From 7614c00f04febab9ef46abf5f1c00b55947bbdc7 Mon Sep 17 00:00:00 2001
From: Anders Nilsson <anders.nilsson@cs.lth.se>
Date: Fri, 22 Sep 2006 15:22:21 +0200
Subject: [PATCH] Can almost generate abstract grammar for Siaras ontology.
Crashes.
---
CompilerGeneration.jrag | 55 +-
Rewrites.jrag | 8 +-
testontologies/ontologyV07.owl | 6604 ++++++++++++++++++++++++++++++++
3 files changed, 6656 insertions(+), 11 deletions(-)
create mode 100644 testontologies/ontologyV07.owl
diff --git a/CompilerGeneration.jrag b/CompilerGeneration.jrag
index 369f11d..561936a 100644
--- a/CompilerGeneration.jrag
+++ b/CompilerGeneration.jrag
@@ -2,7 +2,7 @@
import java.io.*;
-aspect CompilerGeneration {
+aspect AbsGrammarGeneration {
void ASTNode.genAbsGrammar(PrintStream pStream) {
for (int i=0; i<getNumChild(); i++) {
getChild(i).genAbsGrammar(pStream);
@@ -14,19 +14,54 @@ aspect CompilerGeneration {
}
void OwlClassDecl.genAbsGrammar(PrintStream pStream) {
- pStream.print("OwlClassDecl: ");
pStream.print(getId());
- if (getSuperClass() != null) {
- pStream.print(" extends ");
- pStream.println(getSuperClass().getId());
+ pStream.print(" : "+getSuperClass().getId());
+ pStream.print(" ::=");
+ Restrictions restrs = getRestrictions();
+ for (int i=0; i<restrs.getNumOwlRestriction(); i++) {
+ pStream.print(" ");
+ restrs.getOwlRestriction(i).genAbsGrammar(pStream);
}
- super.genAbsGrammar(pStream);
+ pStream.println(";");
}
- void OwlClassUse.genAbsGrammar(PrintStream pStream) {
-// pStream.print("OwlClassUse: ");
-// pStream.println(getId());
- super.genAbsGrammar(pStream);
+ void OwlRestriction.genAbsGrammar(PrintStream pStream) {
+ pStream.print(getRestrictionProperty().getId());
+ pStream.print(":");
+ pStream.print(getRestrictionClass().getId());
+ if (allValuesFrom()) {
+ pStream.print("*");
+ }
}
+
+ OwlProperty OwlRestriction.getRestrictionProperty() {
+ for (int i=0; i<getNumElement(); i++) {
+ Element e = getElement(i);
+ if (e instanceof OwlOnProperty) {
+ return (OwlProperty) ((ComplexElement) e).getElement(0); // Ugly as hell!!
+ }
+ }
+ return new OwlProperty();
+ }
+
+ OwlClassUse OwlRestriction.getRestrictionClass() {
+ for (int i=0; i<getNumElement(); i++) {
+ Element e = getElement(i);
+ if (e instanceof OwlAllValuesFrom || e instanceof OwlSomeValuesFrom) {
+ return (OwlClassUse) ((ComplexElement) e).getElement(0); // Ugly as hell!!
+ }
+ }
+ return new OwlClassUse();
+ }
+
+ syn lazy boolean OwlRestriction.allValuesFrom() {
+ for (int i=0; i<getNumElement(); i++) {
+ if (getElement(i) instanceof OwlAllValuesFrom) {
+ return true;
+ }
+ }
+ return false;
+ }
+
}
diff --git a/Rewrites.jrag b/Rewrites.jrag
index 74ab30d..b852f6d 100644
--- a/Rewrites.jrag
+++ b/Rewrites.jrag
@@ -78,6 +78,12 @@ aspect MiscUtilities {
return getAttribute(i).trim();
}
}
+ } else if (hasRdfResource()) {
+ for (int i=0; i<getNumAttribute(); i++) {
+ if (getAttribute(i) instanceof RdfResource) {
+ return getAttribute(i).trim();
+ }
+ }
}
// Fall through. Could not find Id, so let's return something
// well known
@@ -176,4 +182,4 @@ aspect RewriteClasses {
new List().add(oc));
}
}
-}
\ No newline at end of file
+}
diff --git a/testontologies/ontologyV07.owl b/testontologies/ontologyV07.owl
new file mode 100644
index 0000000..90b3b0f
--- /dev/null
+++ b/testontologies/ontologyV07.owl
@@ -0,0 +1,6604 @@
+<?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="HexapodRobot">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ArticulatedRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="SpecialKinematicRobot"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Robot"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="SimpleKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ParallelKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CartesianRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ScaraRobot"/>
+ </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>
+ </owl:Class>
+ <owl:Class rdf:ID="Read2DMatrixCode">
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Read"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ReadBarCode"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ReadOpticalCharacters"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Task and Skills of Optical Sensors v1.1
+part:7</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:ID="LightType">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="LaserClass"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MaxMeasurementRange"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="LightSpotSize"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MinMeasurementRange"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="PhysicalPropertiesSensor"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="Arrange">
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Move"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Pan"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Feed"/>
+ </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="Convey"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Displace"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Orient"/>
+ </owl:disjointWith>
+ <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>
+ <owl:Class rdf:ID="Turn"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="NumberOfClaws">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MaximumVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MaxLiftWay"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="PhysicalPropertiesGripper"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Reach"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="NumberOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MaxLiftWeight"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DiameterOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="TypeOfVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="NumberOfMovableClaws"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="DetectContrast">
+ <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>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom>
+ <owl:Class rdf:ID="OpticContrastScanner"/>
+ </owl:someValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:ID="isSkillOf"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DetectObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DetectLuminescence"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Detect"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DetectColor"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="Arrangement">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Cost"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Communication"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="WorkCoordinates"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Property"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ToolInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="QualityCriteria"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="PhysicalProperties"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Identifier"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="MeasureArea">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MeasureDistance"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Measure"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MeasureAngle"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="Roll">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Bend"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Form"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Fold"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Bead"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Crush"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Stretch-Form"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Flang"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Extrude"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Press"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Deep-Draw"/>
+ </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>
+ <owl:Class rdf:ID="Forge"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="True"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#MaxMeasurementRange">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinMeasurementRange"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LaserClass"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >In mm.</rdfs:comment>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalPropertiesSensor"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LightSpotSize"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="Hone">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Electro-discharge-machine"/>
+ </owl:disjointWith>
+ <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>
+ <owl:Class rdf:ID="Thermal-Separate"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Cut"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Drill"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Mill"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Broach"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Grind"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Plane"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Separate"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Rub"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Saw"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Lap"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Lathe"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="File"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Thrust"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#DetectColor">
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:ID="OpticColorSensor"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#DetectContrast"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DetectLuminescence"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DetectObject"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Detect"/>
+ </rdfs:subClassOf>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Tasks and Skills of Ocptical Sensor 1.1
+Cap: 4</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:ID="AdjustCurrentToRelease">
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ <owl:allValuesFrom>
+ <owl:Class rdf:ID="MagnetGripper"/>
+ </owl:allValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="AdjustVacuumToRelease"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="OpenFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="OpenClaws"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Release"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="MagneticSensor">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CapacitveSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="InductiveSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="TactileSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="UltrasonicSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="EncoderSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="TorqueForceSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="OpticSensor"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Sensor"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="Age">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Anneal"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="ModifyWorkpieceProperties"/>
+ </rdfs:subClassOf>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Improve the mechanical resistivity by modifying the crystal structure. This is done by heating and fast cooling down.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Temper"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Reach">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWay"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWeight"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </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="#TypeOfVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DiameterOfGripper"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Property">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Device"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Task"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Skill"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="ManufacturingFunction">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="SensorFunction"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ManipulationAndHandlingFunction"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="MainFunction"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#DetectLuminescence">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DetectObject"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Tasks and Skills of Ocptical Sensor 1.1
