"/>
<owl:disjointWith rdf:resource="#Merge"/>
<rdfs:subClassOf rdf:resource="#ModifyAmount"/>
<owl:disjointWith rdf:resource="#Branch"/>
<owl:disjointWith rdf:resource="#Assign"/>
<owl:disjointWith rdf:resource="#Part"/>
</owl:Class>
<owl:Class rdf:about="#PowerConsumption">
<rdfs:subClassOf rdf:resource="#Arrangement"/>
<owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
<owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
<owl:disjointWith rdf:resource="#PhysicalInterface"/>
<owl:disjointWith>
<owl:Class rdf:about="#EnclosureRatingIP"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MinAmbientTemperature"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MountedDevicePosition"/>
<owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
</owl:Class> <owl:Class rdf:ID="ElasticFingerGripper">
<owl:disjointWith>
<owl:Class rdf:ID="JointFingerGripper"/>
</owl:disjointWith>
<rdfs:subClassOf rdf:resource="#FingerGripper"/>
</owl:Class>
<owl:Class rdf:about="#NumberOfJoints">
<owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
<rdfs:subClassOf rdf:resource="#Physical_Properties_Robot"/>
<owl:disjointWith rdf:resource="#TypeOfFingers"/>
<owl:disjointWith rdf:resource="#LaserClass"/>
<owl:disjointWith rdf:resource="#TypeOfVacuum"/>
<owl:disjointWith rdf:resource="#MinMeasurementRange"/>
<owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
<owl:disjointWith rdf:resource="#TypeOfMagnet"/>
<owl:disjointWith rdf:resource="#TypeOfActuation"/>
<owl:disjointWith rdf:resource="#MaximumForce"/>
<owl:disjointWith rdf:resource="#LightSpotSize"/>
<owl:disjointWith rdf:resource="#Payload"/>
<owl:disjointWith rdf:resource="#NumberOfFingers"/>
<owl:disjointWith rdf:resource="#Communicational"/>
<owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
<owl:disjointWith rdf:resource="#Resolution"/>
<owl:disjointWith rdf:resource="#DiameterOfGripper"/>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith rdf:resource="#SwitchingFrequency"/>
<owl:disjointWith rdf:resource="#CycleTime"/>
<owl:disjointWith rdf:resource="#ControlSystem"/>
<owl:disjointWith rdf:resource="#DriveSystem"/>
<owl:disjointWith rdf:resource="#MaterialOfGripper"/>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Quality_Criteria"/>
<owl:disjointWith rdf:resource="#ShapeOfClaws"/>
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith rdf:resource="#ElectricallySupported"/>
<owl:disjointWith rdf:resource="#SizeOfGripper"/>
<owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith rdf:resource="#MaxLiftWeight"/>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
<owl:disjointWith rdf:resource="#WorkFrame"/>
<owl:disjointWith>
<owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ToolInterface"/>
<owl:disjointWith rdf:resource="#Precision"/>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
<owl:disjointWith rdf:resource="#Accuracy"/>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith rdf:resource="#ResponseTime"/>
</owl:Class>
<owl:Class rdf:about="#ElectrolyticSegregate">
<owl:disjointWith rdf:resource="#Cast"/>
<owl:disjointWith rdf:resource="#Sinter"/>
<rdfs:subClassOf rdf:resource="#Mold"/>
</owl:Class>
<owl:Class rdf:about="#Move">
<owl:disjointWith rdf:resource="#Secure"/>
<rdfs:subClassOf rdf:resource="#ManipulationAndHandlingFunction"/>
