From 337d8322f73f5fa0ef1dcfddfefab6460fe00325 Mon Sep 17 00:00:00 2001
From: Anders Nilsson <anders.nilsson@cs.lth.se>
Date: Tue, 23 Jan 2007 08:43:02 +0100
Subject: [PATCH] Added ontology version 9. Started to implement output module
generating an OWL file.
---
.bzrignore | 1 +
CompilerGeneration.jrag | 34 +-
siaras/GenOntology.java | 29 +
siaras/OntologyGeneration.jrag | 22 +
siaras/Siaras.jjt | 49 +-
testontologies/v09.owl | 9191 ++++++++++++++++++++++++++++++++
6 files changed, 9301 insertions(+), 25 deletions(-)
create mode 100644 siaras/GenOntology.java
create mode 100644 siaras/OntologyGeneration.jrag
create mode 100644 testontologies/v09.owl
diff --git a/.bzrignore b/.bzrignore
index 8e820b5..9821901 100644
--- a/.bzrignore
+++ b/.bzrignore
@@ -12,3 +12,4 @@ siaras/log.tmp
siaras/GeneratedAspects.jrag
testontologies/*.xmi
testontologies/*.pprj
+siaras/ontology.owl
diff --git a/CompilerGeneration.jrag b/CompilerGeneration.jrag
index 7a3d667..50bbfb9 100644
--- a/CompilerGeneration.jrag
+++ b/CompilerGeneration.jrag
@@ -24,9 +24,9 @@ aspect AbsGrammarGeneration {
pStream.println("ComplexElement : Element ::= OwlIdentifier Attribute* Element*;");
pStream.println("ValueElement : ComplexElement;");
pStream.println("abstract SimpleElement : Element;");
- pStream.println("StringElement : SimpleElement ::= <IDENTIFIER>;");
- pStream.println("IntElement : SimpleElement ::= <INTEGER_LITERAL>;");
- pStream.println("FloatElement : SimpleElement ::= <FLOAT_LITERAL>;");
+ pStream.println("StringElement : SimpleElement ::= <LITERAL>;");
+ pStream.println("IntElement : SimpleElement ::= <LITERAL>;");
+ pStream.println("FloatElement : SimpleElement ::= <LITERAL>;");
pStream.println("ClassUse : Thing ::= /decl:Thing/;");
pStream.println("Attribute ::= Value;");
pStream.println("RdfDatatype : Attribute ::= ;");
@@ -234,17 +234,17 @@ aspect GenRewrites {
pStream.println(ind(3)+"use.setElementList(new List());");
pStream.println(ind(3)+"return use;");
pStream.println(ind(2)+"}");
- pStream.println(ind(2)+"when ((name().equals(\"isSkillOf\")");
- pStream.println(ind(2)+"|| name().equals(\"isPropertyOf\"))");
- pStream.println("&& getNumAttribute() > 0 && getAttribute(0) instanceof RdfResource)");
- pStream.println(ind(2)+"to ClassUse {");
- pStream.println(ind(3)+"ClassUse use = new ClassUse();");
- pStream.println(ind(3)+"String att = getAttribute(0).name();");
- pStream.println(ind(3)+"use.setOwlIdentifier(new OwlIdentifier(att.substring(att.indexOf('#')+1,att.indexOf('_'))));");
- pStream.println(ind(3)+"use.setAttributeList(getAttributeList());");
- pStream.println(ind(3)+"use.setElementList(new List());");
- pStream.println(ind(3)+"return use;");
- pStream.println(ind(2)+"}");
+// pStream.println(ind(2)+"when ((name().equals(\"isSkillOf\")");
+// pStream.println(ind(2)+"|| name().equals(\"isPropertyOf\"))");
+// pStream.println("&& getNumAttribute() > 0 && getAttribute(0) instanceof RdfResource)");
+// pStream.println(ind(2)+"to ClassUse {");
+// pStream.println(ind(3)+"ClassUse use = new ClassUse();");
+// pStream.println(ind(3)+"String att = getAttribute(0).name();");
+// pStream.println(ind(3)+"use.setOwlIdentifier(new OwlIdentifier(att.substring(att.indexOf('#')+1,att.indexOf('_'))));");
+// pStream.println(ind(3)+"use.setAttributeList(getAttributeList());");
+// pStream.println(ind(3)+"use.setElementList(new List());");
+// pStream.println(ind(3)+"return use;");
+// pStream.println(ind(2)+"}");
pStream.println(ind(1)+"}");
@@ -335,9 +335,9 @@ aspect GenMisc {
// SimpleElement.value()
pStream.println(ind(1)+"syn String SimpleElement.value() = \"\";");
- pStream.println(ind(1)+"eq StringElement.value() = getIDENTIFIER();");
- pStream.println(ind(1)+"eq IntElement.value() = getINTEGER_LITERAL();");
- pStream.println(ind(1)+"eq FloatElement.value() = getFLOAT_LITERAL();");
+ pStream.println(ind(1)+"eq StringElement.value() = getLITERAL();");
+ pStream.println(ind(1)+"eq IntElement.value() = getLITERAL();");
+ pStream.println(ind(1)+"eq FloatElement.value() = getLITERAL();");
// Thing.isTopElement()
pStream.println(ind(1)+"boolean Thing.isTopElement() {");
diff --git a/siaras/GenOntology.java b/siaras/GenOntology.java
new file mode 100644
index 0000000..8ac528d
--- /dev/null
+++ b/siaras/GenOntology.java
@@ -0,0 +1,29 @@
+
+/*
+ * Copyright (C) 2006 Anders Nilsson <anders.nilsson@cs.lth.se>
+ *
+ * This file is part of OntologyCompiler.
+ */
+
+import AST.Start;
+import java.io.*;
+
+public class GenOntology extends Parser {
+ public static void main(String args[]) {
+ Start ast = parse(args);
+
+ String fileName = null;
+ try {
+ // Generate OWL ontology, possibly transformed from Owl
+ // Full to OWL DL
+ fileName = "ontology.owl";
+ PrintStream pStream = new PrintStream(new File(fileName));
+ ast.genOntology("",pStream);
+ } catch (java.io.FileNotFoundException e) {
+ System.out.println("Could not create file: "+fileName);
+ e.printStackTrace();
+ }
+
+
+ }
+}
diff --git a/siaras/OntologyGeneration.jrag b/siaras/OntologyGeneration.jrag
new file mode 100644
index 0000000..70eeef1
--- /dev/null
+++ b/siaras/OntologyGeneration.jrag
@@ -0,0 +1,22 @@
+/* -*-Java-*- */
+
+/*
+ * Copyright (C) 2006 Anders Nilsson <anders.nilsson@cs.lth.se>
+ *
+ * This file is part of OntologyCompiler.
+ */
+
+import java.io.PrintStream;
+
+aspect Statistics {
+ public void ASTNode.genOntology(String ind, PrintStream pStream) {
+ for (int i=0; i<getNumChild(); i++) {
+ getChild(i).genOntology(ind, pStream);
+ }
+ }
+
+ public void Start.genOntology(String ind, PrintStream pStream) {
+ pStream.println("<?xml version=\"1.0\"?>");
+ super.genOntology(ind, pStream);
+ }
+}
diff --git a/siaras/Siaras.jjt b/siaras/Siaras.jjt
index 801b477..85883f4 100644
--- a/siaras/Siaras.jjt
+++ b/siaras/Siaras.jjt
@@ -14,7 +14,7 @@ options {
NODE_PREFIX = "";
JAVA_UNICODE_ESCAPE = true;
STATIC = false;
-// DEBUG_PARSER = true;
+ DEBUG_PARSER = true;
// DEBUG_LOOKAHEAD = true;
// DEBUG_TOKEN_MANAGER = true;
} // options
@@ -340,22 +340,55 @@ void SimpleElement() : {}
void IntElement() #IntElement : { Token t; }
{
t = <INTEGER_LITERAL>
- {jjtThis.setINTEGER_LITERAL(t.image);}
+ {jjtThis.setLITERAL(t.image);}
}
void FloatElement() #FloatElement : { Token t; }
{
t = <FLOAT_LITERAL>
- {jjtThis.setFLOAT_LITERAL(t.image);}
+ {jjtThis.setLITERAL(t.image);}
}
-
-void StringElement() #StringElement : {Token t;}
+void StringElement() #StringElement : { Token t;String s; }
{
t = <IDENTIFIER>
- {jjtThis.setIDENTIFIER(t.image);}
-// Identifier() | OtherToken()
-}
+ {
+ s = t.image;
+ if (getToken(1).kind != START_TAG ) {
+ s += getData();
+ }
+ }
+ {jjtThis.setLITERAL(s);}
+}
+
+JAVACODE
+String getData() {
+ StringBuffer s = new StringBuffer();
+// jjtThis.someData = true;
+ while ((getToken(1)).kind != START_TAG && (getToken(1)).kind != START_ENDTAG) {
+ Token t = getNextToken();
+ if (t.specialToken != null) {
+ Token tmp_t = t.specialToken;
+ while (tmp_t.specialToken != null) {
+ tmp_t = tmp_t.specialToken;
+ }
+ while (tmp_t != null) {
+ s.append(tmp_t.image);
+ tmp_t = tmp_t.next;
+ }
+ }
+ s.append(t.image);
+ }
+ return s.toString();
+}
+
+
+// void StringElement() #StringElement : {Token t;}
+// {
+// t = <IDENTIFIER>
+// {jjtThis.setIDENTIFIER(t.image);}
+// // Identifier() | OtherToken()
+// }
diff --git a/testontologies/v09.owl b/testontologies/v09.owl
new file mode 100644
index 0000000..c2220c4
--- /dev/null
+++ b/testontologies/v09.owl
@@ -0,0 +1,9191 @@
+<?xml version="1.0"?>
+<rdf:RDF
+ xmlns="http://www.owl-ontologies.com/siaras.owl#"
+ xmlns:protege="http://protege.stanford.edu/plugins/owl/protege#"
+ xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+ xmlns:xsd="http://www.w3.org/2001/XMLSchema#"
+ xmlns:rdfs="http://www.w3.org/2000/01/rdf-schema#"
+ xmlns:owl="http://www.w3.org/2002/07/owl#"
+ xmlns:daml="http://www.daml.org/2001/03/daml+oil#"
+ xmlns:p1="http://www.owl-ontologies.com/assert.owl#"
+ xmlns:dc="http://purl.org/dc/elements/1.1/"
+ xml:base="http://www.owl-ontologies.com/siaras.owl">
+ <owl:Ontology rdf:about=""/>
+ <owl:Class rdf:ID="ReadOpticalCharacters">
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Read"/>
+ </rdfs:subClassOf>
+ <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="Read2DMatrixCode"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ReadBarCode"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="DetectObject">
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Detect"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DetectCollision"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DetectColor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DetectContrast"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DetectLuminescence"/>
+ </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:Class>
+ <owl:Class rdf:ID="Geometry">
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="DeviceProperty"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="PhysicalProperties"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Cost"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Arrangement"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ToolInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Timing"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="QualityCriteria"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Identifier"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Communication"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="PhysicalPropertiesSensor">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MaxCurrentConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MaxAmbientTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="PhysicalInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MinAmbientTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Diameter"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Weight"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Material"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MaxVoltageSupply"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Shape"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="EnclosureRatingIP"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="PhysicalPropertiesGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Height"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MechanicalResistance"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalProperties"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Width"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MinVoltageSupply"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Length"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="PhysicalPropertiesRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MaxForce"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#DetectLuminescence">
+ <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:disjointWith>
+ <owl:Class rdf:about="#DetectColor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DetectContrast"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DetectCollision"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DetectObject"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Detect"/>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom>
+ <owl:Class rdf:ID="OpticLuminescenceScanner"/>
+ </owl:someValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:ID="isSkillOf"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="AngleGripper">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ParallelGripper"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="PincerGripper"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="Rivet">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Assemble"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Bolt"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Solder"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Glue"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Clinch"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Fill"/>
+ </owl:disjointWith>
+ <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:disjointWith>
+ <owl:Class rdf:ID="Weld"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Join"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="ShapeOfClaws">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="NumberOfFingers"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="NumberOfMovableClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="NumberOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="TypeOfVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DiameterOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MaxLiftWeight"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MaxLiftWay"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Reach"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MaximumVacuum"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="ClassifyObject">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="SortObjects"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Classify"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Read">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Detect"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Scan"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Classify"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Measure"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ImageAnalysis"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Check"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="SensorFunction"/>
+ </rdfs:subClassOf>
+ <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:ID="Orient">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Feed"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Move"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Turn"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Displace"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Position"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Pass"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Arrange"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Pan"/>
+ </owl:disjointWith>
+ <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:disjointWith>
+ <owl:Class rdf:ID="Convey"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Convey">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Pass"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Pan"/>
+ </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 rdf:resource="#Orient"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Turn"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Position"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Displace"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Feed"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Move"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Arrange"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="MeasureDistance">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MeasureMotionOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MeasureVolume"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MeasureTorque"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MeasureDiameter"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MeasureAcceleration"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MeasureAngle"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MeasureForce"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MeasurePositionOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MeasureOrientationOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MeasureArea"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MeasureTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MeasureSpeed"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Measure"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#MaxAmbientTemperature">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinAmbientTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Width"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Weight"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Height"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinVoltageSupply"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxCurrentConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MechanicalResistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Diameter"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Length"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxVoltageSupply"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxForce"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#EnclosureRatingIP"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalProperties"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Shape"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in degrees celsius</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="Object">
+ <rdfs:subClassOf rdf:resource="http://www.w3.org/2002/07/owl#Thing"/>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Skill"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#List"/>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Operation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ObjectBase"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Task"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Property"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >This is basically the world.</rdfs:comment>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:ID="hasAssembly"/>
+ </owl:onProperty>
+ <owl:maxCardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
+ >1</owl:maxCardinality>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="CheckSurfaceForIrregularities">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Check"/>
+ </rdfs:subClassOf>
+ <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="CheckPresence"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Count"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CheckPosition"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Glue">
+ <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="#Solder"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Rivet"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Assemble"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Weld"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bolt"/>
+ </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="#Clinch"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#TypeOfVacuum">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Reach"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfMovableClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWay"/>
+ </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="#MaxLiftWeight"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DiameterOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#EnclosureRatingIP">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinVoltageSupply"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Length"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinAmbientTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxCurrentConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Width"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Shape"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalInterface"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalProperties"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxForce"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Height"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Diameter"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxVoltageSupply"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Weight"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MechanicalResistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Pass">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Move"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Convey"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Turn"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Feed"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Pan"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Orient"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Arrange"/>
+ </owl:disjointWith>
+ <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>
+ <owl:Class rdf:about="#Position"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Displace"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#MeasureTorque">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasurePositionOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureAcceleration"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureOrientationOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureForce"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Measure"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureAngle"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureDistance"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureArea"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureVolume"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureMotionOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureSpeed"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureDiameter"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="CompoundSkills">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DiagnosticFunction"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MainFunction"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="AdditionalFunction"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:maxCardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
+ >1</owl:maxCardinality>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:ID="hasSubskill"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:ID="hasSkill"/>
+ </owl:onProperty>
+ <owl:maxCardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
+ >1</owl:maxCardinality>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Skill"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="Branch">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Divide a material flow into subflows.</rdfs:comment>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="ModifyAmount"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Partition"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Assign"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Merge"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Unify"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Divide"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="Thermal-Separate">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Plane"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Mill"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Separate"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Cut"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Thrust"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Lathe"/>
+ </owl:disjointWith>
+ <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:ID="Electro-discharge-machine"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Drill"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Lap"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Broach"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Hone"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Rub"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="File"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Grind"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Saw"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#MaxLiftWeight">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in kg</rdfs:comment>
+ <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Reach"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWay"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DiameterOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfMovableClaws"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="TactileSensor">
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Sensor"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="EncoderSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="InductiveSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="OpticSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="UltrasonicSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MagneticSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CapacitveSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="TorqueForceSensor"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="LoadParameterSet">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="SaveParameterSet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Calibrate"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="SetParameterValue"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Reset"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#AdditionalFunction"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Communication">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Arrangement"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#QualityCriteria"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Geometry"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Timing"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Identifier"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#DeviceProperty"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ToolInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalProperties"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cost"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#SizeOfGripper">
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Reach"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWay"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DiameterOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfMovableClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="Bend">
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Form"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Stretch-Form"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Roll"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Deep-Draw"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Forge"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Extrude"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Bead"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="True"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Fold"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Flang"/>
+ </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:disjointWith>
+ <owl:Class rdf:ID="Press"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Crush"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#OpticSensor">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Sensor"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#EncoderSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#UltrasonicSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MagneticSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TorqueForceSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InductiveSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CapacitveSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TactileSensor"/>
+ </owl:Class>
+ <owl:Class rdf:about="#MeasureAngle">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureSpeed"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureVolume"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Measure"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#MeasureTorque"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureAcceleration"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureDiameter"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasurePositionOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureDistance"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureMotionOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureForce"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureArea"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureOrientationOfObject"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="WheelEncoder">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="WireDrawEncoder"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="LinearEncoder"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#EncoderSensor"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#ModifyAmount">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Secure"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Move"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Store"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="ManipulationAndHandlingFunction"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Payload">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Height"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Weight"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxVoltageSupply"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalProperties"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxCurrentConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinAmbientTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Shape"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxForce"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in kg</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MechanicalResistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinVoltageSupply"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Width"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Diameter"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Length"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
+ </owl:Class>
+ <owl:Class rdf:ID="NumberOfJoints">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Reachability"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="StoreUnOrdered">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="StorePartlyOrdered"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="StoreInOrder"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Store"/>
+ </rdfs:subClassOf>
+ <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>
+ </owl:Class>
+ <owl:Class rdf:about="#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
+Gather a value as a multiple of a reference value.</rdfs:comment>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#SensorFunction"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ImageAnalysis"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Scan"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Read"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Classify"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Check"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Detect"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="OpticContrastScanner">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticLuminescenceScanner"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="OpticDistanceSensor"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#OpticSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="OpticColorSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="SmartCamera"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="LightGrid"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="OpticSwitch"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="LaserScanner2D"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="VisionSensor"/>
+ </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: 3</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#DetectColor">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DetectCollision"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DetectObject"/>
+ <owl:disjointWith rdf:resource="#DetectLuminescence"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DetectContrast"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#OpticColorSensor"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <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:about="#PhysicalProperties">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#QualityCriteria"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Identifier"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ToolInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Communication"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cost"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Arrangement"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Geometry"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#DeviceProperty"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Timing"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="SwitchingFrequency">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Timing"/>
+ </rdfs:subClassOf>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in Kilohertz</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CycleTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ResponseTime"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="WorkCoordinates">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MountedDeviceOrientation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CoordinateReferenceSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MountedDevicePosition"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Arrangement"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="isEditable">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DeviceProperty"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="SkillProperty"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >This attribute indicates whether the property is supposed to be provided each time a skill is invoked or just once.</rdfs:comment>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Property"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#WireDrawEncoder">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LinearEncoder"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#WheelEncoder"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#EncoderSensor"/>
+ </rdfs:subClassOf>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >distanceMeasurements.pdf
+SICK
+pag 4</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#Reachability">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfJoints"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Bolt">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Solder"/>
+ </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="#Fill"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Glue"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Weld"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Rivet"/>
+ <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="#Clinch"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Lap">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Saw"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Separate"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Rub"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cut"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Grind"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Drill"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Lathe"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Electro-discharge-machine"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Broach"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Thermal-Separate"/>
+ <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="#Mill"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#File"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Plane"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thrust"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Hone"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#DeviceProperty">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Identifier"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SkillProperty"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#isEditable"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Property"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Fold">
+ <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>
+ <owl:Class rdf:about="#Roll"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Forge"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Press"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Bend"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Flang"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#True"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bead"/>
+ </owl:disjointWith>
+ <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="#Crush"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Stretch-Form"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Extrude"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#InsideOrOutsidePicking">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWay"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfMovableClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Reach"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DiameterOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#SizeOfGripper"/>
+ </owl:Class>
+ <owl:Class rdf:ID="ElasticFingerGripper">
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="FingerGripper"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="JointFingerGripper"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="ManipulationAndHandling">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Manufacturing"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Sensor"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#ManipulationAndHandlingFunction"/>