+Cap: 5</rdfs:comment>
+ <owl:disjointWith rdf:resource="#DetectContrast"/>
+ <owl:disjointWith rdf:resource="#DetectColor"/>
+ <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:about="#isSkillOf"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Read">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ImageAnalysis"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Check"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Measure"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Determine"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Sort"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Task and Skills of Optical Sensors v1.1
+part:7</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Classify"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Scan"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Detect"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#SensorFunction"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="VacuumGripper">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MagnetGripper"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:ID="hasSkill"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:ID="AdjustVacuumToGrip"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="PincerGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="FingerGripper"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Gripper"/>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#AdjustVacuumToRelease"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#OpticLuminescenceScanner">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="OpticDistanceSensorReflector"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="OpticReflexSwitch"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#OpticSensor"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="OpticThroughBeanSwitches"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticColorSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticContrastScanner"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="OpticDistanceSensorScanner"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="SmartCamera"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Tasks and Skills of Ocptical Sensor 1.1
+Cap: 5</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#ModifyWorkpieceProperties">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Coat"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Separate"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Modify some physical properties of the workpiece.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Form"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Join"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Mold"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Anneal">
+ <rdfs:subClassOf rdf:resource="#ModifyWorkpieceProperties"/>
+ <owl:disjointWith rdf:resource="#Age"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Temper"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Set specific material properties by heating, holding the heat for a specific time and cooling down.</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#ReadBarCode">
+ <owl:disjointWith rdf:resource="#Read2DMatrixCode"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Task and Skills of Optical Sensors v1.1
+part:7</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ReadOpticalCharacters"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Read"/>
+ </owl:Class>
+ <owl:Class rdf:ID="MaximumForce">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalProperties"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Length"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Weight"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Height"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Material"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Diameter"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MechanicalResistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="PhysicalPropertiesRobot"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in Newton</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Shape"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Width"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#SmartCamera">
+ <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticDistanceSensorReflector"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticThroughBeanSwitches"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticDistanceSensorScanner"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticContrastScanner"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticReflexSwitch"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#OpticSensor"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticColorSensor"/>
+ </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: 7</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#MeasureAngle">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Measure"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureArea"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Extrude">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >This is mainly used to create profiles, tubes and wires.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Roll"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Deep-Draw"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Forge"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Flang"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Press"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Stretch-Form"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bead"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#True"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Fold"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bend"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Form"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Crush"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#OpticDistanceSensorScanner">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="EncoderWireDrawDistanceSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticThroughBeanSwitches"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticColorSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticDistanceSensorReflector"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
+ <owl:disjointWith rdf:resource="#SmartCamera"/>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="UltrasonicDistanceSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="EncoderLinearDistanceSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticContrastScanner"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticReflexSwitch"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >distanceMeasurements.pdf
+SICK
+pag 4</rdfs:comment>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#OpticSensor"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Determine">
+ <owl:disjointWith rdf:resource="#Read"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Detect"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#SensorFunction"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Measure"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Check"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Sort"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ImageAnalysis"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Scan"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Classify"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Structured Description of Skills and Device 1.0
+pag:5</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:ID="CoordinateReferenceSystem">
+ <rdfs:subClassOf rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MinVoltageSupply"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MaxVoltageSupply"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MountedDeviceOrientation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MaxCurrentConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="PhysicalInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="EnclosureRatingIP"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MaxAmbientTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MinAmbientTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MountedDevicePosition"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#SpecialKinematicRobot">
+ <owl:disjointWith rdf:resource="#HexapodRobot"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Robot"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CartesianRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ArticulatedRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScaraRobot"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Everything else which cannot be sorted in one of the other categories.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SimpleKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ParallelKinematicRobot"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="Cast">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Mold"/>
+ </rdfs:subClassOf>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >From fluid metallic material a solid workpiece is created.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Sinter"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ElectrolyticSegregate"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Crush">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Deep-Draw"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Roll"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Flang"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bead"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Press"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Stretch-Form"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Relative change of length by pressure force.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#True"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Fold"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bend"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Forge"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Form"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Extrude"/>
+ </owl:Class>
+ <owl:Class rdf:ID="BlobAnalysis">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CompressDecompressImageData"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="SegmentImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="TransformImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CalibrateImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ExtractEdges"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ImageAnalysis"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="FilterImage"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="Store">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ManipulationAndHandlingFunction"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Secure"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Move"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ModifyAmount"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#AdjustVacuumToRelease">
+ <owl:disjointWith rdf:resource="#AdjustCurrentToRelease"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpenClaws"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom rdf:resource="#VacuumGripper"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpenFingers"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Release"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Forge">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bend"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Roll"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >The workpiece is heated, the whole profile is plasticised. In doing so the crystal structure of the workpiece changes and the workpiece becomes softer.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Crush"/>