<owl:disjointWith rdf:resource="#ModifyAmount"/>
<owl:disjointWith rdf:resource="#NotClassified"/>
<owl:disjointWith rdf:resource="#Store"/>
</owl:Class>
<owl:Class rdf:about="#MinAmbientTemperature">
<owl:disjointWith rdf:resource="#PhysicalInterface"/>
<owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
<owl:disjointWith> <owl:Class rdf:about="#EnclosureRatingIP"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
<owl:disjointWith rdf:resource="#MountedDevicePosition"/>
<owl:disjointWith rdf:resource="#PowerConsumption"/>
<rdfs:subClassOf rdf:resource="#Arrangement"/>
<owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
</owl:Class>
<owl:Class rdf:about="#Physical_Properties">
<rdfs:subClassOf rdf:resource="#Property"/>
<owl:disjointWith rdf:resource="#Quality_Criteria"/>
</owl:Class>
<owl:Class rdf:about="#Feed">
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Move a part from one to another positition along a given trajectory. The part's orientation is given at each point of the trajectory.</rdfs:comment>
<owl:disjointWith rdf:resource="#Pass"/>
<rdfs:subClassOf rdf:resource="#Move"/>
<owl:disjointWith rdf:resource="#Pan"/>
<owl:disjointWith rdf:resource="#Displace"/>
<owl:disjointWith rdf:resource="#Orient"/>
<owl:disjointWith rdf:resource="#Position"/>
<owl:disjointWith rdf:resource="#Convey"/>
<owl:disjointWith rdf:resource="#Arrange"/>
<owl:disjointWith rdf:resource="#Turn"/>
</owl:Class>
<owl:Class rdf:about="#InductiveProximitySwitch">
<owl:disjointWith rdf:resource="#OpticThroughBeanSwitches"/>
<owl:disjointWith rdf:resource="#OpticReflexSwitch"/>
<rdfs:subClassOf rdf:resource="#InductiveSensor"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Tasks and Skills of Ocptical Sensor 1.1
Cap: 2</rdfs:comment>
</owl:Class>
<owl:Class rdf:about="#Scan">
<owl:disjointWith rdf:resource="#Read"/>
<owl:disjointWith rdf:resource="#Detect"/>
<owl:disjointWith rdf:resource="#Check"/>
<owl:disjointWith rdf:resource="#Sort"/>
<owl:disjointWith rdf:resource="#ImageAnalysis"/>
<rdfs:subClassOf rdf:resource="#SensorFunction"/>
<owl:disjointWith rdf:resource="#Determine"/>
<owl:disjointWith rdf:resource="#Classify"/>
<owl:disjointWith rdf:resource="#Measure"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Structured Description of Skills and Device 1.0
pag:5</rdfs:comment>
</owl:Class>
<owl:Class rdf:about="#ScanningDistance">
<owl:disjointWith rdf:resource="#Accuracy"/>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
<owl:disjointWith rdf:resource="#ToolInterface"/>
<owl:disjointWith rdf:resource="#Quality_Criteria"/>
<owl:disjointWith rdf:resource="#TypeOfActuation"/>
<owl:disjointWith rdf:resource="#Communicational"/>
<owl:disjointWith rdf:resource="#DiameterOfGripper"/>
<owl:disjointWith rdf:resource="#TypeOfFingers"/>
<owl:disjointWith rdf:resource="#Payload"/>
<owl:disjointWith rdf:resource="#SwitchingFrequency"/>
<owl:disjointWith rdf:resource="#Precision"/>
<owl:disjointWith rdf:resource="#CycleTime"/>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
<owl:disjointWith rdf:resource="#MaxLiftWeight"/>
<owl:disjointWith rdf:resource="#LaserClass"/>
<owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