+ </owl:someValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Device"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="AdjustCurrentToGrip">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CloseClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="AdjustVacuumToGrip"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CloseFingers"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom>
+ <owl:Class rdf:ID="MagnetGripper"/>
+ </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:Class>
+ <owl:Class rdf:about="#OpticLuminescenceScanner">
+ <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:disjointWith>
+ <owl:Class rdf:about="#OpticColorSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LightGrid"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LaserScanner2D"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticSwitch"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#VisionSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SmartCamera"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticDistanceSensor"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#OpticSensor"/>
+ </owl:Class>
+ <owl:Class rdf:ID="Workpiece">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Device"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Object"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
+ >1</owl:cardinality>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:ID="hasIdentifier"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:ID="hasProperty"/>
+ </owl:onProperty>
+ <owl:allValuesFrom>
+ <owl:Class rdf:about="#Property"/>
+ </owl:allValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="LightType">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="FieldOfView"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MaxScanAngle"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MinMeasurementRange"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="LightSpotSize"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MaxMeasurementRange"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="LaserClass"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Merge">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Combine subflows of material to a superflow.</rdfs:comment>
+ <rdfs:subClassOf rdf:resource="#ModifyAmount"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Partition"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Assign"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Divide"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Branch"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Unify"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Manufacturing">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Sensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ManipulationAndHandling"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:ID="ManufacturingFunction"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Device"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Saw">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Lathe"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Hone"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Drill"/>
+ </owl:disjointWith>
+ <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="#Grind"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Plane"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cut"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#File"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thrust"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Electro-discharge-machine"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Broach"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Separate"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Rub"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Thermal-Separate"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Mill"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Feed">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Turn"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Move a part from one to another position along a given trajectory. The part's orientation is given at each point of the trajectory.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Arrange"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Pass"/>
+ <owl:disjointWith rdf:resource="#Orient"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Displace"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Convey"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Move"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Position"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Pan"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="Temper">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Anneal"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Age"/>
+ </owl:disjointWith>
+ <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>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="ModifyWorkpieceProperties"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Calibrate">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#AdditionalFunction"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#LoadParameterSet"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Reset"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SaveParameterSet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SetParameterValue"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#AdditionalFunction">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DiagnosticFunction"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MainFunction"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#CompoundSkills"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Skill"/>
+ </rdfs:subClassOf>
+ <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:ID="CompressImageData">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="BlobAnalysis"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DecompressImageData"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="TransformImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="FilterImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="SegmentImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ExtractEdges"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CalibrateImage"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ImageAnalysis"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#MaximumVacuum">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWay"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfClaws"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfMovableClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Reach"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
+ <owl:disjointWith rdf:resource="#SizeOfGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DiameterOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Mill">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Lathe"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Electro-discharge-machine"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Rub"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Plane"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thrust"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Broach"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Hone"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#File"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cut"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Drill"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Thermal-Separate"/>
+ <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="#Grind"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Separate"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="CompoundManipulationAndHandlingFunction">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CompountSensorFunction"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CompoundManufacturingFunction"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#CompoundSkills"/>
+ </owl:Class>
+ <owl:Class rdf:ID="MechanicalConnector">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ToolInterface"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ElectricalConnector"/>
+ </owl:disjointWith>
+ <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="PerformSelfTest">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#DiagnosticFunction"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CollectStatisticalData"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#DetectContrast">
+ <owl:disjointWith rdf:resource="#DetectColor"/>
+ <owl:disjointWith rdf:resource="#DetectLuminescence"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DetectCollision"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DetectObject"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Detect"/>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#OpticContrastScanner"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <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>
+ </owl:Class>
+ <owl:Class rdf:ID="OpenFingers">
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#FingerGripper"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Release"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="AdjustCurrentToRelease"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="OpenClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="AdjustVacuumToRelease"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#AdjustVacuumToGrip">
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:ID="VacuumGripper"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Grasp"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#AdjustCurrentToGrip"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CloseClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CloseFingers"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="Circular">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Karthesian"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="AsFastAsPossible"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Feed"/>
+ </owl:Class>
+ <owl:Class rdf:ID="Mold">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Form"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Join"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Coat"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Separate"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ModifyWorkpieceProperties"/>
+ </owl:disjointWith>
+ <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>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ManufacturingFunction"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#MeasureMotionOfObject">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureTemperature"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Measure"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureSpeed"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureDistance"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureVolume"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureOrientationOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureTorque"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureArea"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureAcceleration"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureDiameter"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureForce"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasurePositionOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureAngle"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Unify">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Partition"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Assign"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Branch"/>
+ <owl:disjointWith rdf:resource="#Merge"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Divide"/>
+ </owl:disjointWith>
+ <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>
+ <rdfs:subClassOf rdf:resource="#ModifyAmount"/>
+ </owl:Class>
+ <owl:Class rdf:ID="OpticThroughBeamSwitch">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#OpticSwitch"/>
+ </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: 2</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="OpticProximitySwitch"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="OpticReflexSwitch"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#MaxMeasurementRange">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >In mm.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxScanAngle"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#FieldOfView"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinMeasurementRange"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LaserClass"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LightSpotSize"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="Accuracy">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#QualityCriteria"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Resolution"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Repeatability"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Precision"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#MeasureArea">
+ <owl:disjointWith rdf:resource="#MeasureTorque"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureForce"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureAcceleration"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureVolume"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureDiameter"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureSpeed"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureAngle"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasurePositionOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureTemperature"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Measure"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureOrientationOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureDistance"/>
+ <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
+ </owl:Class>
+ <owl:Class rdf:about="#MagneticSensor">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Sensor"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#OpticSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TorqueForceSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#EncoderSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#UltrasonicSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TactileSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InductiveSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CapacitveSensor"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="Gripper">
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </owl:someValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#Release"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#Grasp"/>
+ </owl:someValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#Arrangement"/>
+ </owl:someValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom rdf:resource="#Communication"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#Cost"/>
+ </owl:someValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Robot"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#ManipulationAndHandling"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Count">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CheckPresence"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CheckPosition"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#CheckSurfaceForIrregularities"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Check"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Clinch">
+ <owl:disjointWith rdf:resource="#Rivet"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Solder"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Glue"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Weld"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Fill"/>
+ </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="#Assemble"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Bolt"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Join"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Fill">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Solder"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Rivet"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Weld"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Bolt"/>
+ <owl:disjointWith rdf:resource="#Clinch"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Join"/>
+ </rdfs:subClassOf>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Fill a workpiece with a cubic capacity.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Glue"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Assemble"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="Parallel">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Sequence"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Atomic"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
+ >2</owl:cardinality>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:ID="hasOperation"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Operation"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#NumberOfMovableClaws">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DiameterOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#SizeOfGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Reach"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWay"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#OpenClaws">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Release"/>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#PincerGripper"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#AdjustVacuumToRelease"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#OpenFingers"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#AdjustCurrentToRelease"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="GeneralParallelGripper">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CircularParallelGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="LineParallelGripper"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ParallelGripper"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#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
+Check if a part fulfils given conditions.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Measure"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Detect"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Classify"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ImageAnalysis"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Read"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Scan"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#SensorFunction"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#MaxForce">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxVoltageSupply"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Shape"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinAmbientTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinVoltageSupply"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Height"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Length"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Weight"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Diameter"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxCurrentConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MechanicalResistance"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in Newton</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Width"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="Electroplate">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Varnish"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Hot-galvanise"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Powder-coat"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Coat"/>
+ </rdfs:subClassOf>
+ <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:ID="HexapodRobot">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ScaraRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CartesianRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ParallelKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="SimpleKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="SpecialKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ArticulatedRobot"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Very precise kinematic, but small working area. This is used for special applications.</rdfs:comment>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Robot"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#ControlSystem">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Arrangement"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#DeviceProperty"/>
+ <owl:disjointWith rdf:resource="#Communication"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#QualityCriteria"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Timing"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith rdf:resource="#Geometry"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Identifier"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cost"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ToolInterface"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#True">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Crush"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Flang"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Roll"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Extrude"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Fold"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Form"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Press"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Machine finishing after e.g. folding</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bead"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Stretch-Form"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Deep-Draw"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Bend"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Forge"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#SetParameterValue">
+ <owl:disjointWith rdf:resource="#Calibrate"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SaveParameterSet"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LoadParameterSet"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Reset"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#AdditionalFunction"/>
+ </owl:Class>
+ <owl:Class rdf:about="#MaterialOfGripper">
+ <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#SizeOfGripper"/>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWay"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Reach"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DiameterOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Lathe">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#File"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Grind"/>
+ </owl:disjointWith>
+ <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="#Thermal-Separate"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Drill"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Mill"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Broach"/>
+ </owl:disjointWith>
+ <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="#Cut"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Hone"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Rub"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Separate"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thrust"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="UltrasonicDistanceSensor">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#UltrasonicSensor"/>
+ </rdfs:subClassOf>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >distanceMeasurements.pdf
+SICK
+pag 4</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#Width">
+ <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Length"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Shape"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Height"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Diameter"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
+ <owl:disjointWith rdf:resource="#MaxForce"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MechanicalResistance"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Weight"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinVoltageSupply"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxVoltageSupply"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinAmbientTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxCurrentConsumption"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in mm</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#MeasureVolume">
+ <rdfs:subClassOf rdf:resource="#Measure"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureDiameter"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasurePositionOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureTorque"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureOrientationOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureForce"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureArea"/>
+ <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureSpeed"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureDistance"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureAcceleration"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureAngle"/>
+ </owl:Class>
+ <owl:Class rdf:about="#MeasureSpeed">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureOrientationOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureAngle"/>
+ <owl:disjointWith rdf:resource="#MeasureTorque"/>
+ <rdfs:subClassOf rdf:resource="#Measure"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasurePositionOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureVolume"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureAcceleration"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureArea"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureForce"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureDistance"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureDiameter"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#PathVelocityFluctuation">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Resolution"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Accuracy"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Precision"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Repeatability"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#QualityCriteria"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#ExtractEdges">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ImageAnalysis"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#BlobAnalysis"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DecompressImageData"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#FilterImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#CompressImageData"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TransformImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SegmentImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CalibrateImage"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#OpticProximitySwitch">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#OpticSwitch"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#OpticThroughBeamSwitch"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticReflexSwitch"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Drill">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thrust"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Broach"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Lathe"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Plane"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Grind"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cut"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Create a circular whole in the workpiece.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Electro-discharge-machine"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Separate"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <owl:disjointWith rdf:resource="#Thermal-Separate"/>
+ <owl:disjointWith rdf:resource="#Mill"/>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#File"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Rub"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Hone"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#ModifyWorkpieceProperties">
+ <owl:disjointWith rdf:resource="#Mold"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Join"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Form"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Separate"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Coat"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Modify some physical properties of the workpiece.</rdfs:comment>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ManufacturingFunction"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Reach">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWay"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DiameterOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith rdf:resource="#SizeOfGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ </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="#Workpiece"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ <owl:allValuesFrom>
+ <owl:Class rdf:about="#Skill"/>
+ </owl:allValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:minCardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
+ >0</owl:minCardinality>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:ID="hasReference"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#PhysicalProperties"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
+ >1</owl:cardinality>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasIdentifier"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ <owl:allValuesFrom>
+ <owl:Class rdf:about="#Property"/>
+ </owl:allValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf rdf:resource="#Object"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#MainFunction"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Partition">
+ <owl:disjointWith rdf:resource="#Branch"/>
+ <owl:disjointWith rdf:resource="#Unify"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Divide"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Assign"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Merge"/>
+ <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>
+ <rdfs:subClassOf rdf:resource="#ModifyAmount"/>
+ </owl:Class>
+ <owl:Class rdf:about="#StorePartlyOrdered">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Store"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StoreInOrder"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#StoreUnOrdered"/>
+ <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="#ManipulationAndHandlingFunction">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#MainFunction"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SensorFunction"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ManufacturingFunction"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#MaxVoltageSupply">
+ <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinVoltageSupply"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Width"/>
+ <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
+ <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Length"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MechanicalResistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Height"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalInterface"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in volts</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Shape"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinAmbientTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Diameter"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxCurrentConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Weight"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxForce"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Solder">
+ <owl:disjointWith rdf:resource="#Clinch"/>
+ <owl:disjointWith rdf:resource="#Glue"/>
+ <owl:disjointWith rdf:resource="#Rivet"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Weld"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Fill"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Assemble"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Join"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Bolt"/>
+ <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:Class>
+ <owl:Class rdf:about="#Precision">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Repeatability"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Resolution"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
+ <owl:disjointWith rdf:resource="#Accuracy"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#QualityCriteria"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Repeatability">
+ <owl:disjointWith rdf:resource="#Accuracy"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Resolution"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
+ <owl:disjointWith rdf:resource="#Precision"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in mm</rdfs:comment>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#QualityCriteria"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#MinMeasurementRange">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#FieldOfView"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LaserClass"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxScanAngle"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LightSpotSize"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >In mm.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ </owl:Class>
+ <owl:Class rdf:ID="Sinter">
+ <rdfs:subClassOf rdf:resource="#Mold"/>
+ <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>
+ <owl:Class rdf:ID="ElectrolyticSegregate"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Cast"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Reset">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SaveParameterSet"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Calibrate"/>
+ <owl:disjointWith rdf:resource="#LoadParameterSet"/>
+ <owl:disjointWith rdf:resource="#SetParameterValue"/>
+ <rdfs:subClassOf rdf:resource="#AdditionalFunction"/>
+ </owl:Class>
+ <owl:Class rdf:about="#AsFastAsPossible">
+ <rdfs:subClassOf rdf:resource="#Feed"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Karthesian"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Circular"/>
+ </owl:Class>
+ <owl:Class rdf:about="#SkillProperty">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Identifier"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DeviceProperty"/>
+ <owl:disjointWith rdf:resource="#isEditable"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Property"/>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:ID="hasEditable"/>
+ </owl:onProperty>
+ <owl:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
+ >1</owl:cardinality>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#OpticColorSensor">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LaserScanner2D"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#OpticSensor"/>
+ <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:disjointWith rdf:resource="#OpticContrastScanner"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SmartCamera"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#VisionSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LightGrid"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticDistanceSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticSwitch"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#MeasureDiameter">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasurePositionOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureOrientationOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureAcceleration"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureForce"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureSpeed"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureTorque"/>
+ <owl:disjointWith rdf:resource="#MeasureDistance"/>
+ <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
+ <rdfs:subClassOf rdf:resource="#Measure"/>
+ <owl:disjointWith rdf:resource="#MeasureAngle"/>
+ <owl:disjointWith rdf:resource="#MeasureVolume"/>
+ <owl:disjointWith rdf:resource="#MeasureArea"/>
+ </owl:Class>
+ <owl:Class rdf:ID="SimpleControl">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="PlaybackCtrl"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="IntelligentCtrl"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="NumericalCtrl"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#ControlSystem"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ToolInterface">
+ <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="#Timing"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cost"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Communication"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Identifier"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ControlSystem"/>
+ <owl:disjointWith rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#QualityCriteria"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Geometry"/>