+ <owl:disjointWith rdf:resource="#Extrude"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Deep-Draw"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bead"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Press"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#True"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Flang"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Fold"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Form"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Stretch-Form"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#SensorFunction">
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:allValuesFrom>
+ <owl:Class rdf:about="#Sensor"/>
+ </owl:allValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Structured Description of Skills and Device 1.0
+pag:6-7
+(breakdown of properties)</rdfs:comment>
+ <owl:disjointWith rdf:resource="#ManufacturingFunction"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#MainFunction"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ManipulationAndHandlingFunction"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Pan">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Move"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Pass"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Position"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Displace"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Arrange"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Move a part from one to another orientation and position by rotation around an axis which does not intersect with the part.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Convey"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Turn"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Feed"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Orient"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="Solder">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Assemble"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Fill"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Clinch"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Join"/>
+ </rdfs:subClassOf>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >This is a thermic procedure to connect workpieces. Then, a fluid phase is created by melting solder (additional material).</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Weld"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Glue"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Bolt"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Rivet"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Rub">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#File"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cut"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thrust"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Grind"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Lathe"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Drill"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thermal-Separate"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Saw"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Mill"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Separate"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Hone"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Plane"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Electro-discharge-machine"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Create wholes and increase the fitting quality.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Broach"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Lap"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="ClassifyObject">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Classify"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#FingerGripper">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PincerGripper"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Gripper"/>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#OpenFingers"/>
+ </owl:someValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MagnetGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#VacuumGripper"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom>
+ <owl:Class rdf:ID="CloseFingers"/>
+ </owl:someValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="Worm">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="WormDiameter"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="MechanicalConnector"/>
+ </rdfs:subClassOf>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Can be inside or outside.</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#MountedDeviceOrientation">
+ <rdfs:subClassOf rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#EnclosureRatingIP"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxCurrentConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinAmbientTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinVoltageSupply"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxAmbientTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxVoltageSupply"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MountedDevicePosition"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="ResponseTime">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Accuracy"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#QualityCriteria"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Resolution"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Precision"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Repeatability"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in seconds</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CycleTime"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="PlaybackCtrl">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="NumericalCtrl"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Capability of replaying preteached sequences and commands.
+This includes as well very simple controllers like Pick-and-Placers. They are capable of replaying a pick sequence.</rdfs:comment>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="IntelligentCtrl"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="SimpleControl"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#DiameterOfGripper">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWeight"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </rdfs:subClassOf>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in mm</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfMovableClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWay"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="Count">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CheckSurfaceForIrregularities"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CheckPosition"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Check"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#DetectObject">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Detect"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#DetectLuminescence"/>
+ <owl:disjointWith rdf:resource="#DetectContrast"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Tasks and Skills of Ocptical Sensor 1.1
+Cap: 2</rdfs:comment>
+ <owl:disjointWith rdf:resource="#DetectColor"/>
+ </owl:Class>
+ <owl:Class rdf:about="#MaximumVacuum">
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWay"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfMovableClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWeight"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfVacuum"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Skill">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Device"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="http://www.w3.org/2002/07/owl#Thing"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:allValuesFrom>
+ <owl:Class rdf:about="#Device"/>
+ </owl:allValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Property"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Task"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Structured Description of Skills and Device 1.0
+pag:5
+(Breakdown of Skills)</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#Stretch-Form">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Form"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Deep-Draw"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Press"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Flang"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#True"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Fold"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bend"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Extrude"/>
+ <owl:disjointWith rdf:resource="#Roll"/>
+ <owl:disjointWith rdf:resource="#Crush"/>
+ <owl:disjointWith rdf:resource="#Forge"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bead"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#NumberOfFingers">
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWeight"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWay"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfMovableClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="CloseClaws">
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Grasp"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#AdjustVacuumToGrip"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="AdjustCurrentToGrip"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CloseFingers"/>
+ </owl:disjointWith>
+ <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:Class>
+ <owl:Class rdf:about="#TypeOfMagnet">
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfMovableClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWeight"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWay"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfVacuum"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ </owl:Class>
+ <owl:Class rdf:about="#CycleTime">
+ <owl:disjointWith rdf:resource="#ResponseTime"/>
+ <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:disjointWith>
+ <owl:Class rdf:about="#Resolution"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in seconds</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Accuracy"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Weld">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bolt"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Clinch"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Fill"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Assemble"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Glue"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Solder"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Join"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Rivet"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >This is a permanent connection of workpieces by using heat and/or pressure. The material keeps its properties when welded.</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:ID="ElectricalInterface">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Communication"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="BusInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CommunicationProtocol"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Accuracy">
+ <owl:disjointWith rdf:resource="#CycleTime"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Precision"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#QualityCriteria"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Repeatability"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Resolution"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ResponseTime"/>
+ </owl:Class>
+ <owl:Class rdf:about="#MinVoltageSupply">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MountedDevicePosition"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxAmbientTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxCurrentConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