<owl:disjointWith rdf:resource="#WorkFrame"/>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith rdf:resource="#ResponseTime"/> <owl:disjointWith rdf:resource="#MaximumForce"/>
<owl:disjointWith rdf:resource="#MaterialOfGripper"/>
<owl:disjointWith rdf:resource="#NumberOfFingers"/>
<owl:disjointWith rdf:resource="#ShapeOfClaws"/>
<owl:disjointWith rdf:resource="#LightSpotSize"/>
<owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
<owl:disjointWith rdf:resource="#ControlSystem"/>
<owl:disjointWith rdf:resource="#TypeOfVacuum"/>
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#SizeOfGripper"/>
<owl:disjointWith rdf:resource="#DriveSystem"/>
<owl:disjointWith rdf:resource="#TypeOfMagnet"/>
<owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
<owl:disjointWith rdf:resource="#NumberOfJoints"/>
<owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
<owl:disjointWith rdf:resource="#ElectricallySupported"/>
<owl:disjointWith rdf:resource="#MinMeasurementRange"/>
<rdfs:subClassOf rdf:resource="#Physical_Properties_Sensor"/>
<owl:disjointWith rdf:resource="#Resolution"/>
</owl:Class>
<owl:Class rdf:ID="Manufacturing">
<rdfs:subClassOf rdf:resource="#Device"/>
</owl:Class>
<owl:Class rdf:about="#Release">
<owl:disjointWith rdf:resource="#Grasp"/>
<rdfs:subClassOf rdf:resource="#Secure"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Structured Description of Skills and Device 1.0
pag:5
Invert the grasping.</rdfs:comment>
</owl:Class>
<owl:Class rdf:about="#JointFingerGripper">
<rdfs:subClassOf rdf:resource="#FingerGripper"/>
<owl:disjointWith rdf:resource="#ElasticFingerGripper"/>
</owl:Class>
<owl:Class rdf:about="#EnclosureRatingIP">
<owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
<owl:disjointWith rdf:resource="#PhysicalInterface"/>
<owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
<owl:disjointWith rdf:resource="#MountedDevicePosition"/>
<owl:disjointWith rdf:resource="#PowerConsumption"/>
<rdfs:subClassOf rdf:resource="#Arrangement"/>
<owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
<owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
</owl:Class>
<owl:Class rdf:about="#TactileSensor">
<rdfs:subClassOf rdf:resource="#Sensor"/>
</owl:Class>
<owl:Class rdf:about="#CalibrateImage">
<owl:disjointWith rdf:resource="#TrasformImage"/>
<owl:disjointWith rdf:resource="#ExtractEdges"/>
<rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
<owl:disjointWith rdf:resource="#CompressDecompressImageData"/>
<owl:disjointWith rdf:resource="#FilterImage"/>
<owl:disjointWith rdf:resource="#SegmentImage"/>
<owl:disjointWith rdf:resource="#BlobAnalysis"/>
</owl:Class>
<owl:Class rdf:about="#ID">
<owl:disjointWith rdf:resource="#Cost"/>
<owl:disjointWith rdf:resource="#MechanicalResistance"/>
<owl:disjointWith rdf:resource="#Height"/>
<owl:disjointWith rdf:resource="#Shape"/>
<owl:disjointWith rdf:resource="#Material"/>
<owl:disjointWith rdf:resource="#Mass"/> <owl:disjointWith rdf:resource="#Width"/>
<rdfs:subClassOf rdf:resource="#Property"/>
<owl:disjointWith rdf:resource="#Length"/>
</owl:Class>
<owl:Class rdf:about="#Plane">
<rdfs:subClassOf rdf:resource="#Separate"/>
<owl:disjointWith rdf:resource="#Lathe"/>
<owl:disjointWith rdf:resource="#Lap"/>
<owl:disjointWith rdf:resource="#Hone"/>
<owl:disjointWith rdf:resource="#Drill"/>
<owl:disjointWith rdf:resource="#Saw"/>