+ <rdfs:subClassOf rdf:resource="#DeviceProperty"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Arrangement"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#FilterImage">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ImageAnalysis"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CalibrateImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TransformImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ExtractEdges"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DecompressImageData"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SegmentImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#CompressImageData"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#BlobAnalysis"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Cut">
+ <owl:disjointWith rdf:resource="#Mill"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Divide a workpiece into two parts.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Plane"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Hone"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Grind"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Thermal-Separate"/>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thrust"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Separate"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Electro-discharge-machine"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Rub"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Lathe"/>
+ <owl:disjointWith rdf:resource="#Drill"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#File"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Broach"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#CompountSensorFunction">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CompoundManufacturingFunction"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#CompoundManipulationAndHandlingFunction"/>
+ <rdfs:subClassOf rdf:resource="#CompoundSkills"/>
+ </owl:Class>
+ <owl:Class rdf:about="#BlobAnalysis">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ImageAnalysis"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#FilterImage"/>
+ <owl:disjointWith rdf:resource="#CompressImageData"/>
+ <owl:disjointWith rdf:resource="#ExtractEdges"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CalibrateImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TransformImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DecompressImageData"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SegmentImage"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Turn">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Displace"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Pass"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Move"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Position"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Orient"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Pan"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Arrange"/>
+ </owl:disjointWith>
+ <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="#Feed"/>
+ <owl:disjointWith rdf:resource="#Convey"/>
+ </owl:Class>
+ <owl:Class rdf:about="#LinearEncoder">
+ <owl:disjointWith rdf:resource="#WheelEncoder"/>
+ <owl:disjointWith rdf:resource="#WireDrawEncoder"/>
+ <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:Class>
+ <owl:Class rdf:about="#Position">
+ <owl:disjointWith rdf:resource="#Feed"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Pan"/>
+ </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="#Convey"/>
+ <owl:disjointWith rdf:resource="#Orient"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Move"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Turn"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Displace"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Pass"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Arrange"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Arrange">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Pan"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Displace"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Pass"/>
+ <owl:disjointWith rdf:resource="#Feed"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Move a part from an undefined to a well-defined orientation and position.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Position"/>
+ <owl:disjointWith rdf:resource="#Convey"/>
+ <owl:disjointWith rdf:resource="#Orient"/>
+ <owl:disjointWith rdf:resource="#Turn"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Move"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#DetectCollision">
+ <owl:disjointWith rdf:resource="#DetectContrast"/>
+ <owl:disjointWith rdf:resource="#DetectObject"/>
+ <owl:disjointWith rdf:resource="#DetectLuminescence"/>
+ <owl:disjointWith rdf:resource="#DetectColor"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Detect"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#DiameterOfGripper">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWay"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#SizeOfGripper"/>
+ <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
+ <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in mm</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Skill">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Property"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Task"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Object"/>
+ <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="http://www.w3.org/2002/07/owl#Thing"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:allValuesFrom rdf:resource="#Device"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#List"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Operation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ObjectBase"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="WormDiameter">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Worm"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in mm</rdfs:comment>
+ <rdfs:subClassOf rdf:resource="#MechanicalConnector"/>
+ </owl:Class>
+ <owl:Class rdf:about="#MaxCurrentConsumption">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Diameter"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Width"/>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Weight"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Shape"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Height"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinAmbientTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinVoltageSupply"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MechanicalResistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxForce"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalInterface"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in amperes</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Length"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
+ </owl:Class>
+ <owl:Class rdf:about="#MagnetGripper">
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#AdjustCurrentToRelease"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf rdf:resource="#Gripper"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom rdf:resource="#AdjustCurrentToGrip"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PincerGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#VacuumGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#FingerGripper"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#DecompressImageData">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ImageAnalysis"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#CompressImageData"/>
+ <owl:disjointWith rdf:resource="#ExtractEdges"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TransformImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SegmentImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#FilterImage"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CalibrateImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#BlobAnalysis"/>
+ </owl:Class>
+ <owl:Class rdf:about="#MinVoltageSupply">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in volts</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinAmbientTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Shape"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Weight"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Length"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Diameter"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxForce"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Width"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
+ <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Height"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MechanicalResistance"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#CompoundManufacturingFunction">
+ <rdfs:subClassOf rdf:resource="#CompoundSkills"/>
+ <owl:disjointWith rdf:resource="#CompountSensorFunction"/>
+ <owl:disjointWith rdf:resource="#CompoundManipulationAndHandlingFunction"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Broach">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Electro-discharge-machine"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <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 rdf:resource="#Cut"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Plane"/>
+ </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="#Rub"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Grind"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thrust"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Drill"/>
+ <owl:disjointWith rdf:resource="#Thermal-Separate"/>
+ <owl:disjointWith rdf:resource="#Mill"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Hone"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Lathe"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Assemble">
+ <owl:disjointWith rdf:resource="#Solder"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Weld"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Join"/>
+ </rdfs:subClassOf>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Putting together two workpieces.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Fill"/>
+ <owl:disjointWith rdf:resource="#Clinch"/>
+ <owl:disjointWith rdf:resource="#Bolt"/>
+ <owl:disjointWith rdf:resource="#Rivet"/>
+ <owl:disjointWith rdf:resource="#Glue"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Worm">
+ <rdfs:subClassOf rdf:resource="#MechanicalConnector"/>
+ <owl:disjointWith rdf:resource="#WormDiameter"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Can be inside or outside.</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#Rub">
+ <owl:disjointWith rdf:resource="#Mill"/>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Separate"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <owl:disjointWith rdf:resource="#Broach"/>
+ <owl:disjointWith rdf:resource="#Lathe"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Electro-discharge-machine"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Drill"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Hone"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thrust"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Plane"/>
+ </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="#File"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Thermal-Separate"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Grind"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Cut"/>
+ </owl:Class>
+ <owl:Class rdf:about="#MechanicalResistance">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Height"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Width"/>
+ <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Weight"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinAmbientTemperature"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Shape"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Length"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxForce"/>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Diameter"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Hot-galvanise">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Coat"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Varnish"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Electroplate"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Powder-coat"/>
+ </owl:disjointWith>
+ <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:Class>
+ <owl:Class rdf:about="#OpticReflexSwitch">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#OpticSwitch"/>
+ </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: 2</rdfs:comment>
+ <owl:disjointWith rdf:resource="#OpticProximitySwitch"/>
+ <owl:disjointWith rdf:resource="#OpticThroughBeamSwitch"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Pan">
+ <owl:disjointWith rdf:resource="#Turn"/>
+ <owl:disjointWith rdf:resource="#Orient"/>
+ <owl:disjointWith rdf:resource="#Convey"/>
+ <owl:disjointWith rdf:resource="#Arrange"/>
+ <owl:disjointWith rdf:resource="#Feed"/>
+ <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>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Move"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Position"/>
+ <owl:disjointWith rdf:resource="#Pass"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Displace"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#NumberOfFingers">
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
+ <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#SizeOfGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWay"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Cost">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Identifier"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Arrangement"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Geometry"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Timing"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith rdf:resource="#ControlSystem"/>
+ <owl:disjointWith rdf:resource="#Communication"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in euros</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#QualityCriteria"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#DeviceProperty"/>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ </owl:Class>
+ <owl:Class rdf:about="#PlaybackCtrl">
+ <rdfs:subClassOf rdf:resource="#ControlSystem"/>
+ <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>
+ <owl:disjointWith rdf:resource="#SimpleControl"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#IntelligentCtrl"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumericalCtrl"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Release">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Secure"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Grasp"/>
+ </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
+Invert the grasping.</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#ScanningDistance">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LaserClass"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxScanAngle"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in mm</rdfs:comment>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#FieldOfView"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LightSpotSize"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#QualityCriteria">
+ <owl:disjointWith rdf:resource="#Communication"/>
+ <owl:disjointWith rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith rdf:resource="#ControlSystem"/>
+ <owl:disjointWith rdf:resource="#Cost"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Arrangement"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#DeviceProperty"/>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Identifier"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Timing"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Geometry"/>
+ </owl:Class>
+ <owl:Class rdf:about="#SensorFunction">
+ <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="#ManipulationAndHandlingFunction"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ManufacturingFunction"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ <owl:allValuesFrom>
+ <owl:Class rdf:about="#Sensor"/>
+ </owl:allValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#MainFunction"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#MountedDeviceOrientation">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MountedDevicePosition"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CoordinateReferenceSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#WorkCoordinates"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Arrangement"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Roll">
+ <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="#Extrude"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >This is a malleable procedure. The material is feed between at least two rotating rolls. There are various types of rollling.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#True"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Press"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Bend"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Form"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Crush"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Fold"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Flang"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Forge"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Deep-Draw"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Stretch-Form">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Flang"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Fold"/>
+ <owl:disjointWith rdf:resource="#True"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Form"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Forge"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Deep-Draw"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Extrude"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Press"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Roll"/>
+ <owl:disjointWith rdf:resource="#Bend"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Crush"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bead"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#ManufacturingFunction">
+ <owl:disjointWith rdf:resource="#ManipulationAndHandlingFunction"/>
+ <owl:disjointWith rdf:resource="#SensorFunction"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#MainFunction"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#CheckPresence">
+ <owl:disjointWith rdf:resource="#CheckSurfaceForIrregularities"/>
+ <owl:disjointWith rdf:resource="#Count"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CheckPosition"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Check"/>
+ </owl:Class>
+ <owl:Class rdf:ID="BusInterface">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ElectricalInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CommunicationProtocol"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Communication"/>
+ </owl:Class>
+ <owl:Class rdf:about="#LightSpotSize">
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LaserClass"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Diameter in mm.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxScanAngle"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#FieldOfView"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ScanningDistance"/>
+ </owl:Class>
+ <owl:Class rdf:ID="Part">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ObjectBase"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Assembly"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Diameter">
+ <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Shape"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxForce"/>
+ <owl:disjointWith rdf:resource="#Width"/>
+ <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Length"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinAmbientTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Weight"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MechanicalResistance"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Height"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in mm</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
+ <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </owl:disjointWith>
+ </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>
+ <owl:disjointWith rdf:resource="#Release"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Secure"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#MeasureTemperature">
+ <owl:disjointWith rdf:resource="#MeasureDistance"/>
+ <owl:disjointWith rdf:resource="#MeasureSpeed"/>
+ <owl:disjointWith rdf:resource="#MeasureVolume"/>
+ <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
+ <owl:disjointWith rdf:resource="#MeasureTorque"/>
+ <owl:disjointWith rdf:resource="#MeasureAngle"/>
+ <owl:disjointWith rdf:resource="#MeasureArea"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureAcceleration"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureForce"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Measure"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureOrientationOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasurePositionOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureDiameter"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Height">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
+ <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
+ <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
+ <owl:disjointWith rdf:resource="#MaxForce"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#MechanicalResistance"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Weight"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Width"/>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in mm</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Shape"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinAmbientTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Length"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Diameter"/>
+ </owl:Class>
+ <owl:Class rdf:about="#MinAmbientTemperature">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in degrees celsius</rdfs:comment>
+ <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Length"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Shape"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Weight"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
+ <owl:disjointWith rdf:resource="#MechanicalResistance"/>
+ <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#Height"/>
+ <owl:disjointWith rdf:resource="#Diameter"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxForce"/>
+ <owl:disjointWith rdf:resource="#Width"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Displace">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Move"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Orient"/>
+ <owl:disjointWith rdf:resource="#Turn"/>
+ <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 rdf:resource="#Position"/>
+ <owl:disjointWith rdf:resource="#Arrange"/>
+ <owl:disjointWith rdf:resource="#Convey"/>
+ <owl:disjointWith rdf:resource="#Feed"/>
+ <owl:disjointWith rdf:resource="#Pan"/>
+ <owl:disjointWith rdf:resource="#Pass"/>
+ </owl:Class>
+ <owl:Class rdf:about="#CloseFingers">
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#FingerGripper"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf rdf:resource="#Grasp"/>
+ <owl:disjointWith rdf:resource="#AdjustCurrentToGrip"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CloseClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#AdjustVacuumToGrip"/>
+ </owl:Class>
+ <owl:Class rdf:about="#AdjustVacuumToRelease">
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#VacuumGripper"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf rdf:resource="#Release"/>
+ <owl:disjointWith rdf:resource="#OpenFingers"/>
+ <owl:disjointWith rdf:resource="#OpenClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#AdjustCurrentToRelease"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Deep-Draw">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Press"/>
+ </owl:disjointWith>
+ <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="#Roll"/>
+ <owl:disjointWith rdf:resource="#Fold"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Flang"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Forge"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Crush"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bead"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Form"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#True"/>
+ <owl:disjointWith rdf:resource="#Bend"/>
+ <owl:disjointWith rdf:resource="#Stretch-Form"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Extrude"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#TypeOfMagnet">
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWay"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
+ <owl:disjointWith rdf:resource="#SizeOfGripper"/>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Length">
+ <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
+ <owl:disjointWith rdf:resource="#Width"/>
+ <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Shape"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
+ <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
+ <owl:disjointWith rdf:resource="#MaxForce"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Height"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in mm</rdfs:comment>
+ <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
+ <owl:disjointWith rdf:resource="#MechanicalResistance"/>
+ <owl:disjointWith rdf:resource="#Diameter"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Weight"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Grind">
+ <owl:disjointWith rdf:resource="#Thermal-Separate"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Increase the surface performance, flatten the surface.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Broach"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Electro-discharge-machine"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Mill"/>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Plane"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Lathe"/>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <owl:disjointWith rdf:resource="#Drill"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Separate"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Cut"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Hone"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#File"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thrust"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Rub"/>
+ </owl:Class>
+ <owl:Class rdf:about="#TypeOfActuation">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#NumberOfJoints"/>
+ <owl:disjointWith rdf:resource="#Reachability"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Hone">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Plane"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Separate"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <owl:disjointWith rdf:resource="#Rub"/>
+ <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>
+ <owl:disjointWith rdf:resource="#Broach"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thrust"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Thermal-Separate"/>
+ <owl:disjointWith rdf:resource="#Mill"/>
+ <owl:disjointWith rdf:resource="#Lathe"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Electro-discharge-machine"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Drill"/>
+ <owl:disjointWith rdf:resource="#Cut"/>
+ <owl:disjointWith rdf:resource="#Grind"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#File"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Secure">
+ <rdfs:subClassOf rdf:resource="#ManipulationAndHandlingFunction"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Store"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ModifyAmount"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Move"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#CheckPosition">
+ <owl:disjointWith rdf:resource="#CheckSurfaceForIrregularities"/>
+ <owl:disjointWith rdf:resource="#Count"/>
+ <owl:disjointWith rdf:resource="#CheckPresence"/>
+ <rdfs:subClassOf rdf:resource="#Check"/>
+ </owl:Class>
+ <owl:Class rdf:about="#MeasureForce">
+ <owl:disjointWith rdf:resource="#MeasureArea"/>
+ <owl:disjointWith rdf:resource="#MeasureTemperature"/>
+ <owl:disjointWith rdf:resource="#MeasureDiameter"/>
+ <owl:disjointWith rdf:resource="#MeasureTorque"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureOrientationOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureVolume"/>
+ <owl:disjointWith rdf:resource="#MeasureAngle"/>
+ <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
+ <owl:disjointWith rdf:resource="#MeasureDistance"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasurePositionOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureSpeed"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureAcceleration"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Measure"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ParallelKinematicRobot">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Robot"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SimpleKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CartesianRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#HexapodRobot"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScaraRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ArticulatedRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SpecialKinematicRobot"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Special kinematic arrangement like the one built in SMErobot.</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#Form">
+ <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>
+ <owl:Class rdf:about="#Coat"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Separate"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Mold"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Join"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ModifyWorkpieceProperties"/>
+ <rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
+ </owl:Class>
+ <owl:Class rdf:about="#OpticDistanceSensor">
+ <owl:disjointWith rdf:resource="#OpticColorSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticSwitch"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SmartCamera"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LightGrid"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#OpticSensor"/>
+ <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LaserScanner2D"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#VisionSensor"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Forge">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Extrude"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#True"/>
+ <owl:disjointWith rdf:resource="#Deep-Draw"/>
+ <owl:disjointWith rdf:resource="#Fold"/>
+ <owl:disjointWith rdf:resource="#Bend"/>
+ <owl:disjointWith rdf:resource="#Stretch-Form"/>
+ <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>
+ <owl:Class rdf:about="#Crush"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Form"/>
+ <owl:disjointWith rdf:resource="#Roll"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bead"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Press"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Flang"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#ReadBarCode">
+ <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 rdf:resource="#ReadOpticalCharacters"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Read2DMatrixCode"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Read"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Weight">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Length"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Shape"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
+ <owl:disjointWith rdf:resource="#MaxForce"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MechanicalResistance"/>
+ <owl:disjointWith rdf:resource="#Height"/>
+ <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
+ <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
+ <owl:disjointWith rdf:resource="#Width"/>
+ <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#Diameter"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in kg</rdfs:comment>
+ <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
+ <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
+ </owl:Class>
+ <owl:Class rdf:about="#JointFingerGripper">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#FingerGripper"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#ElasticFingerGripper"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ElectricalConnector">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >How to connect a tool electrically.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#MechanicalConnector"/>
+ <rdfs:subClassOf rdf:resource="#ToolInterface"/>
+ </owl:Class>
+ <owl:Class rdf:about="#EncoderSensor">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#UltrasonicSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InductiveSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MagneticSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TorqueForceSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#OpticSensor"/>
+ <owl:disjointWith rdf:resource="#TactileSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CapacitveSensor"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Sensor"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#ImageAnalysis">
+ <rdfs:subClassOf rdf:resource="#SensorFunction"/>
+ <owl:disjointWith rdf:resource="#Read"/>
+ <owl:disjointWith rdf:resource="#Check"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Scan"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Classify"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Measure"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Detect"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#ScaraRobot">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Robot"/>
+ </rdfs:subClassOf>
+ <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:disjointWith rdf:resource="#ParallelKinematicRobot"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SimpleKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#HexapodRobot"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CartesianRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SpecialKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ArticulatedRobot"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#MeasurePositionOfObject">
+ <owl:disjointWith rdf:resource="#MeasureVolume"/>
+ <owl:disjointWith rdf:resource="#MeasureDistance"/>
+ <owl:disjointWith rdf:resource="#MeasureForce"/>
+ <owl:disjointWith rdf:resource="#MeasureTemperature"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureAcceleration"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureDiameter"/>
+ <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
+ <rdfs:subClassOf rdf:resource="#Measure"/>
+ <owl:disjointWith rdf:resource="#MeasureArea"/>
+ <owl:disjointWith rdf:resource="#MeasureAngle"/>
+ <owl:disjointWith rdf:resource="#MeasureSpeed"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureOrientationOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureTorque"/>
+ </owl:Class>
+ <owl:Class rdf:about="#DegreesOfFreedom">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
+ <owl:disjointWith rdf:resource="#Height"/>
+ <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
+ <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#Length"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Width"/>
+ <owl:disjointWith rdf:resource="#MechanicalResistance"/>
+ <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Diameter"/>
+ <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
+ <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Shape"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith rdf:resource="#MaxForce"/>
+ <owl:disjointWith rdf:resource="#Weight"/>
+ </owl:Class>
+ <owl:Class rdf:about="#PowerConsumption">
+ <owl:disjointWith rdf:resource="#Diameter"/>
+ <owl:disjointWith rdf:resource="#Height"/>
+ <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in kVA</rdfs:comment>
+ <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
+ <owl:disjointWith rdf:resource="#MaxForce"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Weight"/>
+ <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
+ <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
+ <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
+ <owl:disjointWith rdf:resource="#Length"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Shape"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
+ <owl:disjointWith rdf:resource="#Width"/>
+ <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
+ <owl:disjointWith rdf:resource="#MechanicalResistance"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Identifier">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Arrangement"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >For the identifier there are two applications in the later implementation:
+1. Identifier of either a device or a workpiece.