+ <rdfs:subClassOf rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#EnclosureRatingIP"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxVoltageSupply"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinAmbientTemperature"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in volts</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Temper">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Influence the mechanical stresses of the workpiece. The material is given a regular structure.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Age"/>
+ <rdfs:subClassOf rdf:resource="#ModifyWorkpieceProperties"/>
+ <owl:disjointWith rdf:resource="#Anneal"/>
+ </owl:Class>
+ <owl:Class rdf:about="#MainFunction">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="AdditionalFunction"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Skill"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Structured Description of Skills and Device 1.0
+pag:5
+(Breakdown of Skills)</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DiagnosticFunction"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Lap">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Mill"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Broach"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Plane"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Saw"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#File"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Separate"/>
+ </rdfs:subClassOf>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Flatten surfaces while keeping very low tolerances. Moveable, rolling grains are used between the lapping plate and the workpiece.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thermal-Separate"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Drill"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Electro-discharge-machine"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Rub"/>
+ <owl:disjointWith rdf:resource="#Hone"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thrust"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Grind"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cut"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Lathe"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MechanicalResistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Height"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </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="#Width"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalProperties"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Shape"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Length"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ </owl:Class>
+ <owl:Class rdf:about="#AdjustVacuumToGrip">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CloseFingers"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Grasp"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#CloseClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#AdjustCurrentToGrip"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#VacuumGripper"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Width">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Diameter"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Weight"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MechanicalResistance"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in mm</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Shape"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Height"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Length"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalProperties"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ </owl:Class>
+ <owl:Class rdf:about="#CompressDecompressImageData">
+ <owl:disjointWith rdf:resource="#BlobAnalysis"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ExtractEdges"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TransformImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SegmentImage"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ImageAnalysis"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CalibrateImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#FilterImage"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="Varnish">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Coat"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Powder-coat"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Electroplate"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Hot-galvanise"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Put colour or any other material onto the surface, either by spraying or painting.</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#Sensor">
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:ID="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>
+ <owl:Class rdf:about="#Identifier"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#Communication"/>
+ </owl:someValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#PhysicalPropertiesSensor"/>
+ </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 rdf:resource="#SensorFunction"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#Cost"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#QualityCriteria"/>
+ </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="#hasProperty"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Device"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ManipulationAndHandling"/>
+ </owl:disjointWith>
+ <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>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Manufacturing"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#OpticColorSensor">
+ <owl:disjointWith rdf:resource="#SmartCamera"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticThroughBeanSwitches"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#OpticDistanceSensorScanner"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#OpticSensor"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticReflexSwitch"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticContrastScanner"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticDistanceSensorReflector"/>
+ </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: 4</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#AdditionalFunction">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Structured Description of Skills and Device 1.0
+pag:5
+(Breakdown of Skills)</rdfs:comment>
+ <owl:disjointWith rdf:resource="#MainFunction"/>
+ <rdfs:subClassOf rdf:resource="#Skill"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DiagnosticFunction"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#DiagnosticFunction">
+ <owl:disjointWith rdf:resource="#AdditionalFunction"/>
+ <owl:disjointWith rdf:resource="#MainFunction"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Structured Description of Skills and Device 1.0
+pag:5
+(Breakdown of Skills)</rdfs:comment>
+ <rdfs:subClassOf rdf:resource="#Skill"/>
+ </owl:Class>
+ <owl:Class rdf:about="#CloseFingers">
+ <owl:disjointWith rdf:resource="#AdjustVacuumToGrip"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Grasp"/>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom rdf:resource="#FingerGripper"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#CloseClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#AdjustCurrentToGrip"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Saw">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Drill"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Hone"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thermal-Separate"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Lathe"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Grind"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thrust"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Rub"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >A steel plate with teeth attached to it removes thin chippings by moving into the material. This is widely used for wood, stone, metal, plastics and other solid materials.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cut"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Separate"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#File"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Broach"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Plane"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Electro-discharge-machine"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Mill"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#OpenFingers">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Release"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#AdjustVacuumToRelease"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpenClaws"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom rdf:resource="#FingerGripper"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#AdjustCurrentToRelease"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Broach">
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Separate"/>
+ </rdfs:subClassOf>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >The workpiece is given the tool's contour. This is used where contours are necessary which cannot be created by milling or lathing.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Grind"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cut"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Electro-discharge-machine"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thrust"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Drill"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Mill"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Plane"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thermal-Separate"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Hone"/>
+ <owl:disjointWith rdf:resource="#Rub"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Lathe"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#File"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Coat">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Form"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Separate"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Join"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Put a permanent layer of formless material onto the workpiece.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Mold"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ModifyWorkpieceProperties"/>
+ </owl:Class>
+ <owl:Class rdf:ID="TypeOfActuation">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Reachability"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="NumberOfJoints"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Drill">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Separate"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thermal-Separate"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Lathe"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Broach"/>
+ <owl:disjointWith rdf:resource="#Hone"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#File"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Mill"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Electro-discharge-machine"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cut"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thrust"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Rub"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Plane"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Grind"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Create a circular whole in the workpiece.</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#DegreesOfFreedom">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Length"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MechanicalResistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Height"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Shape"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Width"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalProperties"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Diameter"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Weight"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Bend">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Fold"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Stretch-Form"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Deep-Draw"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Roll"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Press"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Flang"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Extrude"/>