<owl:disjointWith rdf:resource="#Rub"/>
<owl:disjointWith rdf:resource="#Broach"/>
<owl:disjointWith rdf:resource="#Thrust"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>This is mainly used for wooden workpieces to remove chipping from the workpiece.</rdfs:comment>
<owl:disjointWith rdf:resource="#File"/>
<owl:disjointWith rdf:resource="#Electro-discharge-machine"/>
<owl:disjointWith rdf:resource="#Cut"/>
<owl:disjointWith rdf:resource="#Grind"/>
<owl:disjointWith rdf:resource="#Mill"/>
<owl:disjointWith rdf:resource="#Thermal-Separate"/>
</owl:Class>
<owl:Class rdf:about="#OpticDistanceSensorReflector">
<rdfs:subClassOf rdf:resource="#OpticSensor"/>
<owl:disjointWith rdf:resource="#UltrasonicDistanceSensor"/>
<owl:disjointWith rdf:resource="#EncoderLinearDistanceSensor"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>distanceMeasurements.pdf
SICK
pag 4</rdfs:comment>
<owl:disjointWith rdf:resource="#EncoderWireDrawDistanceSensor"/>
<owl:disjointWith rdf:resource="#OpticDistanceSensorScanner"/>
</owl:Class>
<owl:Class rdf:about="#WorkCoordinates">
<owl:disjointWith rdf:resource="#SizeOfGripper"/>
<owl:disjointWith rdf:resource="#ShapeOfClaws"/>
<owl:disjointWith rdf:resource="#WorkFrame"/>
<owl:disjointWith rdf:resource="#Payload"/>
<owl:disjointWith rdf:resource="#MinMeasurementRange"/>
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith rdf:resource="#MaterialOfGripper"/>
<owl:disjointWith rdf:resource="#Communicational"/>
<owl:disjointWith rdf:resource="#SwitchingFrequency"/>
<owl:disjointWith rdf:resource="#CycleTime"/>
<owl:disjointWith rdf:resource="#TypeOfMagnet"/>
<owl:disjointWith rdf:resource="#Resolution"/>
<owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
<owl:disjointWith rdf:resource="#LaserClass"/>
<owl:disjointWith rdf:resource="#TypeOfVacuum"/>
<owl:disjointWith rdf:resource="#MaximumForce"/>
<owl:disjointWith rdf:resource="#ResponseTime"/>
<owl:disjointWith rdf:resource="#Accuracy"/>
<owl:disjointWith rdf:resource="#ElectricallySupported"/>
<rdfs:subClassOf rdf:resource="#Property"/>
<owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
<owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
<owl:disjointWith rdf:resource="#TypeOfFingers"/>
<owl:disjointWith rdf:resource="#NumberOfClaws"/>
<owl:disjointWith rdf:resource="#Quality_Criteria"/>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
<owl:disjointWith rdf:resource="#ScanningDistance"/>
<owl:disjointWith rdf:resource="#TypeOfActuation"/>
<owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith rdf:resource="#ToolInterface"/>
<owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
<owl:disjointWith rdf:resource="#Precision"/> <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
<owl:disjointWith rdf:resource="#LightSpotSize"/>
<owl:disjointWith rdf:resource="#DriveSystem"/>
<owl:disjointWith rdf:resource="#DiameterOfGripper"/>
<owl:disjointWith rdf:resource="#ControlSystem"/>
<owl:disjointWith rdf:resource="#NumberOfJoints"/>
<owl:disjointWith rdf:resource="#NumberOfFingers"/>
</owl:Class>
<owl:Class rdf:about="#MechanicalConnector">
<rdfs:subClassOf rdf:resource="#ToolInterface"/>
<owl:disjointWith rdf:resource="#ElectricalConnector"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>How to connect a tool mechanically.