+2. Reference to device identifier or a workpiece identifier as a link, e.g. a URI.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#SkillProperty"/>
+ <owl:disjointWith rdf:resource="#Geometry"/>
+ <owl:disjointWith rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith rdf:resource="#DeviceProperty"/>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Timing"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Cost"/>
+ <owl:disjointWith rdf:resource="#ControlSystem"/>
+ <owl:disjointWith rdf:resource="#QualityCriteria"/>
+ <owl:disjointWith rdf:resource="#Communication"/>
+ <rdfs:subClassOf rdf:resource="#DeviceProperty"/>
+ </owl:Class>
+ <owl:Class rdf:about="#DiagnosticFunction">
+ <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 rdf:resource="#CompoundSkills"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MainFunction"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#AdditionalFunction"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Varnish">
+ <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>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Coat"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Hot-galvanise"/>
+ <owl:disjointWith rdf:resource="#Electroplate"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Powder-coat"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#ObjectBase">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Operation"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#List"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Property"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Task"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Skill"/>
+ <owl:disjointWith rdf:resource="#Object"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
+ >1</owl:cardinality>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:ID="hasGeometry"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf rdf:resource="http://www.w3.org/2002/07/owl#Thing"/>
+ </owl:Class>
+ <owl:Class rdf:about="#CapacitveSensor">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InductiveSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#UltrasonicSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#OpticSensor"/>
+ <owl:disjointWith rdf:resource="#EncoderSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TorqueForceSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TactileSensor"/>
+ <owl:disjointWith rdf:resource="#MagneticSensor"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Sensor"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#ArticulatedRobot">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SpecialKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#HexapodRobot"/>
+ <owl:disjointWith rdf:resource="#ParallelKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#ScaraRobot"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CartesianRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SimpleKinematicRobot"/>
+ </owl:disjointWith>
+ <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>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Robot"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#VisionSensor">
+ <rdfs:subClassOf rdf:resource="#OpticSensor"/>
+ <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticSwitch"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LightGrid"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#OpticColorSensor"/>
+ <owl:disjointWith rdf:resource="#OpticDistanceSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SmartCamera"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LaserScanner2D"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#MainFunction">
+ <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 rdf:resource="#DiagnosticFunction"/>
+ <owl:disjointWith rdf:resource="#CompoundSkills"/>
+ <owl:disjointWith rdf:resource="#AdditionalFunction"/>
+ </owl:Class>
+ <owl:Class rdf:about="#OpticSwitch">
+ <owl:disjointWith rdf:resource="#OpticDistanceSensor"/>
+ <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
+ <owl:disjointWith rdf:resource="#VisionSensor"/>
+ <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LightGrid"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SmartCamera"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LaserScanner2D"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#OpticColorSensor"/>
+ <rdfs:subClassOf rdf:resource="#OpticSensor"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Arrangement">
+ <owl:disjointWith rdf:resource="#Communication"/>
+ <owl:disjointWith rdf:resource="#Identifier"/>
+ <owl:disjointWith rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith rdf:resource="#Cost"/>
+ <owl:disjointWith rdf:resource="#Geometry"/>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Timing"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#QualityCriteria"/>
+ <rdfs:subClassOf rdf:resource="#DeviceProperty"/>
+ <owl:disjointWith rdf:resource="#ControlSystem"/>
+ </owl:Class>
+ <owl:Class rdf:about="#MaxLiftWay">
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith rdf:resource="#SizeOfGripper"/>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
+ <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in mm</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#Plane">
+ <owl:disjointWith rdf:resource="#Cut"/>
+ <owl:disjointWith rdf:resource="#Drill"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Separate"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Hone"/>
+ <owl:disjointWith rdf:resource="#Grind"/>
+ <owl:disjointWith rdf:resource="#Rub"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Electro-discharge-machine"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Mill"/>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <owl:disjointWith rdf:resource="#Thermal-Separate"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thrust"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <owl:disjointWith rdf:resource="#Broach"/>
+ <owl:disjointWith rdf:resource="#Lathe"/>
+ <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>
+ <owl:Class rdf:about="#File"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#SegmentImage">
+ <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
+ <owl:disjointWith rdf:resource="#DecompressImageData"/>
+ <owl:disjointWith rdf:resource="#BlobAnalysis"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CalibrateImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ExtractEdges"/>
+ <owl:disjointWith rdf:resource="#FilterImage"/>
+ <owl:disjointWith rdf:resource="#CompressImageData"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TransformImage"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Weld">
+ <owl:disjointWith rdf:resource="#Clinch"/>
+ <owl:disjointWith rdf:resource="#Glue"/>
+ <owl:disjointWith rdf:resource="#Bolt"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Join"/>
+ </rdfs:subClassOf>
+ <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:disjointWith rdf:resource="#Rivet"/>
+ <owl:disjointWith rdf:resource="#Fill"/>
+ <owl:disjointWith rdf:resource="#Assemble"/>
+ <owl:disjointWith rdf:resource="#Solder"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Anneal">
+ <owl:disjointWith rdf:resource="#Temper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Age"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#ModifyWorkpieceProperties"/>
+ <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="#CartesianRobot">
+ <owl:disjointWith rdf:resource="#ScaraRobot"/>
+ <owl:disjointWith rdf:resource="#HexapodRobot"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SimpleKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SpecialKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ParallelKinematicRobot"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Robot"/>
+ </rdfs:subClassOf>
+ <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:Class>
+ <owl:Class rdf:about="#Atomic">
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:maxCardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
+ >1</owl:maxCardinality>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:ID="hasWorkpiece"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:ID="hasDevice"/>
+ </owl:onProperty>
+ <owl:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
+ >1</owl:cardinality>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ <owl:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
+ >1</owl:cardinality>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Operation"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Sequence"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Parallel"/>
+ </owl:Class>
+ <owl:Class rdf:about="#NumberOfClaws">
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
+ <owl:disjointWith rdf:resource="#SizeOfGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
+ <owl:disjointWith rdf:resource="#MaxLiftWay"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Operation">
+ <owl:disjointWith rdf:resource="#Object"/>
+ <owl:disjointWith rdf:resource="#ObjectBase"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Task"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Skill"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Property"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#List"/>
+ </owl:Class>
+ <owl:Class rdf:about="#UltrasonicSensor">
+ <owl:disjointWith rdf:resource="#OpticSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TorqueForceSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InductiveSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#CapacitveSensor"/>
+ <owl:disjointWith rdf:resource="#TactileSensor"/>
+ <owl:disjointWith rdf:resource="#MagneticSensor"/>
+ <owl:disjointWith rdf:resource="#EncoderSensor"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Sensor"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#ParallelGripper">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PincerGripper"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#AngleGripper"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Cast">
+ <rdfs:subClassOf rdf:resource="#Mold"/>
+ <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:about="#ElectrolyticSegregate"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Sinter"/>
+ </owl:Class>
+ <owl:Class rdf:about="#StiffnessOfGripper">
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
+ <owl:disjointWith rdf:resource="#SizeOfGripper"/>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
+ <owl:disjointWith rdf:resource="#MaxLiftWay"/>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ </owl:Class>
+ <owl:Class rdf:about="#MeasureAcceleration">
+ <owl:disjointWith rdf:resource="#MeasurePositionOfObject"/>
+ <owl:disjointWith rdf:resource="#MeasureTemperature"/>
+ <owl:disjointWith rdf:resource="#MeasureAngle"/>
+ <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
+ <owl:disjointWith rdf:resource="#MeasureDistance"/>
+ <owl:disjointWith rdf:resource="#MeasureSpeed"/>
+ <rdfs:subClassOf rdf:resource="#Measure"/>
+ <owl:disjointWith rdf:resource="#MeasureForce"/>
+ <owl:disjointWith rdf:resource="#MeasureDiameter"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureOrientationOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureArea"/>
+ <owl:disjointWith rdf:resource="#MeasureTorque"/>
+ <owl:disjointWith rdf:resource="#MeasureVolume"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Assign">
+ <rdfs:subClassOf rdf:resource="#ModifyAmount"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Divide"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Branch"/>
+ <owl:disjointWith rdf:resource="#Unify"/>
+ <owl:disjointWith rdf:resource="#Partition"/>
+ <owl:disjointWith rdf:resource="#Merge"/>
+ <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:Class>
+ <owl:Class rdf:about="#TypeOfFingers">
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith rdf:resource="#MaxLiftWay"/>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith rdf:resource="#SizeOfGripper"/>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ </owl:Class>
+ <owl:Class rdf:about="#SimpleKinematicRobot">
+ <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="#ParallelKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
+ <owl:disjointWith rdf:resource="#HexapodRobot"/>
+ <owl:disjointWith rdf:resource="#CartesianRobot"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SpecialKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ScaraRobot"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Robot"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#CollectStatisticalData">
+ <owl:disjointWith rdf:resource="#PerformSelfTest"/>
+ <rdfs:subClassOf rdf:resource="#DiagnosticFunction"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Material">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
+ <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
+ <owl:disjointWith rdf:resource="#Length"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith rdf:resource="#PowerConsumption"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
+ <owl:disjointWith rdf:resource="#Width"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Shape"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Weight"/>
+ <owl:disjointWith rdf:resource="#Diameter"/>
+ <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
+ <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
+ <owl:disjointWith rdf:resource="#MaxForce"/>
+ <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
+ <owl:disjointWith rdf:resource="#MechanicalResistance"/>
+ <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
+ <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith rdf:resource="#Height"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ElectricalInterface">
+ <rdfs:subClassOf rdf:resource="#Communication"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CommunicationProtocol"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#BusInterface"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ElectrolyticSegregate">
+ <rdfs:subClassOf rdf:resource="#Mold"/>
+ <owl:disjointWith rdf:resource="#Sinter"/>
+ <owl:disjointWith rdf:resource="#Cast"/>
+ </owl:Class>
+ <owl:Class rdf:ID="TactileProximitySwitch">
+ <rdfs:subClassOf rdf:resource="#TactileSensor"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Flang">
+ <owl:disjointWith rdf:resource="#Stretch-Form"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Extrude"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Roll"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bead"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Press"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#True"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Crush"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Forge"/>
+ <owl:disjointWith rdf:resource="#Fold"/>
+ <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="#Bend"/>
+ <rdfs:subClassOf rdf:resource="#Form"/>
+ <owl:disjointWith rdf:resource="#Deep-Draw"/>
+ </owl:Class>
+ <owl:Class rdf:about="#CoordinateReferenceSystem">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MountedDevicePosition"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#WorkCoordinates"/>
+ <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
+ <rdfs:subClassOf rdf:resource="#Arrangement"/>
+ </owl:Class>
+ <owl:Class rdf:about="#CycleTime">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in seconds</rdfs:comment>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Timing"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ResponseTime"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#FieldOfView">
+ <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxScanAngle"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LaserClass"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith rdf:resource="#ScanningDistance"/>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ </owl:Class>
+ <owl:Class rdf:about="#LaserScanner2D">
+ <owl:disjointWith rdf:resource="#OpticDistanceSensor"/>
+ <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
+ <owl:disjointWith rdf:resource="#OpticColorSensor"/>
+ <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
+ <owl:disjointWith rdf:resource="#OpticSwitch"/>
+ <owl:disjointWith rdf:resource="#VisionSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SmartCamera"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LightGrid"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#OpticSensor"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Move">
+ <rdfs:subClassOf rdf:resource="#ManipulationAndHandlingFunction"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Store"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ModifyAmount"/>
+ <owl:disjointWith rdf:resource="#Secure"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Divide">
+ <owl:disjointWith rdf:resource="#Branch"/>
+ <owl:disjointWith rdf:resource="#Partition"/>
+ <owl:disjointWith rdf:resource="#Unify"/>
+ <owl:disjointWith rdf:resource="#Assign"/>
+ <owl:disjointWith rdf:resource="#Merge"/>
+ <rdfs:subClassOf rdf:resource="#ModifyAmount"/>
+ <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="#File">
+ <owl:disjointWith rdf:resource="#Rub"/>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <owl:disjointWith rdf:resource="#Hone"/>
+ <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 rdf:resource="#Plane"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Separate"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Drill"/>
+ <owl:disjointWith rdf:resource="#Thermal-Separate"/>
+ <owl:disjointWith rdf:resource="#Cut"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Electro-discharge-machine"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Mill"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thrust"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Grind"/>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <owl:disjointWith rdf:resource="#Lathe"/>
+ <owl:disjointWith rdf:resource="#Broach"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Thrust">
+ <owl:disjointWith rdf:resource="#Hone"/>
+ <owl:disjointWith rdf:resource="#Lathe"/>
+ <owl:disjointWith rdf:resource="#Drill"/>
+ <owl:disjointWith rdf:resource="#Cut"/>
+ <owl:disjointWith rdf:resource="#File"/>
+ <owl:disjointWith rdf:resource="#Plane"/>
+ <owl:disjointWith rdf:resource="#Grind"/>
+ <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="#Thermal-Separate"/>
+ <owl:disjointWith rdf:resource="#Rub"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Separate"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <owl:disjointWith rdf:resource="#Mill"/>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Electro-discharge-machine"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Broach"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Electro-discharge-machine">
+ <owl:disjointWith rdf:resource="#Drill"/>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Separate"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Thrust"/>
+ <owl:disjointWith rdf:resource="#Grind"/>
+ <owl:disjointWith rdf:resource="#Mill"/>
+ <owl:disjointWith rdf:resource="#Cut"/>
+ <owl:disjointWith rdf:resource="#Plane"/>
+ <owl:disjointWith rdf:resource="#Hone"/>
+ <owl:disjointWith rdf:resource="#Lathe"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >A spark removes material from the workpiece.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Thermal-Separate"/>
+ <owl:disjointWith rdf:resource="#Rub"/>
+ <owl:disjointWith rdf:resource="#Broach"/>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <owl:disjointWith rdf:resource="#File"/>
+ </owl:Class>
+ <owl:Class rdf:about="#CircularParallelGripper">
+ <owl:disjointWith rdf:resource="#GeneralParallelGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LineParallelGripper"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#ParallelGripper"/>
+ </owl:Class>
+ <owl:Class rdf:about="#SmartCamera">
+ <owl:disjointWith rdf:resource="#OpticSwitch"/>
+ <owl:disjointWith rdf:resource="#VisionSensor"/>
+ <owl:disjointWith rdf:resource="#LaserScanner2D"/>
+ <owl:disjointWith rdf:resource="#OpticColorSensor"/>
+ <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: 7</rdfs:comment>
+ <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
+ <owl:disjointWith rdf:resource="#OpticDistanceSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LightGrid"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#OpticSensor"/>
+ </owl:Class>
+ <owl:Class rdf:ID="BarcodeReader">
+ <rdfs:subClassOf rdf:resource="#VisionSensor"/>
+ </owl:Class>
+ <owl:Class rdf:about="#CloseClaws">
+ <rdfs:subClassOf rdf:resource="#Grasp"/>
+ <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>
+ <owl:disjointWith rdf:resource="#CloseFingers"/>
+ <owl:disjointWith rdf:resource="#AdjustCurrentToGrip"/>
+ <owl:disjointWith rdf:resource="#AdjustVacuumToGrip"/>
+ </owl:Class>
+ <owl:Class rdf:about="#InductiveSensor">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Sensor"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#CapacitveSensor"/>
+ <owl:disjointWith rdf:resource="#MagneticSensor"/>
+ <owl:disjointWith rdf:resource="#TactileSensor"/>
+ <owl:disjointWith rdf:resource="#UltrasonicSensor"/>
+ <owl:disjointWith rdf:resource="#EncoderSensor"/>
+ <owl:disjointWith rdf:resource="#OpticSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TorqueForceSensor"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Sensor">
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#SensorFunction"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Manufacturing"/>
+ <owl:disjointWith rdf:resource="#ManipulationAndHandling"/>
+ <rdfs:subClassOf rdf:resource="#Device"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom rdf:resource="#Arrangement"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#Timing"/>
+ </owl:someValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom rdf:resource="#Communication"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#PhysicalPropertiesSensor"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#Cost"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#QualityCriteria"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper">
+ <owl:disjointWith rdf:resource="#MechanicalResistance"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
+ <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
+ <owl:disjointWith rdf:resource="#Diameter"/>
+ <owl:disjointWith rdf:resource="#Width"/>
+ <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Shape"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
+ <owl:disjointWith rdf:resource="#Height"/>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
+ <owl:disjointWith rdf:resource="#PowerConsumption"/>
+ <owl:disjointWith rdf:resource="#MaxForce"/>
+ <owl:disjointWith rdf:resource="#Weight"/>
+ <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
+ <owl:disjointWith rdf:resource="#Material"/>
+ <owl:disjointWith rdf:resource="#Length"/>
+ </owl:Class>
+ <owl:Class rdf:about="#MaxScanAngle">
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith rdf:resource="#FieldOfView"/>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LaserClass"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ScanningDistance"/>
+ <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
+ </owl:Class>
+ <owl:Class rdf:about="#SpecialKinematicRobot">
+ <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>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Robot"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#ParallelKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#SimpleKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#ScaraRobot"/>
+ <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
+ <owl:disjointWith rdf:resource="#CartesianRobot"/>
+ <owl:disjointWith rdf:resource="#HexapodRobot"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Crush">
+ <owl:disjointWith rdf:resource="#Deep-Draw"/>
+ <owl:disjointWith rdf:resource="#Forge"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Extrude"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Fold"/>
+ <rdfs:subClassOf rdf:resource="#Form"/>
+ <owl:disjointWith rdf:resource="#Roll"/>
+ <owl:disjointWith rdf:resource="#True"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bead"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Stretch-Form"/>
+ <owl:disjointWith rdf:resource="#Bend"/>