+ <owl:disjointWith rdf:resource="#Forge"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#True"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Crush"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Form"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bead"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Put a bending moment to the material which causes a malleable, i.e. permanent deformation.</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#Orient">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Feed"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Turn"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Pan"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Pass"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Displace"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Convey"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Position"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Arrange"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Move"/>
+ </rdfs:subClassOf>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Move a part from an undefined to a well-defined orientation. The part's position is not important here.</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#File">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Lathe"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thrust"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Plane"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Electro-discharge-machine"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Rub"/>
+ <owl:disjointWith rdf:resource="#Broach"/>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Grind"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Hone"/>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cut"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Drill"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >The workpiece is fixed while a metal plate performs a cutting movement and a feed motion. This is done manually very often.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Mill"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thermal-Separate"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Separate"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#WormDiameter">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in mm</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Worm"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#MechanicalConnector"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Length">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Shape"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MechanicalResistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Diameter"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Weight"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesSensor"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in mm</rdfs:comment>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalProperties"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Height"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Width"/>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ </owl:Class>
+ <owl:Class rdf:about="#WorkFrame">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communication"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalProperties"/>
+ </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="#Cost"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#QualityCriteria"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Separate">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Form"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Coat"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Modify the workpiece by breaking the coherence at some location.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#ModifyWorkpieceProperties"/>
+ <rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Join"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Mold"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#SwitchingFrequency">
+ <owl:disjointWith rdf:resource="#Accuracy"/>
+ <owl:disjointWith rdf:resource="#ResponseTime"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in Kilohertz</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Resolution"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Repeatability"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#CycleTime"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#QualityCriteria"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Precision"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#PhysicalPropertiesSensor">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Height"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Shape"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalProperties"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Length"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MechanicalResistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Width"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Weight"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Diameter"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#NumericalCtrl">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#PlaybackCtrl"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Capability of setting up movements via numerical positions instead of functions.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SimpleControl"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#IntelligentCtrl"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Electroplate">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Powder-coat"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Hot-galvanise"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Coat"/>
+ <owl:disjointWith rdf:resource="#Varnish"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Put the material to the surface with the help of some electrochemical processes.</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#PincerGripper">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Gripper"/>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#OpenClaws"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#FingerGripper"/>
+ <owl:disjointWith rdf:resource="#VacuumGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MagnetGripper"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom rdf:resource="#CloseClaws"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Repeatability">
+ <owl:disjointWith rdf:resource="#ResponseTime"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Precision"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#QualityCriteria"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#CycleTime"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in mm</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Resolution"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
+ <owl:disjointWith rdf:resource="#Accuracy"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Detect">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Sort"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Read"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Classify"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Measure"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Determine"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Scan"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Structured Description of Skills and Device 1.0
+pag:5
+Tasks and Skills of Ocptical Sensor 1.1
+Cap: 2-5</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Check"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#SensorFunction"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ImageAnalysis"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="Circular">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="AsFastAsPossible"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Feed"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Karthesian"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Convey">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Turn"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Orient"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Displace"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Feed"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Move a part (or transported material) from one undefined to another undefined position. The trajectory and the orientation of the parts while moved are not necessarily defined.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Position"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Pass"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Pan"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Move"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Arrange"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ShapeOfClaws">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWay"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#PhysicalPropertiesGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfMovableClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWeight"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ </owl:Class>
+ <owl:Class rdf:about="#MaxAmbientTemperature">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxCurrentConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#EnclosureRatingIP"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
+ <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxVoltageSupply"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinAmbientTemperature"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in degrees celsius</rdfs:comment>
+ <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
+ <rdfs:subClassOf rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MountedDevicePosition"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Shape">
+ <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
+ <owl:disjointWith rdf:resource="#Width"/>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MechanicalResistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Weight"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Diameter"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Length"/>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalProperties"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Height"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="SortObjects">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Task and Skills of Optical Sensors v1.1
+part:7</rdfs:comment>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Sort"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Grind">
+ <owl:disjointWith rdf:resource="#Rub"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Lathe"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Increase the surface performance, flatten the surface.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Hone"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thermal-Separate"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Plane"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Broach"/>
+ <owl:disjointWith rdf:resource="#File"/>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Electro-discharge-machine"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thrust"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Separate"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Mill"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cut"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Drill"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ManipulationAndHandling">
+ <owl:disjointWith rdf:resource="#Sensor"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#ManipulationAndHandlingFunction"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Device"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Manufacturing"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Classify">
+ <rdfs:subClassOf rdf:resource="#SensorFunction"/>