This includes the size and is dependent on the Payload.</rdfs:comment>
</owl:Class>
<owl:Class rdf:ID="CapacitveSensor">
<rdfs:subClassOf rdf:resource="#Sensor"/>
</owl:Class>
<owl:Class rdf:about="#AdjustCurrentToGrip">
<rdfs:subClassOf rdf:resource="#Grasp"/>
<owl:disjointWith rdf:resource="#CloseFingers"/>
<owl:disjointWith rdf:resource="#AdjustVacuumToGrip"/>
<owl:disjointWith rdf:resource="#CloseClaws"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:someValuesFrom rdf:resource="#MagnetGripper"/>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#isSkillOf"/>
</owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf>
</owl:Class>
<owl:ObjectProperty rdf:ID="canBePerformedBy">
<rdfs:domain rdf:resource="#Task"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#hasSkill">
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Structured Description of Skills and Device 1.0
pag:5
(Breakdown of Skills)</rdfs:comment>
<owl:inverseOf>
<owl:ObjectProperty rdf:about="#isSkillOf"/>
</owl:inverseOf>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#hasProperty">
<owl:inverseOf>
<owl:ObjectProperty rdf:ID="isPropertyOf"/>
</owl:inverseOf>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#isSkillOf">
<owl:inverseOf rdf:resource="#hasSkill"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#isPropertyOf">
<owl:inverseOf rdf:resource="#hasProperty"/>
</owl:ObjectProperty>
<owl:DatatypeProperty rdf:ID="value">
<rdfs:domain rdf:resource="#Property"/>
</owl:DatatypeProperty>
<owl:AllDifferent/>
<owl:DataRange>
<owl:oneOf rdf:parseType="Resource">
<rdf:rest rdf:parseType="Resource">
<rdf:rest rdf:parseType="Resource">
<rdf:rest rdf:parseType="Resource">
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
>5.0</rdf:first>
<rdf:rest rdf:parseType="Resource">
<rdf:rest rdf:parseType="Resource">
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float" >7.0</rdf:first>
<rdf:rest rdf:parseType="Resource">
<rdf:rest rdf:parseType="Resource">
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
>5.5</rdf:first>
<rdf:rest rdf:parseType="Resource">
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
>6.5</rdf:first>
<rdf:rest rdf:parseType="Resource">
<rdf:rest rdf:parseType="Resource">
<rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
>2.0</rdf:first>
</rdf:rest>
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
>2.5</rdf:first>
</rdf:rest>
</rdf:rest>
</rdf:rest>
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
>4.5</rdf:first>
</rdf:rest>
</rdf:rest>
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
>6.0</rdf:first>
</rdf:rest>
</rdf:rest>
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
>4.0</rdf:first>
</rdf:rest>
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
>3.5</rdf:first>
</rdf:rest>
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
>3.0</rdf:first>
</owl:oneOf>
</owl:DataRange>
<owl:DataRange>
<owl:oneOf rdf:parseType="Resource">
<rdf:rest rdf:parseType="Resource">
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>cylindrical</rdf:first>
<rdf:rest rdf:parseType="Resource">
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>spherical</rdf:first>
<rdf:rest rdf:parseType="Resource">
<rdf:rest rdf:parseType="Resource">
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>scara</rdf:first>
<rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
</rdf:rest>
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>articulated</rdf:first>
</rdf:rest>
</rdf:rest>
</rdf:rest>
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>carthesian</rdf:first>
</owl:oneOf>
</owl:DataRange>
<owl:DataRange>
<owl:oneOf rdf:parseType="Resource">
<rdf:rest rdf:parseType="Resource">
<rdf:rest rdf:parseType="Resource">
<rdf:rest rdf:parseType="Resource">
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>gears</rdf:first>
<rdf:rest rdf:parseType="Resource">
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>harmonic</rdf:first> <rdf:rest rdf:parseType="Resource">
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>ball-screw</rdf:first>
<rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
</rdf:rest>
</rdf:rest>
</rdf:rest>
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>chains</rdf:first>
</rdf:rest>
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>belts</rdf:first>
</rdf:rest>
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>torque</rdf:first>
</owl:oneOf>
</owl:DataRange>
<owl:DataRange>