+ <owl:disjointWith rdf:resource="#Flang"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Press"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Relative change of length by pressure force.</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#Shape">
+ <owl:disjointWith rdf:resource="#MechanicalResistance"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Width"/>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith rdf:resource="#Diameter"/>
+ <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
+ <owl:disjointWith rdf:resource="#PowerConsumption"/>
+ <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith rdf:resource="#Weight"/>
+ <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
+ <owl:disjointWith rdf:resource="#Height"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#MaxForce"/>
+ <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
+ <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
+ <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
+ <owl:disjointWith rdf:resource="#Length"/>
+ <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
+ <owl:disjointWith rdf:resource="#Material"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Timing">
+ <owl:disjointWith rdf:resource="#QualityCriteria"/>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith rdf:resource="#Identifier"/>
+ <owl:disjointWith rdf:resource="#Geometry"/>
+ <owl:disjointWith rdf:resource="#Communication"/>
+ <owl:disjointWith rdf:resource="#ControlSystem"/>
+ <owl:disjointWith rdf:resource="#Cost"/>
+ <rdfs:subClassOf rdf:resource="#DeviceProperty"/>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ </owl:Class>
+ <owl:Class rdf:about="#TransformImage">
+ <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
+ <owl:disjointWith rdf:resource="#CompressImageData"/>
+ <owl:disjointWith rdf:resource="#FilterImage"/>
+ <owl:disjointWith rdf:resource="#ExtractEdges"/>
+ <owl:disjointWith rdf:resource="#BlobAnalysis"/>
+ <owl:disjointWith rdf:resource="#SegmentImage"/>
+ <owl:disjointWith rdf:resource="#DecompressImageData"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CalibrateImage"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Karthesian">
+ <owl:disjointWith rdf:resource="#Circular"/>
+ <owl:disjointWith rdf:resource="#AsFastAsPossible"/>
+ <rdfs:subClassOf rdf:resource="#Feed"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Classify">
+ <rdfs:subClassOf rdf:resource="#SensorFunction"/>
+ <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="#Check"/>
+ <owl:disjointWith rdf:resource="#Measure"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Scan"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Read"/>
+ <owl:disjointWith rdf:resource="#ImageAnalysis"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Detect"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#LightGrid">
+ <rdfs:subClassOf rdf:resource="#OpticSensor"/>
+ <owl:disjointWith rdf:resource="#OpticDistanceSensor"/>
+ <owl:disjointWith rdf:resource="#SmartCamera"/>
+ <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
+ <owl:disjointWith rdf:resource="#VisionSensor"/>
+ <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
+ <owl:disjointWith rdf:resource="#OpticColorSensor"/>
+ <owl:disjointWith rdf:resource="#LaserScanner2D"/>
+ <owl:disjointWith rdf:resource="#OpticSwitch"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Robot">
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#WorkCoordinates"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#Cost"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf rdf:resource="#ManipulationAndHandling"/>
+ <owl:disjointWith rdf:resource="#Gripper"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#Arrangement"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#Communication"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <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:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#ControlSystem"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom rdf:resource="#QualityCriteria"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom rdf:resource="#ToolInterface"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#LineParallelGripper">
+ <owl:disjointWith rdf:resource="#GeneralParallelGripper"/>
+ <owl:disjointWith rdf:resource="#CircularParallelGripper"/>
+ <rdfs:subClassOf rdf:resource="#ParallelGripper"/>
+ </owl:Class>
+ <owl:Class rdf:about="#StoreInOrder">
+ <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:disjointWith rdf:resource="#StoreUnOrdered"/>
+ <owl:disjointWith rdf:resource="#StorePartlyOrdered"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Store"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#ResponseTime">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in seconds</rdfs:comment>
+ <rdfs:subClassOf rdf:resource="#Timing"/>
+ <owl:disjointWith rdf:resource="#CycleTime"/>
+ <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
+ </owl:Class>
+ <owl:Class rdf:about="#TorqueForceSensor">
+ <rdfs:subClassOf rdf:resource="#Sensor"/>
+ <owl:disjointWith rdf:resource="#TactileSensor"/>
+ <owl:disjointWith rdf:resource="#MagneticSensor"/>
+ <owl:disjointWith rdf:resource="#EncoderSensor"/>
+ <owl:disjointWith rdf:resource="#InductiveSensor"/>
+ <owl:disjointWith rdf:resource="#OpticSensor"/>
+ <owl:disjointWith rdf:resource="#CapacitveSensor"/>
+ <owl:disjointWith rdf:resource="#UltrasonicSensor"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Detect">
+ <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 rdf:resource="#ImageAnalysis"/>
+ <owl:disjointWith rdf:resource="#Check"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Scan"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Measure"/>
+ <owl:disjointWith rdf:resource="#Classify"/>
+ <owl:disjointWith rdf:resource="#Read"/>
+ <rdfs:subClassOf rdf:resource="#SensorFunction"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Task">
+ <owl:disjointWith rdf:resource="#ObjectBase"/>
+ <owl:disjointWith rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#List"/>
+ <owl:disjointWith rdf:resource="#Operation"/>
+ <owl:disjointWith rdf:resource="#Skill"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Property"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Object"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasOperation"/>
+ </owl:onProperty>
+ <owl:maxCardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
+ >1</owl:maxCardinality>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf rdf:resource="http://www.w3.org/2002/07/owl#Thing"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Sequence">
+ <owl:disjointWith rdf:resource="#Atomic"/>
+ <owl:disjointWith rdf:resource="#Parallel"/>
+ <rdfs:subClassOf rdf:resource="#Operation"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasOperation"/>
+ </owl:onProperty>
+ <owl:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
+ >1</owl:cardinality>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:ID="hasAtomicOperation"/>
+ </owl:onProperty>
+ <owl:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
+ >1</owl:cardinality>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Powder-coat">
+ <owl:disjointWith rdf:resource="#Hot-galvanise"/>
+ <owl:disjointWith rdf:resource="#Electroplate"/>
+ <owl:disjointWith rdf:resource="#Varnish"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Coat"/>
+ </rdfs:subClassOf>
+ <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>
+ </owl:Class>
+ <owl:Class rdf:about="#Join">
+ <owl:disjointWith rdf:resource="#Mold"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Separate"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Coat"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Form"/>
+ <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:Class>
+ <owl:Class rdf:about="#AdjustCurrentToRelease">
+ <owl:disjointWith rdf:resource="#OpenClaws"/>
+ <owl:disjointWith rdf:resource="#OpenFingers"/>
+ <owl:disjointWith rdf:resource="#AdjustVacuumToRelease"/>
+ <rdfs:subClassOf rdf:resource="#Release"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:allValuesFrom rdf:resource="#MagnetGripper"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#NumericalCtrl">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#IntelligentCtrl"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#SimpleControl"/>
+ <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>
+ <rdfs:subClassOf rdf:resource="#ControlSystem"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Extrude">
+ <owl:disjointWith rdf:resource="#Stretch-Form"/>
+ <rdfs:subClassOf rdf:resource="#Form"/>
+ <owl:disjointWith rdf:resource="#Bend"/>
+ <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>
+ <owl:Class rdf:about="#Bead"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Roll"/>
+ <owl:disjointWith rdf:resource="#Crush"/>
+ <owl:disjointWith rdf:resource="#True"/>
+ <owl:disjointWith rdf:resource="#Flang"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Press"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Forge"/>
+ <owl:disjointWith rdf:resource="#Deep-Draw"/>
+ <owl:disjointWith rdf:resource="#Fold"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Age">
+ <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 rdf:resource="#Temper"/>
+ <owl:disjointWith rdf:resource="#Anneal"/>
+ <rdfs:subClassOf rdf:resource="#ModifyWorkpieceProperties"/>
+ </owl:Class>
+ <owl:Class rdf:about="#CalibrateImage">
+ <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
+ <owl:disjointWith rdf:resource="#BlobAnalysis"/>
+ <owl:disjointWith rdf:resource="#SegmentImage"/>
+ <owl:disjointWith rdf:resource="#FilterImage"/>
+ <owl:disjointWith rdf:resource="#DecompressImageData"/>
+ <owl:disjointWith rdf:resource="#TransformImage"/>
+ <owl:disjointWith rdf:resource="#CompressImageData"/>
+ <owl:disjointWith rdf:resource="#ExtractEdges"/>
+ </owl:Class>
+ <owl:Class rdf:about="#SortObjects">
+ <owl:disjointWith rdf:resource="#ClassifyObject"/>
+ <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 rdf:resource="#Classify"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Scan">
+ <owl:disjointWith rdf:resource="#Measure"/>
+ <owl:disjointWith rdf:resource="#Classify"/>
+ <owl:disjointWith rdf:resource="#ImageAnalysis"/>
+ <owl:disjointWith rdf:resource="#Detect"/>
+ <owl:disjointWith rdf:resource="#Check"/>
+ <owl:disjointWith rdf:resource="#Read"/>
+ <rdfs:subClassOf rdf:resource="#SensorFunction"/>
+ <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="#LaserClass">
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith rdf:resource="#MaxScanAngle"/>
+ <owl:disjointWith rdf:resource="#ScanningDistance"/>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#FieldOfView"/>
+ <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Read2DMatrixCode">
+ <owl:disjointWith rdf:resource="#ReadOpticalCharacters"/>
+ <owl:disjointWith rdf:resource="#ReadBarCode"/>
+ <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 rdf:resource="#Read"/>
+ </owl:Class>
+ <owl:Class rdf:about="#VacuumGripper">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#FingerGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PincerGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MagnetGripper"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#AdjustVacuumToGrip"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf rdf:resource="#Gripper"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom rdf:resource="#AdjustVacuumToRelease"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#MeasureOrientationOfObject">
+ <owl:disjointWith rdf:resource="#MeasureArea"/>
+ <owl:disjointWith rdf:resource="#MeasureForce"/>
+ <owl:disjointWith rdf:resource="#MeasureSpeed"/>
+ <rdfs:subClassOf rdf:resource="#Measure"/>
+ <owl:disjointWith rdf:resource="#MeasureVolume"/>
+ <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
+ <owl:disjointWith rdf:resource="#MeasureDistance"/>
+ <owl:disjointWith rdf:resource="#MeasurePositionOfObject"/>
+ <owl:disjointWith rdf:resource="#MeasureAcceleration"/>
+ <owl:disjointWith rdf:resource="#MeasureTemperature"/>
+ <owl:disjointWith rdf:resource="#MeasureDiameter"/>
+ <owl:disjointWith rdf:resource="#MeasureTorque"/>
+ <owl:disjointWith rdf:resource="#MeasureAngle"/>
+ </owl:Class>
+ <owl:Class rdf:about="#FingerGripper">
+ <owl:disjointWith rdf:resource="#VacuumGripper"/>
+ <owl:disjointWith rdf:resource="#MagnetGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PincerGripper"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#CloseFingers"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#OpenFingers"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf rdf:resource="#Gripper"/>
+ </owl:Class>
+ <owl:Class rdf:about="#PincerGripper">
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#OpenClaws"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom rdf:resource="#CloseClaws"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf rdf:resource="#Gripper"/>
+ <owl:disjointWith rdf:resource="#MagnetGripper"/>
+ <owl:disjointWith rdf:resource="#VacuumGripper"/>
+ <owl:disjointWith rdf:resource="#FingerGripper"/>
+ </owl:Class>
+ <owl:Class rdf:about="#CommunicationProtocol">
+ <owl:disjointWith rdf:resource="#ElectricalInterface"/>
+ <owl:disjointWith rdf:resource="#BusInterface"/>
+ <rdfs:subClassOf rdf:resource="#Communication"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Bead">
+ <owl:disjointWith rdf:resource="#Bend"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Press"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Form"/>
+ <owl:disjointWith rdf:resource="#Extrude"/>
+ <owl:disjointWith rdf:resource="#Flang"/>
+ <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="#Fold"/>
+ <owl:disjointWith rdf:resource="#Stretch-Form"/>
+ <owl:disjointWith rdf:resource="#Roll"/>
+ <owl:disjointWith rdf:resource="#Forge"/>
+ <owl:disjointWith rdf:resource="#True"/>
+ <owl:disjointWith rdf:resource="#Deep-Draw"/>
+ <owl:disjointWith rdf:resource="#Crush"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Resolution">
+ <rdfs:subClassOf rdf:resource="#QualityCriteria"/>
+ <owl:disjointWith rdf:resource="#Precision"/>
+ <owl:disjointWith rdf:resource="#Repeatability"/>
+ <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
+ <owl:disjointWith rdf:resource="#Accuracy"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Assembly">
+ <owl:disjointWith rdf:resource="#Part"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:minCardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
+ >1</owl:minCardinality>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:ID="hasObjectBase"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf rdf:resource="#ObjectBase"/>
+ </owl:Class>
+ <owl:Class rdf:about="#MountedDevicePosition">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#WorkCoordinates"/>
+ <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
+ <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
+ <rdfs:subClassOf rdf:resource="#Arrangement"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Store">
+ <owl:disjointWith rdf:resource="#ModifyAmount"/>
+ <owl:disjointWith rdf:resource="#Move"/>
+ <owl:disjointWith rdf:resource="#Secure"/>
+ <rdfs:subClassOf rdf:resource="#ManipulationAndHandlingFunction"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Coat">
+ <owl:disjointWith rdf:resource="#ModifyWorkpieceProperties"/>
+ <owl:disjointWith rdf:resource="#Mold"/>
+ <owl:disjointWith rdf:resource="#Join"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Separate"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Form"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Put a permanent layer of formless material onto the workpiece.</rdfs:comment>
+ <rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
+ </owl:Class>
+ <owl:Class rdf:about="#PhysicalInterface">
+ <owl:disjointWith rdf:resource="#Width"/>
+ <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
+ <owl:disjointWith rdf:resource="#Weight"/>
+ <owl:disjointWith rdf:resource="#Height"/>
+ <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
+ <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
+ <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
+ <owl:disjointWith rdf:resource="#Material"/>
+ <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
+ <owl:disjointWith rdf:resource="#Shape"/>
+ <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith rdf:resource="#Length"/>
+ <owl:disjointWith rdf:resource="#Diameter"/>
+ <owl:disjointWith rdf:resource="#MechanicalResistance"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
+ <owl:disjointWith rdf:resource="#PowerConsumption"/>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith rdf:resource="#MaxForce"/>
+ </owl:Class>
+ <owl:Class rdf:about="#SaveParameterSet">
+ <rdfs:subClassOf rdf:resource="#AdditionalFunction"/>
+ <owl:disjointWith rdf:resource="#Calibrate"/>
+ <owl:disjointWith rdf:resource="#LoadParameterSet"/>
+ <owl:disjointWith rdf:resource="#Reset"/>
+ <owl:disjointWith rdf:resource="#SetParameterValue"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Separate">
+ <owl:disjointWith rdf:resource="#Mold"/>
+ <owl:disjointWith rdf:resource="#Join"/>
+ <owl:disjointWith rdf:resource="#ModifyWorkpieceProperties"/>
+ <owl:disjointWith rdf:resource="#Coat"/>
+ <owl:disjointWith rdf:resource="#Form"/>
+ <rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Modify the workpiece by breaking the coherence at some location.</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:ID="InductiveProximitySwitch">
+ <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>
+ <rdfs:subClassOf rdf:resource="#InductiveSensor"/>
+ </owl:Class>
+ <owl:Class rdf:about="#IntelligentCtrl">
+ <rdfs:subClassOf rdf:resource="#ControlSystem"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >This includes calculating up functions for setting positions and trajectories.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#SimpleControl"/>
+ <owl:disjointWith rdf:resource="#PlaybackCtrl"/>
+ <owl:disjointWith rdf:resource="#NumericalCtrl"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Property">
+ <owl:disjointWith rdf:resource="#Skill"/>
+ <owl:disjointWith rdf:resource="#Operation"/>
+ <owl:disjointWith rdf:resource="#ObjectBase"/>
+ <owl:disjointWith rdf:resource="#Task"/>
+ <owl:disjointWith rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#List"/>
+ <owl:disjointWith rdf:resource="#Object"/>
+ </owl:Class>
+ <owl:Class rdf:about="#WorkFrame">
+ <rdfs:subClassOf rdf:resource="#Arrangement"/>
+ <owl:disjointWith rdf:resource="#WorkCoordinates"/>
+ <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
+ <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
+ <owl:disjointWith rdf:resource="#MountedDevicePosition"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Press">
+ <owl:disjointWith rdf:resource="#Bend"/>
+ <owl:disjointWith rdf:resource="#Flang"/>
+ <owl:disjointWith rdf:resource="#True"/>
+ <owl:disjointWith rdf:resource="#Fold"/>
+ <rdfs:subClassOf rdf:resource="#Form"/>
+ <owl:disjointWith rdf:resource="#Bead"/>
+ <owl:disjointWith rdf:resource="#Roll"/>
+ <owl:disjointWith rdf:resource="#Deep-Draw"/>
+ <owl:disjointWith rdf:resource="#Stretch-Form"/>
+ <owl:disjointWith rdf:resource="#Forge"/>
+ <owl:disjointWith rdf:resource="#Crush"/>
+ <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 rdf:resource="#Extrude"/>
+ </owl:Class>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot">
+ <owl:disjointWith rdf:resource="#MechanicalResistance"/>
+ <owl:disjointWith rdf:resource="#Length"/>
+ <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
+ <owl:disjointWith rdf:resource="#Diameter"/>
+ <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
+ <owl:disjointWith rdf:resource="#MaxForce"/>
+ <owl:disjointWith rdf:resource="#PowerConsumption"/>
+ <owl:disjointWith rdf:resource="#Material"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
+ <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
+ <owl:disjointWith rdf:resource="#Height"/>
+ <owl:disjointWith rdf:resource="#Shape"/>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
+ <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
+ <owl:disjointWith rdf:resource="#PhysicalInterface"/>
+ <owl:disjointWith rdf:resource="#Weight"/>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith rdf:resource="#Width"/>
+ <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
+ <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
+ </owl:Class>
+ <owl:ObjectProperty rdf:about="#hasIdentifier">
+ <rdfs:range rdf:resource="#Identifier"/>
+ <rdfs:domain>
+ <owl:Class>
+ <owl:unionOf rdf:parseType="Collection">
+ <owl:Class rdf:about="#Device"/>
+ <owl:Class rdf:about="#Workpiece"/>
+ </owl:unionOf>
+ </owl:Class>
+ </rdfs:domain>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:ID="isAtomicOperationOf">
+ <rdfs:domain rdf:resource="#Atomic"/>
+ <owl:inverseOf>
+ <owl:ObjectProperty rdf:about="#hasAtomicOperation"/>
+ </owl:inverseOf>
+ <rdfs:range rdf:resource="#Operation"/>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty">
+ <owl:inverseOf>
+ <owl:ObjectProperty rdf:ID="isPropertyOf"/>
+ </owl:inverseOf>
+ <rdfs:range rdf:resource="#Property"/>
+ <rdfs:domain rdf:resource="#Skill"/>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:ID="canBePerformedBy">
+ <rdfs:domain rdf:resource="#Task"/>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:ID="isWorkpieceOf">
+ <rdfs:domain rdf:resource="#Workpiece"/>
+ <owl:inverseOf>
+ <owl:ObjectProperty rdf:about="#hasWorkpiece"/>
+ </owl:inverseOf>
+ <rdfs:range rdf:resource="#Operation"/>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:about="#hasWorkpiece">
+ <rdfs:range rdf:resource="#Workpiece"/>
+ <rdfs:domain rdf:resource="#Operation"/>
+ <owl:inverseOf rdf:resource="#isWorkpieceOf"/>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:about="#hasAssembly">
+ <owl:inverseOf>
+ <owl:ObjectProperty rdf:ID="isAssemblyOf"/>
+ </owl:inverseOf>
+ <rdfs:range rdf:resource="#Assembly"/>
+ <rdfs:domain>
+ <owl:Class>
+ <owl:unionOf rdf:parseType="Collection">
+ <owl:Class rdf:about="#Object"/>
+ <owl:Class rdf:about="#ObjectBase"/>
+ </owl:unionOf>
+ </owl:Class>
+ </rdfs:domain>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:about="#hasSubskill">
+ <rdfs:domain rdf:resource="#CompoundSkills"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >To use an ordered list, according to the FAQ, rdf:List has to be added in Range (cf. http://protege.stanford.edu/doc/owl-faq.html#ordered). But it does not work so far.</rdfs:comment>
+ <rdfs:range rdf:resource="#CompoundSkills"/>
+ <owl:inverseOf>
+ <owl:ObjectProperty rdf:ID="isSubskillOf"/>
+ </owl:inverseOf>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:ID="isObjectBaseOf">
+ <rdfs:domain rdf:resource="#ObjectBase"/>
+ <rdfs:range>
+ <owl:Class>
+ <owl:unionOf rdf:parseType="Collection">
+ <owl:Class rdf:about="#Assembly"/>
+ <owl:Class rdf:about="#Workpiece"/>
+ </owl:unionOf>
+ </owl:Class>
+ </rdfs:range>
+ <owl:inverseOf>
+ <owl:ObjectProperty rdf:about="#hasObjectBase"/>
+ </owl:inverseOf>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:about="#hasGeometry">
+ <rdfs:domain rdf:resource="#Object"/>
+ <owl:inverseOf>
+ <owl:ObjectProperty rdf:ID="isGeometryOf"/>
+ </owl:inverseOf>
+ <rdfs:range rdf:resource="#Geometry"/>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill">
+ <rdfs:domain>
+ <owl:Class>
+ <owl:unionOf rdf:parseType="Collection">
+ <owl:Class rdf:about="#Device"/>
+ <owl:Class rdf:about="#Skill"/>
+ <owl:Class rdf:about="#Atomic"/>
+ </owl:unionOf>
+ </owl:Class>
+ </rdfs:domain>
+ <owl:inverseOf>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:inverseOf>
+ <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:range rdf:resource="#Skill"/>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:about="#hasReference">
+ <rdfs:domain>
+ <owl:Class>
+ <owl:unionOf rdf:parseType="Collection">
+ <owl:Class rdf:about="#Workpiece"/>
+ <owl:Class rdf:about="#Device"/>
+ </owl:unionOf>
+ </owl:Class>
+ </rdfs:domain>
+ <rdfs:range rdf:resource="#Identifier"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >This will be used für referencing devices in the later implementation, e.g. as a URI.</rdfs:comment>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:about="#hasOperation">
+ <rdfs:domain rdf:resource="#Task"/>
+ <rdfs:range rdf:resource="#Task"/>
+ <owl:inverseOf>
+ <owl:ObjectProperty rdf:ID="isOperationOf"/>