+ <owl:disjointWith rdf:resource="#Detect"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ImageAnalysis"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Read"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Scan"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Sort"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Measure"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Determine"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Check"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Structured Description of Skills and Device 1.0
+pag:5</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#BusInterface">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CommunicationProtocol"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ElectricalInterface"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Communication"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#EncoderLinearDistanceSensor">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#EncoderWireDrawDistanceSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#OpticDistanceSensorScanner"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticDistanceSensorReflector"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >distanceMeasurements.pdf
+SICK
+pag 4</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#UltrasonicDistanceSensor"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#EncoderSensor"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Cost">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalProperties"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ToolInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Identifier"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communication"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in euros</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith rdf:resource="#WorkFrame"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#QualityCriteria"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ </owl:Class>
+ <owl:Class rdf:about="#StiffnessOfGripper">
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWeight"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfMovableClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWay"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfVacuum"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#PhysicalPropertiesGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Height">
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Diameter"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Length"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalProperties"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Width"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MechanicalResistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Weight"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
+ <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in mm</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Shape"/>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Material">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalProperties"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Shape"/>
+ <owl:disjointWith rdf:resource="#Height"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MechanicalResistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Diameter"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Weight"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith rdf:resource="#Width"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Length"/>
+ <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
+ </owl:Class>
+ <owl:Class rdf:about="#PhysicalProperties">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith rdf:resource="#Cost"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communication"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#QualityCriteria"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Identifier"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#WorkFrame"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ToolInterface"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#MeasureDistance">
+ <owl:disjointWith rdf:resource="#MeasureAngle"/>
+ <owl:disjointWith rdf:resource="#MeasureArea"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Measure"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="DetermineOrientationOfObject">
+ <rdfs:subClassOf rdf:resource="#Determine"/>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DetermineMotionOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DeterminePositionOfObject"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#MagnetGripper">
+ <owl:disjointWith rdf:resource="#FingerGripper"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#AdjustCurrentToGrip"/>
+ </owl:someValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Gripper"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#VacuumGripper"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom rdf:resource="#AdjustCurrentToRelease"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#PincerGripper"/>
+ </owl:Class>
+ <owl:Class rdf:about="#True">
+ <owl:disjointWith rdf:resource="#Stretch-Form"/>
+ <owl:disjointWith rdf:resource="#Roll"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Deep-Draw"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Flang"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Crush"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Press"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bead"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Bend"/>
+ <owl:disjointWith rdf:resource="#Extrude"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Machine finishing after e.g. folding</rdfs:comment>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Form"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Forge"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Fold"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#TorqueForceSensor">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#UltrasonicSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CapacitveSensor"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Sensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InductiveSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#EncoderSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MagneticSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TactileSensor"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#ReadOpticalCharacters">
+ <owl:disjointWith rdf:resource="#ReadBarCode"/>
+ <owl:disjointWith rdf:resource="#Read2DMatrixCode"/>
+ <rdfs:subClassOf rdf:resource="#Read"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Task and Skills of Optical Sensors v1.1
+part:7</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#Flang">
+ <owl:disjointWith rdf:resource="#Forge"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Fold"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Deep-Draw"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Bend"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bead"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Orthogonal bending up of the border of metal sheets. This is used for creating pipe connections and is widely used in the manufacturing of air channels.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Stretch-Form"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Form"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#True"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Press"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Crush"/>
+ <owl:disjointWith rdf:resource="#Roll"/>
+ <owl:disjointWith rdf:resource="#Extrude"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Diameter">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in mm</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Length"/>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
+ <owl:disjointWith rdf:resource="#Height"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MechanicalResistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Width"/>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Weight"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Shape"/>
+ <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Material"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Bolt">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Join"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Weld"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Rivet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Glue"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Solder"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Fill"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Clinch"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Bolts are removable elements to create a connection between two or more workpieces.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Assemble"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Gripper">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Robot"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom rdf:resource="#Cost"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf rdf:resource="#ManipulationAndHandling"/>
+ <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="#Communication"/>
+ </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="#hasProperty"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#Identifier"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <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:someValuesFrom rdf:resource="#PhysicalPropertiesGripper"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="StorePartlyOrdered">
+ <rdfs:subClassOf rdf:resource="#Store"/>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="StoreUnOrdered"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="StoreInOrder"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Save workpieces which are geometrically defined in a well-defined position and/or orientation. This means position and orientation are only defined in some of their degrees of freedom.</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#Glue">
+ <owl:disjointWith rdf:resource="#Bolt"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Clinch"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Fill"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Join"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Assemble"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Weld"/>
+ <owl:disjointWith rdf:resource="#Solder"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Rivet"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Connect workpieces with the help of a glue. This is done by physical interaction of the glue at the workpieces' interfaces.</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#Deep-Draw">
+ <owl:disjointWith rdf:resource="#Roll"/>
+ <owl:disjointWith rdf:resource="#Flang"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bead"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Crush"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Form"/>
+ </rdfs:subClassOf>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Change the shape of a sheet metal or plate by pressing into a hollow piece.
+This is one of the most important procedures in mass production and small series production.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Stretch-Form"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Fold"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Bend"/>
+ <owl:disjointWith rdf:resource="#Forge"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Press"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Extrude"/>
+ <owl:disjointWith rdf:resource="#True"/>
+ </owl:Class>
+ <owl:Class rdf:about="#PhysicalInterface">
+ <rdfs:subClassOf rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinAmbientTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
+ <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxCurrentConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#EnclosureRatingIP"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MountedDevicePosition"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxVoltageSupply"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
+ <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ManipulationAndHandlingFunction">