<owl:oneOf rdf:parseType="Resource">
<rdf:rest rdf:parseType="Resource">
<rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>multiple joints</rdf:first>
</rdf:rest>
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>elastic</rdf:first>
</owl:oneOf>
</owl:DataRange>
<owl:DataRange>
<owl:oneOf rdf:parseType="Resource">
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>venturi nozzle</rdf:first>
<rdf:rest rdf:parseType="Resource">
<rdf:rest rdf:parseType="Resource">
<rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>blower</rdf:first>
</rdf:rest>
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>vacuum pump</rdf:first>
</rdf:rest>
</owl:oneOf>
</owl:DataRange>
<owl:DataRange>
<owl:oneOf rdf:parseType="Resource">
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>joint</rdf:first>
<rdf:rest rdf:parseType="Resource">
<rdf:rest rdf:parseType="Resource">
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>world</rdf:first>
<rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
</rdf:rest>
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>tool</rdf:first>
</rdf:rest>
</owl:oneOf>
</owl:DataRange>
<owl:DataRange>
<owl:oneOf rdf:parseType="Resource">
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>inside</rdf:first>
<rdf:rest rdf:parseType="Resource">
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>outside</rdf:first>
<rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
</rdf:rest>
</owl:oneOf>
</owl:DataRange>
<owl:DataRange> <owl:oneOf rdf:parseType="Resource">
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
>2</rdf:first>
<rdf:rest rdf:parseType="Resource">
<rdf:rest rdf:parseType="Resource">
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
>4</rdf:first>
<rdf:rest rdf:parseType="Resource">
<rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
>5</rdf:first>
</rdf:rest>
</rdf:rest>
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
>3</rdf:first>
</rdf:rest>
</owl:oneOf>
</owl:DataRange>
<owl:DataRange>
<owl:oneOf rdf:parseType="Resource">
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>inside</rdf:first>
<rdf:rest rdf:parseType="Resource">
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>outside</rdf:first>
<rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
</rdf:rest>
</owl:oneOf>
</owl:DataRange>
<owl:DataRange>
<owl:oneOf rdf:parseType="Resource">
<rdf:rest rdf:parseType="Resource">
<rdf:rest rdf:parseType="Resource">
<rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>electric</rdf:first>
</rdf:rest>
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>pneumatic</rdf:first>
</rdf:rest>
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>hydraulic</rdf:first>
</owl:oneOf>
</owl:DataRange>
<owl:DataRange>
<owl:oneOf rdf:parseType="Resource">
<rdf:rest rdf:parseType="Resource">
<rdf:rest rdf:parseType="Resource">
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>electric</rdf:first>
<rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
</rdf:rest>
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>hydraulic</rdf:first>
</rdf:rest>
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>pneumatic</rdf:first>
</owl:oneOf>
</owl:DataRange>
<owl:AllDifferent/>
<!-- <DiagnosticFunction rdf:ID="DiagnosticFunction_5">
-->
<!-- <isSkillOf>
-->
<!-- <Gripper rdf:ID="Gripper_4">
-->
<!-- <hasSkill rdf:resource="#DiagnosticFunction_5"/>
-->
<!-- </Gripper>
-->
<!-- </isSkillOf>
-->
<!-- </DiagnosticFunction>
-->
<!-- <owl:AllDifferent/>
-->
<!-- <AdjustVacuumToRelease rdf:ID="AdjustVacuumToRelease_1">
-->
<!-- <isSkillOf>
--><!-- <VacuumGripper rdf:ID="VacuumGripper_1">
-->
<!-- <hasSkill>
-->
<!-- <AdjustVacuumToGrip rdf:ID="AdjustVacuumToGrip_1">
-->
<!-- <isSkillOf>
-->
<!-- <Gripper rdf:ID="Gripper_1">
-->
<!-- <hasSkill>
-->
<!-- <OpenFingers rdf:ID="OpenFingers_1">
-->
<!-- <isSkillOf rdf:resource="#Gripper_1"/>
-->
<!-- </OpenFingers>
-->
<!-- </hasSkill>
-->
<!-- <hasSkill rdf:resource="#AdjustVacuumToGrip_1"/>
-->
<!-- </Gripper>
-->
<!-- </isSkillOf>
-->
<!-- <isSkillOf rdf:resource="#VacuumGripper_1"/>
-->
<!-- </AdjustVacuumToGrip>
-->
<!-- </hasSkill>
-->
<!-- <hasSkill rdf:resource="#AdjustVacuumToRelease_1"/>
-->
<!-- </VacuumGripper>
-->
<!-- </isSkillOf>
-->
<!-- </AdjustVacuumToRelease>
-->
<!-- <CloseFingers rdf:ID="CloseFingers_2"/>
-->
</rdf:RDF>
<!-- Created with Protege (with OWL Plugin 2.2, Build 331) http://protege.stanford.edu -->