+ </owl:inverseOf>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:about="#isPropertyOf">
+ <rdfs:domain rdf:resource="#Property"/>
+ <rdfs:range rdf:resource="#Skill"/>
+ <owl:inverseOf rdf:resource="#hasProperty"/>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:ID="isDeviceOf">
+ <owl:inverseOf>
+ <owl:ObjectProperty rdf:about="#hasDevice"/>
+ </owl:inverseOf>
+ <rdfs:range rdf:resource="#Atomic"/>
+ <rdfs:domain rdf:resource="#Device"/>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:about="#isAssemblyOf">
+ <owl:inverseOf rdf:resource="#hasAssembly"/>
+ <rdfs:range>
+ <owl:Class>
+ <owl:unionOf rdf:parseType="Collection">
+ <owl:Class rdf:about="#Object"/>
+ <owl:Class rdf:about="#ObjectBase"/>
+ </owl:unionOf>
+ </owl:Class>
+ </rdfs:range>
+ <rdfs:domain rdf:resource="#Assembly"/>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf">
+ <rdfs:range>
+ <owl:Class>
+ <owl:unionOf rdf:parseType="Collection">
+ <owl:Class rdf:about="#Atomic"/>
+ <owl:Class rdf:about="#Device"/>
+ <owl:Class rdf:about="#Skill"/>
+ </owl:unionOf>
+ </owl:Class>
+ </rdfs:range>
+ <rdfs:domain rdf:resource="#Skill"/>
+ <owl:inverseOf rdf:resource="#hasSkill"/>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:about="#hasObjectBase">
+ <rdfs:domain>
+ <owl:Class>
+ <owl:unionOf rdf:parseType="Collection">
+ <owl:Class rdf:about="#Assembly"/>
+ <owl:Class rdf:about="#Workpiece"/>
+ </owl:unionOf>
+ </owl:Class>
+ </rdfs:domain>
+ <owl:inverseOf rdf:resource="#isObjectBaseOf"/>
+ <rdfs:range rdf:resource="#ObjectBase"/>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:about="#hasAtomicOperation">
+ <owl:inverseOf rdf:resource="#isAtomicOperationOf"/>
+ <rdfs:range rdf:resource="#Atomic"/>
+ <rdfs:domain rdf:resource="#Operation"/>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:about="#hasDevice">
+ <rdfs:range rdf:resource="#Device"/>
+ <rdfs:domain rdf:resource="#Atomic"/>
+ <owl:inverseOf rdf:resource="#isDeviceOf"/>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:about="#isSubskillOf">
+ <rdfs:domain rdf:resource="#CompoundSkills"/>
+ <rdfs:range rdf:resource="#CompoundSkills"/>
+ <owl:inverseOf rdf:resource="#hasSubskill"/>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:about="#hasEditable">
+ <rdfs:range rdf:resource="#isEditable"/>
+ <rdfs:domain rdf:resource="#Property"/>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:about="#isGeometryOf">
+ <rdfs:range rdf:resource="#Object"/>
+ <owl:inverseOf rdf:resource="#hasGeometry"/>
+ <rdfs:domain rdf:resource="#Geometry"/>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:about="#isOperationOf">
+ <rdfs:domain rdf:resource="#Task"/>
+ <rdfs:range rdf:resource="#Task"/>
+ <owl:inverseOf rdf:resource="#hasOperation"/>
+ </owl:ObjectProperty>
+ <owl:DatatypeProperty rdf:ID="value">
+ <rdfs:domain rdf:resource="#Property"/>
+ </owl:DatatypeProperty>
+ <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.2">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.2</value>
+ <isPropertyOf>
+ <VisionSensor rdf:ID="Sick_CVS2-P112">
+ <hasProperty>
+ <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_40">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >40.0</value>
+ <isPropertyOf>
+ <ScaraRobot rdf:ID="ScaraRobot_Staeubli_RS80">
+ <hasProperty>
+ <NumberOfJoints rdf:ID="NumberOfJoints_4">
+ <hasEditable>
+ <isEditable rdf:ID="isEditable_false">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#boolean"
+ >false</value>
+ </isEditable>
+ </hasEditable>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
+ >4</value>
+ <isPropertyOf>
+ <ArticulatedRobot rdf:ID="ArticulatedRobot_ABB_IRB-140">
+ <hasProperty rdf:resource="#MaxAmbientTemperature_40"/>
+ <hasProperty>
+ <PowerConsumption rdf:ID="PowerConsumption_4.5">
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >4.5</value>
+ </PowerConsumption>
+ </hasProperty>
+ <hasProperty>
+ <TypeOfActuation rdf:ID="TypeOfActuation_Electric">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Electric</value>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <isPropertyOf>
+ <ArticulatedRobot rdf:ID="ArticulatedRobot_ABB_IRB-4400">
+ <hasProperty rdf:resource="#TypeOfActuation_Electric"/>
+ <hasProperty>
+ <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_45">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >45.0</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ </MaxAmbientTemperature>
+ </hasProperty>
+ <hasProperty>
+ <IntelligentCtrl rdf:ID="IntelligentCtrl_1">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >yes</value>
+ <isPropertyOf>
+ <SmartCamera rdf:ID="Sick_IVC-2DM1122">
+ <hasProperty>
+ <EnclosureRatingIP rdf:ID="EnclosureRatingIP_65">
+ <isPropertyOf>
+ <OpticColorSensor rdf:ID="Sensopart_FL64C">
+ <hasProperty>
+ <MinVoltageSupply rdf:ID="MinVoltageSupply_12.0">
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >12.0</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
+ <isPropertyOf>
+ <OpticLuminescenceScanner rdf:ID="Sick_LUT3-610">
+ <hasProperty>
+ <SwitchingFrequency rdf:ID="SwitchingFrequency_1500">
+ <isPropertyOf>
+ <OpticColorSensor rdf:ID="Sick_CSM1-N1114">
+ <hasProperty>
+ <EnclosureRatingIP rdf:ID="EnclosureRatingIP_67">
+ <isPropertyOf>
+ <OpticDistanceSensor rdf:ID="Sick_DT10-P10B5">
+ <hasProperty>
+ <MinMeasurementRange rdf:ID="MinMeasurementRange_0.05">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
+ <isPropertyOf>
+ <OpticProximitySwitch rdf:ID="Sick_WT18-3P430">
+ <hasProperty>
+ <ElectricalInterface rdf:ID="ElectricalInterface_ConnectorM12-4Pins">
+ <isPropertyOf>
+ <SmartCamera rdf:ID="Sick_IVC-2DM1111">
+ <hasProperty>
+ <Length rdf:ID="Length_161">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >161.0</value>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
+ </Length>
+ </hasProperty>
+ <hasProperty rdf:resource="#IntelligentCtrl_1"/>
+ <hasProperty>
+ <MinAmbientTemperature rdf:ID="MinAmbientTemperature_0">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in degrees celsius</rdfs:comment>
+ <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
+ <isPropertyOf>
+ <LaserScanner2D rdf:ID="Sick_LMS200-30106">
+ <hasProperty>
+ <ResponseTime rdf:ID="ResponseTime_0.026">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.026</value>
+ </ResponseTime>
+ </hasProperty>
+ <hasProperty>
+ <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_50">
+ <rdfs:comment rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >in degrees celsius</rdfs:comment>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >50.0</value>
+ <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
+ </MaxAmbientTemperature>
+ </hasProperty>
+ <hasSkill>
+ <MeasureVolume rdf:ID="MeasureVolume_1">
+ <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
+ </MeasureVolume>
+ </hasSkill>
+ <hasSkill>
+ <Count rdf:ID="Count_1">
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
+ <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
+ </Count>
+ </hasSkill>
+ <hasProperty>
+ <LaserClass rdf:ID="LaserClass_1">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >1</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
+ </LaserClass>
+ </hasProperty>
+ <hasProperty>
+ <PowerConsumption rdf:ID="PowerConsumption_20">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >20.0</value>
+ <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
+ </PowerConsumption>
+ </hasProperty>
+ <hasSkill>
+ <MeasurePositionOfObject rdf:ID="DeterminePositionOfObject_1">
+ <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
+ </MeasurePositionOfObject>
+ </hasSkill>
+ <hasSkill>
+ <MeasureDistance rdf:ID="MeasureDistance_2">
+ <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
+ </MeasureDistance>
+ </hasSkill>
+ <hasProperty>
+ <Weight rdf:ID="Weight_4.5">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >4.5</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
+ </Weight>
+ </hasProperty>
+ <hasProperty>
+ <MinVoltageSupply rdf:ID="MinVoltageSupply_20.4">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >20.4</value>
+ <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </MinVoltageSupply>
+ </hasProperty>
+ <hasProperty>
+ <MaxMeasurementRange rdf:ID="MaxMeasurementRange_80">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >80.0</value>
+ <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </MaxMeasurementRange>
+ </hasProperty>
+ <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
+ <hasSkill>
+ <Scan rdf:ID="Scan_2D">
+ <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
+ </Scan>
+ </hasSkill>
+ <hasProperty>
+ <Resolution rdf:ID="AngleResolution_0.5">
+ <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.5</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Resolution>
+ </hasProperty>
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_Sick_LMS200-30106">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Sick_LMS200-30106</value>
+ </Identifier>
+ </hasIdentifier>
+ <hasSkill>
+ <DetectCollision rdf:ID="DetectCollision_1">
+ <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
+ </DetectCollision>
+ </hasSkill>
+ <hasProperty>
+ <MaxVoltageSupply rdf:ID="MaxVoltageSupply_27.6">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >27.6</value>
+ </MaxVoltageSupply>
+ </hasProperty>
+ <hasSkill>
+ <ClassifyObject rdf:ID="ClassifyObject_2">
+ <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
+ </ClassifyObject>
+ </hasSkill>
+ <hasProperty>
+ <Resolution rdf:ID="DepthResolution_0.01">
+ <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.01</value>
+ </Resolution>
+ </hasProperty>
+ <hasProperty>
+ <MaxScanAngle rdf:ID="MaxScanAngle_180">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >180.0</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
+ </MaxScanAngle>
+ </hasProperty>
+ <hasProperty rdf:resource="#MinAmbientTemperature_0"/>
+ </LaserScanner2D>
+ </isPropertyOf>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.0</value>
+ </MinAmbientTemperature>
+ </hasProperty>
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_Sick_IVC-2DM1111">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Sick_IVC-2DM1111</value>
+ </Identifier>
+ </hasIdentifier>
+ <hasProperty>
+ <Height rdf:ID="Height_55">
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >55.0</value>
+ </Height>
+ </hasProperty>
+ <hasSkill>
+ <MeasureOrientationOfObject rdf:ID="MeasureOrientationOfObject_1">
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
+ </MeasureOrientationOfObject>
+ </hasSkill>
+ <hasSkill>
+ <MeasureAngle rdf:ID="MeasureAngle_1">
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
+ </MeasureAngle>
+ </hasSkill>
+ <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
+ <hasProperty>
+ <MaxMeasurementRange rdf:ID="MaxMeasurementRange_1">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >1.0</value>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
+ </MaxMeasurementRange>
+ </hasProperty>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_50"/>
+ <hasProperty>
+ <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.4">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.4</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
+ </MaxCurrentConsumption>
+ </hasProperty>
+ <hasProperty>
+ <Weight rdf:ID="Weight_0.5">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.5</value>
+ </Weight>
+ </hasProperty>
+ <hasSkill rdf:resource="#DeterminePositionOfObject_1"/>
+ <hasSkill>
+ <MeasureDiameter rdf:ID="MeasureDiameter_1">
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
+ </MeasureDiameter>
+ </hasSkill>
+ <hasSkill>
+ <CheckPosition rdf:ID="CheckPosition_1">
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
+ </CheckPosition>
+ </hasSkill>
+ <hasProperty>
+ <BusInterface rdf:ID="BusInterface_RS485">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >RS485</value>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
+ </BusInterface>
+ </hasProperty>
+ <hasProperty>
+ <BusInterface rdf:ID="BusInterface_FastEthernet">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Fast Ethernet</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
+ <isPropertyOf>
+ <SmartCamera rdf:ID="VisionComponents-VC4465">
+ <hasSkill>
+ <Read2DMatrixCode rdf:ID="Read2DMatrixCode_1">
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isSkillOf rdf:resource="#VisionComponents-VC4465"/>
+ </Read2DMatrixCode>
+ </hasSkill>
+ <hasProperty>
+ <MinVoltageSupply rdf:ID="MinVoltageSupply_19.2">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >19.2</value>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
+ <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </MinVoltageSupply>
+ </hasProperty>
+ <hasProperty>
+ <Height rdf:ID="Height_53">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >53.0</value>
+ </Height>
+ </hasProperty>
+ <hasProperty>
+ <Length rdf:ID="Length_66.25">
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >66.25</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Length>
+ </hasProperty>
+ <hasProperty>
+ <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.08">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.08</value>
+ <isPropertyOf>
+ <OpticColorSensor rdf:ID="Sick_CS81-P1112">
+ <hasProperty>
+ <MaxVoltageSupply rdf:ID="MaxVoltageSupply_30.0">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf>
+ <OpticReflexSwitch rdf:ID="Sick_WL18-3P430">
+ <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
+ <hasSkill>
+ <DetectObject rdf:ID="DetectObject_1">
+ <isSkillOf>
+ <OpticThroughBeamSwitch rdf:ID="Sick_WSWE18-3P430">
+ <hasProperty>
+ <MaxMeasurementRange rdf:ID="MaxMeasurementRange_20">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >20.0</value>
+ <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
+ <hasEditable rdf:resource="#isEditable_false"/> </MaxMeasurementRange>
+ </hasProperty>
+ <hasProperty>
+ <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_60">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >60.0</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
+ <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
+ <isPropertyOf rdf:resource="#Sick_WL18-3P430"/> </MaxAmbientTemperature>
+ </hasProperty>
+ <hasProperty>
+ <SwitchingFrequency rdf:ID="SwitchingFrequency_1000">
+ <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
+ <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
+ <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
+ <isPropertyOf>
+ <OpticDistanceSensor rdf:ID="Sick_DME5000-112">
+ <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_Sick_DME5000-112">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Sick_DME5000-112</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Identifier>
+ </hasIdentifier>
+ <hasProperty>
+ <MinAmbientTemperature rdf:ID="MinAmbientTemperature_-10">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >-10.0</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
+ <isPropertyOf>
+ <OpticContrastScanner rdf:ID="Sick_KT5W_2P1116D">
+ <hasProperty>
+ <Weight rdf:ID="Weight_0.4">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.4</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf>
+ <OpticContrastScanner rdf:ID="Sick_KT10-2P1115">
+ <hasProperty rdf:resource="#MaxCurrentConsumption_0.08"/>
+ <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_Sick_KT10-2P1115">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Sick_KT10-2P1115</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Identifier>
+ </hasIdentifier>
+ <hasProperty>
+ <MinVoltageSupply rdf:ID="MinVoltageSupply_10.0">
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >10.0</value>
+ <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
+ <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
+ <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
+ <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
+ <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
+ </MinVoltageSupply>
+ </hasProperty>
+ <hasSkill>
+ <DetectContrast rdf:ID="DetectContrast_1">
+ <isSkillOf rdf:resource="#Sick_KT10-2P1115"/>
+ <isSkillOf rdf:resource="#Sick_KT5W_2P1116D"/>
+ </DetectContrast>
+ </hasSkill>
+ <hasProperty>
+ <ElectricalInterface rdf:ID="ElectricalInterface_OpenCollectorPNP">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >open collector PNP</value>
+ <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
+ <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
+ <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
+ <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
+ <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
+ <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
+ <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
+ </ElectricalInterface>
+ </hasProperty>
+ <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
+ <hasProperty>
+ <ResponseTime rdf:ID="ResponseTime_0.00001">
+ <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >1.0E-5</value>
+ </ResponseTime>
+ </hasProperty>
+ <hasProperty>
+ <LightType rdf:ID="LightType_LEDred">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >LEDred</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
+ <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
+ <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
+ <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
+ <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
+ <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
+ <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
+ </LightType>
+ </hasProperty>
+ <hasProperty>
+ <LightType rdf:ID="LightType_LEDblue">
+ <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
+ <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
+ <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >LEDblue</value>
+ </LightType>
+ </hasProperty>
+ <hasProperty rdf:resource="#MinAmbientTemperature_-10"/>
+ <hasProperty>
+ <ElectricalInterface rdf:ID="ElectricalInterface_ConnectorM12-5Pins">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Connector M12, 5 Pins</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
+ <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
+ <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
+ <isPropertyOf>
+ <LightGrid rdf:ID="Sick_MLG2-0280F511">
+ <hasProperty>
+ <MinVoltageSupply rdf:ID="MinVoltageSupply_15">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >15.0</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
+ </MinVoltageSupply>
+ </hasProperty>
+ <hasSkill>
+ <DetectObject rdf:ID="DetectObject_15">
+ <isSkillOf rdf:resource="#Sick_MLG2-0280F511"/>
+ </DetectObject>
+ </hasSkill>
+ <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-5Pins"/>
+ <hasProperty>
+ <ResponseTime rdf:ID="ResponseTime_0.003">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.0030</value>
+ <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
+ </ResponseTime>
+ </hasProperty>
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_Sick_MLG2-0280F511">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Sick_MLG2-0280F511</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Identifier>
+ </hasIdentifier>
+ <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
+ <hasProperty>
+ <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_55">
+ <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
+ <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
+ <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
+ <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >55.0</value>
+ <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
+ <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
+ </MaxAmbientTemperature>
+ </hasProperty>
+ <hasProperty>
+ <LightType rdf:ID="LightType_LEDinfrared">
+ <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >LEDinfrared</value>
+ </LightType>
+ </hasProperty>
+ <hasProperty>
+ <MaxMeasurementRange rdf:ID="MaxMeasurementRange_5">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >5.0</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
+ <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
+ </MaxMeasurementRange>
+ </hasProperty>
+ <hasProperty rdf:resource="#MaxCurrentConsumption_0.2"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
+ <hasProperty>
+ <MinAmbientTemperature rdf:ID="MinAmbientTemperature_-25">
+ <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
+ <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >-25.0</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </MinAmbientTemperature>
+ </hasProperty>
+ </LightGrid>
+ </isPropertyOf>
+ <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
+ </ElectricalInterface>
+ </hasProperty>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_55"/>
+ <hasProperty rdf:resource="#Weight_0.4"/>
+ <hasProperty>
+ <LightSpotSize rdf:ID="LightSpotSize_0.004x0.0008">
+ <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >0.004x0.0008</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </LightSpotSize>
+ </hasProperty>
+ <hasProperty>
+ <LightType rdf:ID="LightType_LEDgreen">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >LEDgreen</value>
+ <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
+ <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
+ <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </LightType>
+ </hasProperty>
+ <hasProperty>
+ <ScanningDistance rdf:ID="ScanningDistance_0.01">
+ <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
+ <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
+ <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.01</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </ScanningDistance>
+ </hasProperty>
+ <hasProperty>
+ <SwitchingFrequency rdf:ID="SwitchingFrequency_25000">
+ <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >25000.0</value>
+ </SwitchingFrequency>
+ </hasProperty>
+ </OpticContrastScanner>
+ </isPropertyOf>
+ <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
+ <isPropertyOf>
+ <rdf:Description rdf:ID="Schunk_MPG_20">
+ <hasProperty>
+ <Repeatability rdf:ID="Repeatability_0.01">
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <isPropertyOf>
+ <ScaraRobot rdf:ID="ScaraRobot_Staeubli_RS40B">
+ <hasSkill>
+ <Circular rdf:ID="Circular_29">
+ <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <isSkillOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
+ <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <isSkillOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
+ </Circular>
+ </hasSkill>
+ <hasProperty>
+ <Weight rdf:ID="Weight_40.5">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >40.5</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
+ </Weight>
+ </hasProperty>
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_Staeubli_RS40B">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Staeubli_RS40B</value>
+ </Identifier>
+ </hasIdentifier>
+ <hasProperty>
+ <DegreesOfFreedom rdf:ID="DegreesOfFreedom_4">
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
+ >4</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </DegreesOfFreedom>
+ </hasProperty>
+ <hasProperty rdf:resource="#TypeOfActuation_Electric"/>
+ <hasProperty>
+ <MinAmbientTemperature rdf:ID="MinAmbientTemperature_5">
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <isPropertyOf>
+ <rdf:Description rdf:ID="Schunk_MPG_64">
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_Schunk_MPG_64"/>
+ </hasIdentifier>
+ <hasSkill>
+ <OpenFingers rdf:ID="OpenFingers_1">
+ <isSkillOf rdf:resource="#Schunk_MPG_64"/>
+ <isSkillOf rdf:resource="#Schunk_MPG_20"/>
+ </OpenFingers>
+ </hasSkill>
+ <hasProperty>
+ <Payload rdf:ID="Payload_1.0">
+ <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >1.0</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Payload>
+ </hasProperty>
+ <hasProperty>
+ <Weight rdf:ID="Weight_0.6">
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >0.6</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
+ </Weight>
+ </hasProperty>
+ <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
+ <hasProperty>
+ <Repeatability rdf:ID="Repeatability_0.1">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >0.1</value>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ </Repeatability>
+ </hasProperty>
+ <hasProperty>
+ <EnclosureRatingIP rdf:ID="EnclosureRatingIP_30">
+ <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >30</value>
+ </EnclosureRatingIP>
+ </hasProperty>
+ <hasProperty>
+ <Repeatability rdf:ID="Repeatability_0.03">
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >0.03</value>
+ </Repeatability>
+ </hasProperty>
+ <hasProperty>