+ <owl:disjointWith rdf:resource="#ManufacturingFunction"/>
+ <rdfs:subClassOf rdf:resource="#MainFunction"/>
+ <owl:disjointWith rdf:resource="#SensorFunction"/>
+ </owl:Class>
+ <owl:Class rdf:about="#OpenClaws">
+ <owl:disjointWith rdf:resource="#AdjustCurrentToRelease"/>
+ <owl:disjointWith rdf:resource="#OpenFingers"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom rdf:resource="#PincerGripper"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Release"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#AdjustVacuumToRelease"/>
+ </owl:Class>
+ <owl:Class rdf:about="#AsFastAsPossible">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Feed"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Circular"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Karthesian"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="VisionSensor">
+ <rdfs:subClassOf rdf:resource="#SmartCamera"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Pass">
+ <owl:disjointWith rdf:resource="#Arrange"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Move a part from one to another positition along an undefined trajectory. The part's orientation remains unchanged.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Convey"/>
+ <owl:disjointWith rdf:resource="#Orient"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Feed"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Turn"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Displace"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Position"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Pan"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Move"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Form">
+ <owl:disjointWith rdf:resource="#ModifyWorkpieceProperties"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Join"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Mold"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Separate"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Create workpieces from solid raw pieces. The shape is permanently modified. The volumina remains the same.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Coat"/>
+ </owl:Class>
+ <owl:Class rdf:about="#TypeOfVacuum">
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <rdfs:subClassOf rdf:resource="#PhysicalPropertiesGripper"/>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWeight"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWay"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfMovableClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Join">
+ <owl:disjointWith rdf:resource="#ModifyWorkpieceProperties"/>
+ <owl:disjointWith rdf:resource="#Form"/>
+ <rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
+ <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>
+ <owl:disjointWith rdf:resource="#Coat"/>
+ <owl:disjointWith rdf:resource="#Separate"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Mold"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Resolution">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#QualityCriteria"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#ResponseTime"/>
+ <owl:disjointWith rdf:resource="#Accuracy"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Repeatability"/>
+ <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
+ <owl:disjointWith rdf:resource="#CycleTime"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Precision"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#CartesianRobot">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ParallelKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Robot"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ArticulatedRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SimpleKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#HexapodRobot"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >These machines move along the cartesian axes, i.e. they don't have revolute joints. Sometimes, there is a kind of portal where they move in. They are usually used for packing, palletizing and so on where they move heavy loads.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScaraRobot"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#OpticContrastScanner">
+ <owl:disjointWith rdf:resource="#SmartCamera"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Tasks and Skills of Ocptical Sensor 1.1
+Cap: 3</rdfs:comment>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#OpticSensor"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticDistanceSensorReflector"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticThroughBeanSwitches"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#OpticDistanceSensorScanner"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticReflexSwitch"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#OpticColorSensor"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Powder-coat">
+ <owl:disjointWith rdf:resource="#Varnish"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >The powder becomes electrostatically charged and sprayed to the workpiece. Then it is burned into the workpiece.</rdfs:comment>
+ <rdfs:subClassOf rdf:resource="#Coat"/>
+ <owl:disjointWith rdf:resource="#Electroplate"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Hot-galvanise"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#CheckSurfaceForIrregularities">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Task and Skills of Optical Sensors v1.1
+part:7</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Count"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CheckPosition"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Check"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#LightSpotSize">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LaserClass"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Diameter in mm.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinMeasurementRange"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Assemble">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Putting together two workpieces.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Fill"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Glue"/>
+ <owl:disjointWith rdf:resource="#Bolt"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Clinch"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Join"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Rivet"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Solder"/>
+ <owl:disjointWith rdf:resource="#Weld"/>
+ </owl:Class>
+ <owl:Class rdf:about="#MaxLiftWeight">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWay"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfMovableClaws"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in kg</rdfs:comment>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <rdfs:subClassOf rdf:resource="#PhysicalPropertiesGripper"/>
+ </owl:Class>
+ <owl:Class rdf:ID="Part">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Create a subset of a defined size from a superset.
+Separating is a special case of parting with size 1.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Merge"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Assign"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Divide"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Unify"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Branch"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ModifyAmount"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="GeneralParallelGripper">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="LineParallelGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CircularParallelGripper"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="ParallelGripper"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#MinMeasurementRange">
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LaserClass"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <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:Class>
+ <owl:Class rdf:about="#MaxCurrentConsumption">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MountedDevicePosition"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
+ <owl:disjointWith rdf:resource="#PhysicalInterface"/>
+ <rdfs:subClassOf rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxVoltageSupply"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
+ <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in amperes</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinAmbientTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#EnclosureRatingIP"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
+ </owl:Class>
+ <owl:Class rdf:about="#MountedDevicePosition">
+ <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#EnclosureRatingIP"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
+ <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
+ <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxVoltageSupply"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinAmbientTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PhysicalInterface"/>
+ <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
+ <rdfs:subClassOf rdf:resource="#Arrangement"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Thermal-Separate">
+ <owl:disjointWith rdf:resource="#Broach"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cut"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Hone"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Cut a contour with the help of a laser, a plasma cutter or a cutting torch.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Plane"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Electro-discharge-machine"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <owl:disjointWith rdf:resource="#Drill"/>
+ <owl:disjointWith rdf:resource="#Rub"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thrust"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Mill"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Lathe"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <rdfs:subClassOf rdf:resource="#Separate"/>
+ <owl:disjointWith rdf:resource="#Grind"/>
+ <owl:disjointWith rdf:resource="#File"/>
+ </owl:Class>
+ <owl:Class rdf:about="#NumberOfMovableClaws">
+ <owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#PhysicalPropertiesGripper"/>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWay"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Sort">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ImageAnalysis"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Scan"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Detect"/>
+ <owl:disjointWith rdf:resource="#Read"/>
+ <rdfs:subClassOf rdf:resource="#SensorFunction"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Measure"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Structured Description of Skills and Device 1.0
+pag:5</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Determine"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Check"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Classify"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ToolInterface">
+ <owl:disjointWith rdf:resource="#WorkFrame"/>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Identifier"/>
+ </owl:disjointWith>
+ <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="#QualityCriteria"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Cost"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communication"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Secure">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Move"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ModifyAmount"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#ManipulationAndHandlingFunction"/>
+ <owl:disjointWith rdf:resource="#Store"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Divide">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Merge"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ModifyAmount"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Assign"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Unify"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Part"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Branch"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Create a subset from a superset.