+ <EnclosureRatingIP rdf:ID="EnclosureRatingIP_54">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >30</value>
+ <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ </EnclosureRatingIP>
+ </hasProperty>
+ <hasProperty>
+ <MaxLiftWay rdf:ID="MaxLiftWay_2.0">
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >2.0</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </MaxLiftWay>
+ </hasProperty>
+ <hasProperty>
+ <Repeatability rdf:ID="Repeatability_0.02">
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >0.02</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Repeatability>
+ </hasProperty>
+ <hasProperty>
+ <NumberOfFingers rdf:ID="NumberOfFingers_2">
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >2</value>
+ <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </NumberOfFingers>
+ </hasProperty>
+ <hasProperty>
+ <CycleTime rdf:ID="CycleTime_0.01">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >0.01</value>
+ <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
+ </CycleTime>
+ </hasProperty>
+ <hasSkill>
+ <CloseFingers rdf:ID="CloseFingers_25">
+ <isSkillOf rdf:resource="#Schunk_MPG_20"/>
+ <isSkillOf rdf:resource="#Schunk_MPG_64"/>
+ </CloseFingers>
+ </hasSkill>
+ <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
+ <hasProperty>
+ <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_90">
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >90.0</value>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </MaxAmbientTemperature>
+ </hasProperty>
+ <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
+ <hasProperty rdf:resource="#Repeatability_0.01"/>
+ </rdf:Description>
+ </isPropertyOf>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >5.0</value>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
+ </MinAmbientTemperature>
+ </hasProperty>
+ <hasSkill>
+ <AsFastAsPossible rdf:ID="AsFastAsPossible_28">
+ <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <isSkillOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
+ <isSkillOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
+ </AsFastAsPossible>
+ </hasSkill>
+ <hasSkill>
+ <Karthesian rdf:ID="Karthesian_30">
+ <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <isSkillOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
+ <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <isSkillOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
+ </Karthesian>
+ </hasSkill>
+ <hasProperty rdf:resource="#EnclosureRatingIP_54"/>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_40"/>
+ <hasProperty>
+ <Reachability rdf:ID="Reachability_400">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
+ >400</value>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ </Reachability>
+ </hasProperty>
+ <hasProperty rdf:resource="#Repeatability_0.01"/>
+ <hasProperty rdf:resource="#NumberOfJoints_4"/>
+ <hasProperty>
+ <Payload rdf:ID="Payload_2.0">
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >2.0</value>
+ </Payload>
+ </hasProperty>
+ </ScaraRobot>
+ </isPropertyOf>
+ <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.01</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Repeatability>
+ </hasProperty>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_90"/>
+ <hasProperty rdf:resource="#MaxLiftWay_2.0"/>
+ <hasProperty>
+ <Weight rdf:ID="Weight_0.038">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.038</value>
+ </Weight>
+ </hasProperty>
+ <hasProperty>
+ <MaxLiftWeight rdf:ID="MaxLiftWeight_0.14">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.14</value>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </MaxLiftWeight>
+ </hasProperty>
+ <hasProperty rdf:resource="#Repeatability_0.1"/>
+ <hasProperty>
+ <Weight rdf:ID="Weight_0.04">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
+ <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
+ <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.04</value>
+ </Weight>
+ </hasProperty>
+ <hasProperty>
+ <Weight rdf:ID="Weight_985">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >985.0</value>
+ </Weight>
+ </hasProperty>
+ <hasProperty>
+ <Weight rdf:ID="Weight_98">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >98.0</value>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ </Weight>
+ </hasProperty>
+ <hasProperty rdf:resource="#NumberOfFingers_2"/>
+ <hasProperty>
+ <Payload rdf:ID="Payload_45.0">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >45.0</value>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Payload>
+ </hasProperty>
+ <hasProperty>
+ <CycleTime rdf:ID="CycleTime_0.03">
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.03</value>
+ </CycleTime>
+ </hasProperty>
+ <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
+ <hasSkill rdf:resource="#OpenFingers_1"/>
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_Schunk_MPG_20">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Schunk_MPG_20</value>
+ <hasEditable>
+ <isEditable rdf:ID="isEditable_true">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#boolean"
+ >true</value>
+ </isEditable>
+ </hasEditable>
+ </Identifier>
+ </hasIdentifier>
+ <hasProperty rdf:resource="#Repeatability_0.02"/>
+ <hasProperty>
+ <Payload rdf:ID="Payload_0.14">
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.14</value>
+ </Payload>
+ </hasProperty>
+ <hasProperty>
+ <Weight rdf:ID="Weight_51">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >51.0</value>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Weight>
+ </hasProperty>
+ <hasProperty>
+ <MaxForce rdf:ID="MaximumForce_24">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >24.0</value>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </MaxForce>
+ </hasProperty>
+ <hasProperty rdf:resource="#Weight_40.5"/>
+ <hasProperty rdf:resource="#Payload_2.0"/>
+ <hasProperty rdf:resource="#Repeatability_0.03"/>
+ <hasProperty>
+ <Payload rdf:ID="Payload_5.0">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >5.0</value>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ </Payload>
+ </hasProperty>
+ <hasProperty rdf:resource="#EnclosureRatingIP_54"/>
+ <hasProperty rdf:resource="#Weight_0.4"/>
+ <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
+ <hasSkill rdf:resource="#CloseFingers_25"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_30"/>
+ </rdf:Description>
+ </isPropertyOf>
+ <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
+ <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ </Weight>
+ </hasProperty>
+ <hasProperty rdf:resource="#MinAmbientTemperature_-10"/>
+ <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-5Pins"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
+ <hasProperty rdf:resource="#ScanningDistance_0.01"/>
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_Sick_KT5W_2P1116D">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Sick_KT5W_2P1116D</value>
+ </Identifier>
+ </hasIdentifier>
+ <hasProperty>
+ <LightSpotSize rdf:ID="LightSpotSize_0.0012x0.0042">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >0.0012x0.0042</value>
+ <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </LightSpotSize>
+ </hasProperty>
+ <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
+ <hasProperty>
+ <ResponseTime rdf:ID="ResponseTime_0.00005">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >5.0E-5</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
+ </ResponseTime>
+ </hasProperty>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_55"/>
+ <hasSkill rdf:resource="#DetectContrast_1"/>
+ <hasProperty>
+ <SwitchingFrequency rdf:ID="SwitchingFrequency_10000">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >10000.0</value>
+ <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
+ </SwitchingFrequency>
+ </hasProperty>
+ <hasProperty>
+ <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.13">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.13</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
+ </MaxCurrentConsumption>
+ </hasProperty>
+ </OpticContrastScanner>
+ </isPropertyOf>
+ <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
+ <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
+ <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
+ <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
+ </MinAmbientTemperature>
+ </hasProperty>
+ <hasProperty>
+ <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.3">
+ <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.3</value>
+ </MaxCurrentConsumption>
+ </hasProperty>
+ <hasProperty>
+ <BusInterface rdf:ID="BusInterface_Profibus">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Profibus</value>
+ <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
+ </BusInterface>
+ </hasProperty>
+ <hasProperty>
+ <LaserClass rdf:ID="LaserClass_2">
+ <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >2</value>
+ </LaserClass>
+ </hasProperty>
+ <hasProperty>
+ <MinVoltageSupply rdf:ID="MinVoltageSupply_18">
+ <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >18.0</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </MinVoltageSupply>
+ </hasProperty>
+ <hasProperty>
+ <Weight rdf:ID="Weight_1.6">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >1.6</value>
+ <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
+ </Weight>
+ </hasProperty>
+ <hasProperty>
+ <Repeatability rdf:ID="Repeatability_0.0005">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >5.0E-4</value>
+ <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Repeatability>
+ </hasProperty>
+ <hasProperty>
+ <LightSpotSize rdf:ID="LightSpotSize_0.13">
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+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.13</value>
+ <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
+ </LightSpotSize>
+ </hasProperty>
+ <hasProperty rdf:resource="#SwitchingFrequency_1000"/>
+ <hasProperty>
+ <Accuracy rdf:ID="Accuracy_0.002">
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+ >0.0020</value>
+ <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Accuracy>
+ </hasProperty>
+ <hasProperty>
+ <MaxMeasurementRange rdf:ID="MaxMeasurementRange_70">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >70.0</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
+ </MaxMeasurementRange>
+ </hasProperty>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_55"/>
+ <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
+ <hasProperty>
+ <MinMeasurementRange rdf:ID="MinMeasurementRange_0.15">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.15</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
+ </MinMeasurementRange>
+ </hasProperty>
+ <hasProperty>
+ <LightType rdf:ID="LightType_LaserRed">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >LaserRed</value>
+ <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
+ </LightType>
+ </hasProperty>
+ <hasSkill>
+ <MeasureDistance rdf:ID="MeasureDistance_1">
+ <isSkillOf rdf:resource="#Sick_DT10-P10B5"/>
+ <isSkillOf rdf:resource="#Sick_DME5000-112"/>
+ </MeasureDistance>
+ </hasSkill>
+ </OpticDistanceSensor>
+ </isPropertyOf>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >1000.0</value> </SwitchingFrequency>
+ </hasProperty>
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_Sick_WSWE18-3P430">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Sick_WSWE18-3P430</value> </Identifier>
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+ <hasProperty>
+ <MinMeasurementRange rdf:ID="MinMeasurementRange_0">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.0</value>
+ <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
+ <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/> </MinMeasurementRange>
+ </hasProperty>
+ <hasSkill rdf:resource="#DetectObject_1"/>
+ <hasProperty rdf:resource="#LightType_LEDred"/>
+ <hasProperty rdf:resource="#Weight_0.04"/>
+ <hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
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+ >0.055</value>
+ <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/> </MaxCurrentConsumption>
+ </hasProperty>
+ <hasProperty>
+ <ResponseTime rdf:ID="ResponseTime_0.0005">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >5.0E-4</value>
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+ <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
+ <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
+ <isPropertyOf rdf:resource="#Sick_WL18-3P430"/> </ResponseTime>
+ </hasProperty>
+ <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
+ <hasProperty>
+ <LightSpotSize rdf:ID="LightSpotSize_0.450">
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+ <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.45</value> </LightSpotSize>
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+ <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
+ <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
+ <hasProperty>
+ <MinAmbientTemperature rdf:ID="MinAmbientTemperature_-40">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >-40.0</value>
+ <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
+ <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
+ <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
+ <hasEditable rdf:resource="#isEditable_false"/> </MinAmbientTemperature>
+ </hasProperty>
+ </OpticThroughBeamSwitch>
+ </isSkillOf>
+ <isSkillOf rdf:resource="#Sick_WT18-3P430"/>
+ <isSkillOf rdf:resource="#Sick_WL18-3P430"/>
+ </DetectObject>
+ </hasSkill>
+ <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
+ <hasProperty rdf:resource="#LightType_LEDred"/>
+ <hasProperty rdf:resource="#MinMeasurementRange_0"/>
+ <hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_Sick_WL18-3P430">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >Sick_WL18-3P430</value>
+ </Identifier>
+ </hasIdentifier>
+ <hasProperty rdf:resource="#ResponseTime_0.0005"/>
+ <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_60"/>
+ <hasProperty rdf:resource="#MinAmbientTemperature_-40"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
+ <hasProperty>
+ <LightSpotSize rdf:ID="LightSpotSize_0.040">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >0.04</value>
+ </LightSpotSize>
+ </hasProperty>
+ <hasProperty>
+ <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.03">
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >0.03</value>
+ <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </MaxCurrentConsumption>
+ </hasProperty>
+ <hasProperty rdf:resource="#MaxMeasurementRange_5"/>
+ <hasProperty rdf:resource="#Weight_0.04"/>
+ <hasProperty rdf:resource="#SwitchingFrequency_1000"/>
+ </OpticReflexSwitch>
+ </isPropertyOf>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >30.0</value>
+ <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
+ <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
+ <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
+ <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
+ <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
+ <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
+ <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
+ </MaxVoltageSupply>
+ </hasProperty>
+ <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
+ <hasProperty rdf:resource="#MaxCurrentConsumption_0.08"/>
+ <hasProperty rdf:resource="#Weight_0.4"/>
+ <hasProperty>
+ <ScanningDistance rdf:ID="ScanningDistance_0.0125">
+ <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
+ <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >0.0125</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </ScanningDistance>
+ </hasProperty>
+ <hasProperty rdf:resource="#MinAmbientTemperature_-10"/>
+ <hasSkill>
+ <DetectColor rdf:ID="DetectColor_1">
+ <isSkillOf rdf:resource="#Sick_CSM1-N1114"/>
+ <isSkillOf rdf:resource="#Sick_CS81-P1112"/>
+ </DetectColor>
+ </hasSkill>
+ <hasProperty rdf:resource="#LightType_LEDgreen"/>
+ <hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
+ <hasProperty>
+ <LightSpotSize rdf:ID="LightSpotSize_0.004x0.002">
+ <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >0.004x0.002</value>
+ </LightSpotSize>
+ </hasProperty>
+ <hasProperty rdf:resource="#LightType_LEDblue"/>
+ <hasProperty rdf:resource="#LightType_LEDred"/>
+ <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-5Pins"/>
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_Sick_CS81-P1112">
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >Sick_CS81-P1112</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Identifier>
+ </hasIdentifier>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_55"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
+ </OpticColorSensor>
+ </isPropertyOf>
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ </MaxCurrentConsumption>
+ </hasProperty>
+ <hasProperty rdf:resource="#MaxCurrentConsumption_0.3"/>
+ <hasProperty>
+ <Length rdf:ID="Length_120">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >120.0</value>
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Length>
+ </hasProperty>
+ <hasProperty>
+ <Resolution rdf:ID="Resolution_800x600">
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >800x600</value>
+ </Resolution>
+ </hasProperty>
+ <hasProperty>
+ <Height rdf:ID="Height_43">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >43.0</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ </Height>
+ </hasProperty>
+ <hasSkill>
+ <ReadOpticalCharacters rdf:ID="ReadOpticalCharacters_1">
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isSkillOf rdf:resource="#VisionComponents-VC4465"/>
+ </ReadOpticalCharacters>
+ </hasSkill>
+ <hasSkill>
+ <ReadBarCode rdf:ID="ReadBarCode_1">
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isSkillOf rdf:resource="#VisionComponents-VC4465"/>
+ </ReadBarCode>
+ </hasSkill>
+ <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
+ <hasProperty>
+ <Length rdf:ID="Length_30.4">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >30.4</value>
+ </Length>
+ </hasProperty>
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_VisionComponents-VC4465">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >VisionComponents-VC4465</value>
+ </Identifier>
+ </hasIdentifier>
+ <hasSkill>
+ <DetectColor rdf:ID="DetectColor_3">
+ <isSkillOf rdf:resource="#Sensopart_FL64C"/>
+ <isSkillOf rdf:resource="#VisionComponents-VC4465"/>
+ </DetectColor>
+ </hasSkill>
+ <hasProperty>
+ <Weight rdf:ID="Weight_0.25">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.25</value>
+ </Weight>
+ </hasProperty>
+ <hasProperty>
+ <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.06">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.06</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ </MaxCurrentConsumption>
+ </hasProperty>
+ <hasProperty>
+ <MaxVoltageSupply rdf:ID="MaxVoltageSupply_28.8">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >28.8</value>
+ <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </MaxVoltageSupply>
+ </hasProperty>
+ <hasProperty>
+ <Height rdf:ID="Height_50">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >50.0</value>
+ </Height>
+ </hasProperty>
+ <hasProperty>
+ <BusInterface rdf:ID="BusInterface_RS232">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >RS232</value>
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </BusInterface>
+ </hasProperty>
+ </SmartCamera>
+ </isPropertyOf>
+ </BusInterface>
+ </hasProperty>
+ <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
+ <hasSkill>
+ <ClassifyObject rdf:ID="ClassifyObject_1">
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
+ </ClassifyObject>
+ </hasSkill>
+ <hasProperty>
+ <SwitchingFrequency rdf:ID="SwitchingFrequency_30fps">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >30.0</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
+ </SwitchingFrequency>
+ </hasProperty>
+ <hasProperty>
+ <MinMeasurementRange rdf:ID="MinMeasurementRange_0.10">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.1</value>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
+ </MinMeasurementRange>
+ </hasProperty>
+ <hasProperty>
+ <Resolution rdf:ID="Resolution_640x480">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >640x480</value>
+ </Resolution>
+ </hasProperty>
+ <hasSkill>
+ <MeasureArea rdf:ID="MeasureArea_1">
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
+ </MeasureArea>
+ </hasSkill>
+ <hasSkill rdf:resource="#Count_1"/>
+ <hasProperty>
+ <ElectricalInterface rdf:ID="ElectricalInterface_ConnectorM12-8Pins">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Connector M12, 8 Pins</value>
+ </ElectricalInterface>
+ </hasProperty>
+ <hasProperty rdf:resource="#MaxVoltageSupply_28.8"/>
+ <hasProperty>
+ <Width rdf:ID="Width_60">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >60.0</value>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Width>
+ </hasProperty>
+ <hasProperty rdf:resource="#MinVoltageSupply_19.2"/>
+ <hasSkill>
+ <CheckPresence rdf:ID="CheckPresence_1">
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
+ </CheckPresence>
+ </hasSkill>
+ </SmartCamera>
+ </isPropertyOf>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Connector M12, 4 Pins</value>
+ <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
+ <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
+ <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
+ <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
+ </ElectricalInterface>
+ </hasProperty>
+ <hasProperty rdf:resource="#Weight_0.04"/>
+ <hasProperty rdf:resource="#LightType_LEDred"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
+ <hasProperty>
+ <LightSpotSize rdf:ID="LightSpotSize_0.015">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.015</value>
+ </LightSpotSize>
+ </hasProperty>
+ <hasProperty>
+ <ResponseTime rdf:ID="ResponseTime_0.0007">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >7.0E-4</value>
+ </ResponseTime>
+ </hasProperty>
+ <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
+ <hasSkill rdf:resource="#DetectObject_1"/>
+ <hasProperty>
+ <MaxMeasurementRange rdf:ID="MaxMeasurementRange_0.6">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.6</value>
+ </MaxMeasurementRange>
+ </hasProperty>
+ <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
+ <hasProperty rdf:resource="#MinMeasurementRange_0.05"/>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_60"/>
+ <hasProperty rdf:resource="#MinAmbientTemperature_-40"/>
+ <hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
+ <hasProperty>
+ <SwitchingFrequency rdf:ID="SwitchingFrequency_700">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >700.0</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
+ </SwitchingFrequency>
+ </hasProperty>
+ <hasProperty>
+ <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.04">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.04</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
+ </MaxCurrentConsumption>
+ </hasProperty>
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_Sick_WT18-3P430">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Sick_WT18-3P430</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Identifier>
+ </hasIdentifier>
+ </OpticProximitySwitch>
+ </isPropertyOf>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.05</value>
+ </MinMeasurementRange>
+ </hasProperty>
+ <hasProperty>
+ <PowerConsumption rdf:ID="PowerConsumption_1.2">
+ <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >1.2</value>
+ </PowerConsumption>
+ </hasProperty>
+ <hasSkill rdf:resource="#MeasureDistance_1"/>
+ <hasProperty rdf:resource="#SwitchingFrequency_1000"/>
+ <hasProperty rdf:resource="#LightType_LEDred"/>
+ <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
+ <hasProperty>
+ <LightSpotSize rdf:ID="LightSpotSize_0.02">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.02</value>
+ <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
+ </LightSpotSize>
+ </hasProperty>
+ <hasProperty>
+ <Accuracy rdf:ID="Accuracy_0.003">
+ <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.0030</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Accuracy>
+ </hasProperty>
+ <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-5Pins"/>
+ <hasProperty rdf:resource="#Weight_0.04"/>
+ <hasProperty>
+ <ResponseTime rdf:ID="ResponseTime_0.02">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.02</value>
+ <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
+ </ResponseTime>
+ </hasProperty>
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_Sick_DT10-P10B5">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Sick_DT10-P10B5</value>
+ </Identifier>
+ </hasIdentifier>
+ <hasProperty>
+ <Repeatability rdf:ID="Repeatability_0.003">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.0030</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
+ </Repeatability>
+ </hasProperty>
+ <hasProperty>
+ <ElectricalInterface rdf:ID="ElectricalInterface_AnalogueOutput4-20mA">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >4...20 mA</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
+ </ElectricalInterface>
+ </hasProperty>
+ <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
+ <hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
+ <hasProperty rdf:resource="#MinAmbientTemperature_-25"/>
+ <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
+ <hasProperty>
+ <MaxMeasurementRange rdf:ID="MaxMeasurementRange_0.4">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.4</value>
+ <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </MaxMeasurementRange>
+ </hasProperty>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_50"/>
+ </OpticDistanceSensor>
+ </isPropertyOf>
+ <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
+ <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
+ <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
+ <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
+ <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >67</value>
+ <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
+ <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
+ <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ </EnclosureRatingIP>
+ </hasProperty>
+ <hasProperty rdf:resource="#ResponseTime_0.0005"/>
+ <hasProperty rdf:resource="#SwitchingFrequency_1500"/>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_55"/>
+ <hasProperty rdf:resource="#LightType_LEDred"/>
+ <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
+ <hasProperty>
+ <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.035">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.035</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
+ </MaxCurrentConsumption>
+ </hasProperty>
+ <hasProperty>
+ <LightSpotSize rdf:ID="LightSpotSize_0.0015x0.0065">
+ <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >0.0015x0.0065</value>
+ </LightSpotSize>
+ </hasProperty>
+ <hasProperty rdf:resource="#MaxVoltageSupply_28.8"/>
+ <hasProperty rdf:resource="#LightType_LEDblue"/>
+ <hasProperty>
+ <Weight rdf:ID="Weight_0.011">
+ <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.011</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Weight>
+ </hasProperty>
+ <hasProperty rdf:resource="#LightType_LEDgreen"/>
+ <hasProperty rdf:resource="#ScanningDistance_0.0125"/>
+ <hasSkill rdf:resource="#DetectColor_1"/>
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_Sick_CSM1-N1114">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Sick_CSM1-N1114</value>
+ </Identifier>
+ </hasIdentifier>
+ <hasProperty rdf:resource="#MinVoltageSupply_19.2"/>
+ <hasProperty rdf:resource="#MinAmbientTemperature_-10"/>
+ <hasProperty>
+ <ElectricalInterface rdf:ID="ElectricalInterface_OpenCollectorNPN">
+ <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >open collector NPN</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </ElectricalInterface>
+ </hasProperty> </OpticColorSensor>
+ </isPropertyOf>
+ <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >1500.0</value>
+ </SwitchingFrequency>
+ </hasProperty>
+ <hasProperty rdf:resource="#ScanningDistance_0.01"/>
+ <hasSkill>
+ <DetectLuminescence rdf:ID="DetectLuminescence_1">
+ <isSkillOf rdf:resource="#Sick_LUT3-610"/>
+ </DetectLuminescence>
+ </hasSkill>
+ <hasProperty>
+ <LightSpotSize rdf:ID="LightSpotSize_0.002x0.006">
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >0.002x0.006</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
+ </LightSpotSize>
+ </hasProperty>
+ <hasProperty>
+ <LightType rdf:ID="LightType_UV">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >UV</value>
+ <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
+ </LightType>
+ </hasProperty>
+ <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_Sick_LUT3-610">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >Sick_LUT3-610</value>
+ </Identifier>
+ </hasIdentifier>
+ <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorNPN"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
+ <hasProperty rdf:resource="#MinVoltageSupply_12.0"/>
+ <hasProperty rdf:resource="#MaxCurrentConsumption_0.06"/>
+ <hasProperty rdf:resource="#MinAmbientTemperature_-10"/>
+ <hasProperty rdf:resource="#Weight_0.4"/>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_55"/>
+ <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
+ <hasProperty>
+ <ResponseTime rdf:ID="ResponseTime_0.0003">
+ <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >3.0E-4</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </ResponseTime>
+ </hasProperty>
+ </OpticLuminescenceScanner>
+ </isPropertyOf>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ </MinVoltageSupply>
+ </hasProperty>
+ <hasProperty rdf:resource="#Height_53"/>
+ <hasProperty rdf:resource="#Weight_0.4"/>
+ <hasProperty>
+ <ResponseTime rdf:ID="ResponseTime_0.0009">
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >9.0E-4</value>
+ </ResponseTime>
+ </hasProperty>
+ <hasProperty rdf:resource="#ResponseTime_0.0007"/>
+ <hasProperty>
+ <Width rdf:ID="Width_80">
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >80.0</value>
+ </Width>
+ </hasProperty>
+ <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
+ <hasProperty>
+ <LightType rdf:ID="LightType_LED">
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >LED</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </LightType>
+ </hasProperty>
+ <hasProperty rdf:resource="#MaxCurrentConsumption_0.08"/>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_55"/>
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_Sensopart_FL64C">
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >Sensopart_FL64C</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Identifier>
+ </hasIdentifier>
+ <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorNPN"/>
+ <hasProperty>
+ <Material rdf:ID="Material_Polycarbonat">
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >Polycarbonat</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ </Material>
+ </hasProperty>
+ <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
+ <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
+ <hasProperty rdf:resource="#Height_43"/>
+ <hasProperty>
+ <Width rdf:ID="Width_12">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >12.0</value>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ </Width>
+ </hasProperty>
+ <hasProperty rdf:resource="#MaxCurrentConsumption_0.06"/>
+ <hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
+ <hasProperty>
+ <MaxVoltageSupply rdf:ID="MaxVoltageSupply_26.4">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >26.4</value>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ </MaxVoltageSupply>
+ </hasProperty>
+ <hasSkill rdf:resource="#DetectColor_3"/>
+ <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
+ <hasProperty rdf:resource="#Length_66.25"/>
+ </OpticColorSensor>
+ </isPropertyOf>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
+ <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >65</value>
+ <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
+ <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
+ </EnclosureRatingIP>
+ </hasProperty>
+ <hasProperty rdf:resource="#MaxMeasurementRange_1"/>
+ <hasSkill rdf:resource="#ReadOpticalCharacters_1"/>
+ <hasSkill rdf:resource="#Read2DMatrixCode_1"/>
+ <hasSkill rdf:resource="#MeasureDiameter_1"/>
+ <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
+ <hasSkill rdf:resource="#CheckPresence_1"/>
+ <hasProperty rdf:resource="#MinMeasurementRange_0.10"/>
+ <hasSkill rdf:resource="#MeasureArea_1"/>
+ <hasProperty rdf:resource="#MinAmbientTemperature_0"/>
+ <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-8Pins"/>
+ <hasProperty rdf:resource="#Width_60"/>
+ <hasProperty>
+ <Resolution rdf:ID="Resolution_1024x768">
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >1024x768</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
+ </Resolution>
+ </hasProperty>
+ <hasSkill rdf:resource="#MeasureAngle_1"/>
+ <hasProperty rdf:resource="#Height_55"/>
+ <hasProperty rdf:resource="#MaxVoltageSupply_28.8"/>
+ <hasProperty rdf:resource="#MinVoltageSupply_19.2"/>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_50"/>
+ <hasProperty rdf:resource="#MaxCurrentConsumption_0.4"/>
+ <hasProperty rdf:resource="#Length_161"/>
+ <hasSkill rdf:resource="#DeterminePositionOfObject_1"/>
+ <hasProperty rdf:resource="#Weight_0.5"/>
+ <hasProperty rdf:resource="#IntelligentCtrl_1"/>
+ <hasSkill rdf:resource="#CheckPosition_1"/>
+ <hasProperty rdf:resource="#BusInterface_RS485"/>
+ <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
+ <hasSkill rdf:resource="#ClassifyObject_1"/>
+ <hasProperty rdf:resource="#SwitchingFrequency_30fps"/>
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_Sick_IVC-2DM1122">
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >Sick_IVC-2DM1122</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Identifier>
+ </hasIdentifier>
+ <hasSkill rdf:resource="#MeasureOrientationOfObject_1"/>
+ <hasSkill rdf:resource="#Count_1"/>
+ <hasSkill rdf:resource="#ReadBarCode_1"/>
+ </SmartCamera>
+ </isPropertyOf>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </IntelligentCtrl>
+ </hasProperty>
+ <hasSkill rdf:resource="#Karthesian_30"/>
+ <hasProperty>
+ <MinVoltageSupply rdf:ID="MinVoltageSupply_200">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >200.0</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ </MinVoltageSupply>
+ </hasProperty>
+ <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_ABB_IRB-4400">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ ></value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Identifier>
+ </hasIdentifier>
+ <hasProperty rdf:resource="#EnclosureRatingIP_54"/>
+ <hasProperty>
+ <Reachability rdf:ID="Reachability_1960">
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
+ >1960</value>
+ </Reachability>
+ </hasProperty>
+ <hasProperty>
+ <DegreesOfFreedom rdf:ID="DegreesOfFreedom_6">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
+ >6</value>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ </DegreesOfFreedom>
+ </hasProperty>
+ <hasProperty rdf:resource="#Repeatability_0.1"/>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_40"/>
+ <hasProperty rdf:resource="#Reachability_400"/>
+ <hasSkill rdf:resource="#AsFastAsPossible_28"/>
+ <hasProperty rdf:resource="#DegreesOfFreedom_4"/>
+ <hasProperty rdf:resource="#Weight_985"/>
+ <hasProperty>
+ <NumberOfJoints rdf:ID="NumberOfJoints_6">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
+ >6</value>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </NumberOfJoints>
+ </hasProperty>
+ <hasSkill rdf:resource="#Circular_29"/>
+ <hasProperty>
+ <MaxVoltageSupply rdf:ID="MaxVoltageSupply_600">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >600.0</value>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </MaxVoltageSupply>
+ </hasProperty>
+ <hasProperty rdf:resource="#NumberOfJoints_4"/>
+ <hasProperty>
+ <Reachability rdf:ID="Reachability_800">
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
+ >800</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Reachability>
+ </hasProperty>
+ <hasProperty rdf:resource="#Payload_45.0"/>
+ </ArticulatedRobot>
+ </isPropertyOf>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
+ </TypeOfActuation>
+ </hasProperty>
+ <hasSkill rdf:resource="#Circular_29"/>
+ <hasProperty>
+ <Reachability rdf:ID="Reachability_810">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
+ >810</value>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Reachability>
+ </hasProperty>
+ <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
+ <hasProperty rdf:resource="#Payload_5.0"/>
+ <hasProperty rdf:resource="#NumberOfJoints_4"/>
+ <hasProperty rdf:resource="#Reachability_800"/>
+ <hasProperty rdf:resource="#DegreesOfFreedom_6"/>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_45"/>
+ <hasProperty rdf:resource="#Reachability_400"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
+ <hasProperty rdf:resource="#Reachability_1960"/>
+ <hasSkill rdf:resource="#Karthesian_30"/>
+ <hasProperty rdf:resource="#IntelligentCtrl_1"/>
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_ABB_IRB-140">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ ></value>
+ </Identifier>
+ </hasIdentifier>
+ <hasProperty rdf:resource="#MinVoltageSupply_200"/>
+ <hasProperty rdf:resource="#DegreesOfFreedom_4"/>
+ <hasProperty rdf:resource="#Repeatability_0.03"/>
+ <hasProperty rdf:resource="#NumberOfJoints_6"/>
+ <hasProperty rdf:resource="#MaxVoltageSupply_600"/>
+ <hasSkill rdf:resource="#AsFastAsPossible_28"/>
+ </ArticulatedRobot>
+ </isPropertyOf>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ </NumberOfJoints>
+ </hasProperty>
+ <hasProperty rdf:resource="#Weight_51"/>
+ <hasProperty rdf:resource="#TypeOfActuation_Electric"/>
+ <hasProperty rdf:resource="#Reachability_800"/>
+ <hasProperty rdf:resource="#Payload_2.0"/>
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_Staeubli_RS80">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Staeubli_RS80</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Identifier>
+ </hasIdentifier>
+ <hasProperty rdf:resource="#EnclosureRatingIP_54"/>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_40"/>
+ <hasSkill rdf:resource="#Karthesian_30"/>
+ <hasSkill rdf:resource="#Circular_29"/>
+ <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
+ <hasProperty rdf:resource="#Repeatability_0.01"/>
+ <hasSkill rdf:resource="#AsFastAsPossible_28"/>
+ </ScaraRobot>
+ </isPropertyOf>
+ <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </MaxAmbientTemperature>
+ </hasProperty>
+ <hasProperty>
+ <ResponseTime rdf:ID="ResponseTime_0.005">
+ <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.0050</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </ResponseTime>
+ </hasProperty>
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_Sick_CVS2-P112">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Sick_CVS2-P112</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Identifier>
+ </hasIdentifier>
+ <hasProperty rdf:resource="#MinAmbientTemperature_0"/>
+ <hasProperty>
+ <MaxVoltageSupply rdf:ID="MaxVoltageSupply_24">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >24.0</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
+ </MaxVoltageSupply>
+ </hasProperty>
+ <hasProperty>
+ <ScanningDistance rdf:ID="ScanningDistance_0.24">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.24</value>
+ <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
+ </ScanningDistance>
+ </hasProperty>
+ <hasProperty>
+ <LightType rdf:ID="LightType_LEDwhite">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >LEDwhite</value>
+ <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
+ </LightType>
+ </hasProperty>
+ <hasProperty>
+ <FieldOfView rdf:ID="FieldOfView_50x60">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >50x60</value>
+ <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
+ </FieldOfView>
+ </hasProperty>
+ <hasProperty>
+ <Weight rdf:ID="Weight_0.18">
+ <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.18</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Weight>
+ </hasProperty>
+ <hasProperty rdf:resource="#MinVoltageSupply_12.0"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
+ <hasSkill>
+ <SortObjects rdf:ID="SortObjectColor_15">
+ <isSkillOf rdf:resource="#Sick_CVS2-P112"/>
+ </SortObjects>
+ </hasSkill>
+ <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
+ <hasProperty rdf:resource="#MaxCurrentConsumption_0.2"/>
+ <hasProperty>
+ <Resolution rdf:ID="Resolution_208x238">
+ <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >208x238</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Resolution>
+ </hasProperty>
+ </VisionSensor>
+ </isPropertyOf>
+ <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </MaxCurrentConsumption>
+ <Material rdf:ID="Material-ZincPressureCasting">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Zinc Pressure Casting</value>
+ </Material>
+ <owl:DataRange>
+ <owl:oneOf rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >hydraulic</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#string"
+ >electric</rdf:first>
+ </rdf:rest>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >pneumatic</rdf:first>
+ </owl:oneOf>
+ </owl:DataRange>
+ <Width rdf:ID="Width_35">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >35.0</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Width>
+ <WormDiameter rdf:ID="WormDiameter_M5">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >M5</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </WormDiameter>
+ <MaxForce rdf:ID="MaximumForce_4.7">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >4.7</value>
+ </MaxForce>
+ <owl:AllDifferent>
+ <owl:distinctMembers rdf:parseType="Collection">
+ <Displace rdf:ID="IPA_AMMS_MoveFront">
+ <isSkillOf>
+ <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK_2DOF_Part1">
+ <hasSkill rdf:resource="#IPA_AMMS_MoveFront"/>
+ <isSubskillOf>
+ <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK_2DOF_Part2">
+ <hasSubskill rdf:resource="#AMMS_IPA_PICK_2DOF_Part1"/>
+ <hasSkill>
+ <Displace rdf:ID="IPA_AMMS_MoveDown">
+ <isSkillOf rdf:resource="#AMMS_IPA_PICK_2DOF_Part2"/>
+ </Displace>
+ </hasSkill>
+ <isSubskillOf>
+ <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK_2DOF_Part3">
+ <hasSkill>
+ <AdjustVacuumToGrip rdf:ID="AdjustVacuumToGrip_16">
+ <isSkillOf rdf:resource="#AMMS_IPA_PICK_2DOF_Part3"/>
+ </AdjustVacuumToGrip>
+ </hasSkill>
+ <hasSubskill rdf:resource="#AMMS_IPA_PICK_2DOF_Part2"/>
+ <isSubskillOf>
+ <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK_2DOF">
+ <hasSubskill rdf:resource="#AMMS_IPA_PICK_2DOF_Part3"/>
+ <hasSkill>
+ <Displace rdf:ID="IPA_AMMS_MoveUp">
+ <isSkillOf rdf:resource="#AMMS_IPA_PICK_2DOF"/>
+ </Displace>
+ </hasSkill>
+ <isSkillOf>
+ <rdf:Description rdf:ID="AMMS_IPA_2DOF_Gripper">
+ <hasSkill rdf:resource="#AMMS_IPA_PICK_2DOF"/>
+ </rdf:Description>
+ </isSkillOf>
+ <isSkillOf>
+ <rdf:Description rdf:ID="VacuumGripper_1">
+ <hasSkill rdf:resource="#AMMS_IPA_PICK_2DOF"/>
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_IPA_AMMS_SimpleGripper-2DOF">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >IPA_AMMS_SimpleGripper-2DOF</value>
+ <hasEditable rdf:resource="#isEditable_true"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >IPA-2DOF Picker from AMMS.</rdfs:comment>
+ </Identifier>
+ </hasIdentifier>
+ </rdf:Description>
+ </isSkillOf>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Pick operation for IPA-2DOF Picker from AMMS.
+Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
+ </CompoundManipulationAndHandlingFunction>
+ </isSubskillOf>
+ </CompoundManipulationAndHandlingFunction>
+ </isSubskillOf>
+ </CompoundManipulationAndHandlingFunction>
+ </isSubskillOf>
+ </CompoundManipulationAndHandlingFunction>
+ </isSkillOf>
+ </Displace>
+ <Displace rdf:ID="IPA_AMMS_MoveBack"/>
+ <Displace rdf:about="#IPA_AMMS_MoveUp"/>
+ <Displace rdf:about="#IPA_AMMS_MoveDown"/>
+ </owl:distinctMembers>
+ </owl:AllDifferent>
+ <AdjustVacuumToRelease rdf:ID="AdjustVacuumToRelease_1"/>
+ <Worm rdf:ID="Worm_Outside">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Outside</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Worm>
+ <WormDiameter rdf:ID="WormDiameter_G1-2">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >G1/2"</value>
+ </WormDiameter>
+ <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:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >articulated</rdf:first>
+ <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:rest>
+ </rdf:rest>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >carthesian</rdf:first>
+ </owl:oneOf>
+ </owl:DataRange>
+ <MinAmbientTemperature rdf:ID="MinAmbientTemperature_-20">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >-20.0</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </MinAmbientTemperature>
+ <owl:AllDifferent/>
+ <owl:AllDifferent/>
+ <owl:DataRange>
+ <owl:oneOf rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >3.0</rdf:first>
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >4.0</rdf:first>
+ <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:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >6.0</rdf:first>
+ <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:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >4.5</rdf:first>
+ <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:rest>
+ </rdf:rest>
+ </rdf:rest>
+ </rdf:rest>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >3.5</rdf:first>
+ </rdf:rest>
+ </owl:oneOf>
+ </owl:DataRange>
+ <owl:AllDifferent/>
+ <owl:DataRange>
+ <owl:oneOf rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >vacuum pump</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#string"
+ >blower</rdf:first>
+ </rdf:rest>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >venturi nozzle</rdf:first>
+ </owl:oneOf>
+ </owl:DataRange>
+ <Material rdf:ID="Material_Silicon">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Silicon SI 55+-5</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Material>
+ <owl:DataRange>
+ <owl:oneOf rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
+ >3</rdf:first>
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
+ >5</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#int"
+ >4</rdf:first>
+ </rdf:rest>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
+ >2</rdf:first>
+ </owl:oneOf>
+ </owl:DataRange>
+ <isEditable rdf:ID="isEditableFalse">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ ></rdfs:comment>
+ </isEditable>
+ <rdf:Description rdf:ID="AMMS_IPA-2DOF_Picker">
+ <hasIdentifier rdf:resource="#ID_IPA_AMMS_SimpleGripper-2DOF"/>
+ </rdf:Description>
+ <SortObjects rdf:ID="SortObjects_1"/>
+ <owl:DataRange>
+ <owl:oneOf rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >elastic</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#string"
+ >multiple joints</rdf:first>
+ </rdf:rest>
+ </owl:oneOf>
+ </owl:DataRange>
+ <Worm rdf:ID="Worm_Inside">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Inside</value>
+ </Worm>
+ <DiameterOfGripper rdf:ID="DiameterOfGripper_20">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >20.0</value>
+ </DiameterOfGripper>
+ <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:AllDifferent/>
+ <DiameterOfGripper rdf:ID="DiameterOfGripper_200">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >200.0</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </DiameterOfGripper>
+ <owl:DataRange>
+ <owl:oneOf rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >torque</rdf:first>
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest 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"
+ >ball-screw</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"
+ >harmonic</rdf:first>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >gears</rdf:first>
+ </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>
+ </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"
+ >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: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:AllDifferent/>
+ <rdf:Description rdf:ID="IPA_AMMS_SimpleGripper-2DOF">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >2DOF-Gripper of the IPA AMMS Demonstrator.</rdfs:comment>
+ </rdf:Description>
+ <owl:DataRange>
+ <owl:oneOf rdf:parseType="Resource">
+ <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>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >inside</rdf:first>
+ </owl:oneOf>
+ </owl:DataRange>
+ <MaxForce rdf:ID="MaximumForce_850">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >850.0</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </MaxForce>
+ <Material rdf:ID="Material_Perbunan">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Perbunan NBR 55+-5</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Material>
+ <owl:AllDifferent/>
+</rdf:RDF>
+
+<!-- Created with Protege (with OWL Plugin 3.2.1, Build 365) http://protege.stanford.edu -->
--
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