+The size of source and target sets does not necessarily have to be defined.</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#Mold">
+ <owl:disjointWith rdf:resource="#ModifyWorkpieceProperties"/>
+ <rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
+ <owl:disjointWith rdf:resource="#Separate"/>
+ <owl:disjointWith rdf:resource="#Coat"/>
+ <owl:disjointWith rdf:resource="#Join"/>
+ <owl:disjointWith rdf:resource="#Form"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >From a formless material a workpiece is created. The original material can be in either form like gaseous, vaporous, fluid, solid (powderous, grainy), papescent, paste-like, ...</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#LaserClass">
+ <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Weight">
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith rdf:resource="#Width"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in kg</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Diameter"/>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
+ <owl:disjointWith rdf:resource="#Height"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
+ <owl:disjointWith rdf:resource="#Shape"/>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
+ <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith rdf:resource="#Material"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MechanicalResistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Length"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Merge">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Unify"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Branch"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Combine subflows of material to a superflow.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Divide"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Assign"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Part"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ModifyAmount"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Clinch">
+ <owl:disjointWith rdf:resource="#Assemble"/>
+ <rdfs:subClassOf rdf:resource="#Join"/>
+ <owl:disjointWith rdf:resource="#Weld"/>
+ <owl:disjointWith rdf:resource="#Glue"/>
+ <owl:disjointWith rdf:resource="#Solder"/>
+ <owl:disjointWith rdf:resource="#Bolt"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Rivet"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >This is a connection of metal sheets without any additional material. The workpieces are deformed between a stamp and a template to generate a pushbutton-like shape.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Fill"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Identifier">
+ <owl:disjointWith rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#WorkFrame"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#QualityCriteria"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith rdf:resource="#Cost"/>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communication"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#ImageAnalysis">
+ <owl:disjointWith rdf:resource="#Detect"/>
+ <owl:disjointWith rdf:resource="#Sort"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Measure"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Classify"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Scan"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Check"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Determine"/>
+ <rdfs:subClassOf rdf:resource="#SensorFunction"/>
+ <owl:disjointWith rdf:resource="#Read"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Fill">
+ <owl:disjointWith rdf:resource="#Assemble"/>
+ <owl:disjointWith rdf:resource="#Bolt"/>
+ <owl:disjointWith rdf:resource="#Clinch"/>
+ <owl:disjointWith rdf:resource="#Glue"/>
+ <owl:disjointWith rdf:resource="#Weld"/>
+ <owl:disjointWith rdf:resource="#Solder"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Rivet"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Join"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Fill a workpiece with a cubic capacity.</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:ID="TactileProximitySwitch">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#TactileSensor"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Precision">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#QualityCriteria"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Accuracy"/>
+ <owl:disjointWith rdf:resource="#ResponseTime"/>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <owl:disjointWith rdf:resource="#CycleTime"/>
+ <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
+ <owl:disjointWith rdf:resource="#Repeatability"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Rivet">
+ <rdfs:subClassOf rdf:resource="#Join"/>
+ <owl:disjointWith rdf:resource="#Glue"/>
+ <owl:disjointWith rdf:resource="#Assemble"/>
+ <owl:disjointWith rdf:resource="#Solder"/>
+ <owl:disjointWith rdf:resource="#Fill"/>
+ <owl:disjointWith rdf:resource="#Bolt"/>
+ <owl:disjointWith rdf:resource="#Weld"/>
+ <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 rdf:resource="#Clinch"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Communication">
+ <owl:disjointWith rdf:resource="#PhysicalProperties"/>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Identifier"/>
+ <owl:disjointWith rdf:resource="#WorkFrame"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#QualityCriteria"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Cost"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Mill">
+ <owl:disjointWith rdf:resource="#File"/>
+ <owl:disjointWith rdf:resource="#Drill"/>
+ <owl:disjointWith rdf:resource="#Thermal-Separate"/>
+ <owl:disjointWith rdf:resource="#Hone"/>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <owl:disjointWith rdf:resource="#Rub"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >The tool moves over the workpiece to remove chipping. The tool is fed in a linear motion over the workpiece while the tool is rotating.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Electro-discharge-machine"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Plane"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cut"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thrust"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Lathe"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Grind"/>
+ <owl:disjointWith rdf:resource="#Broach"/>
+ <rdfs:subClassOf rdf:resource="#Separate"/>
+ </owl:Class>
+ <owl:Class rdf:about="#IntelligentCtrl">
+ <owl:disjointWith rdf:resource="#NumericalCtrl"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#PlaybackCtrl"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SimpleControl"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >This includes calculating up functions for setting positions and trajectories.</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#Grasp">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Structured Description of Skills and Device 1.0
+pag:5
+Keep a workpiece temporarily in a given position and orientation.</rdfs:comment>
+ <rdfs:subClassOf rdf:resource="#Secure"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Release"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Branch">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Divide a material flow into subflows.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Divide"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ModifyAmount"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Unify"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Merge"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Assign"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Part"/>
+ </owl:Class>
+ <owl:Class rdf:ID="ElectricalConnector">
+ <rdfs:subClassOf rdf:resource="#ToolInterface"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MechanicalConnector"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >How to connect a tool electrically.</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#Thrust">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Lathe"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Separate"/>
+ <owl:disjointWith rdf:resource="#Rub"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cut"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Mill"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Electro-discharge-machine"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#File"/>
+ <owl:disjointWith rdf:resource="#Drill"/>
+ <owl:disjointWith rdf:resource="#Hone"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >The tool performs a cutting movement and a reverse movement.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Broach"/>
+ <owl:disjointWith rdf:resource="#Grind"/>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <owl:disjointWith rdf:resource="#Thermal-Separate"/>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Plane"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#CircularParallelGripper">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LineParallelGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#GeneralParallelGripper"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ParallelGripper"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Sinter">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >By using powder material, a workpiece is formed. By heating the workpiece is hardened by avoiding a fluid phase.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Cast"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectrolyticSegregate"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Mold"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Reachability">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeOfActuation"/>
+ </owl:Class>
+ <owl:Class rdf:about="#SimpleControl">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#NumericalCtrl"/>
+ <owl:disjointWith rdf:resource="#IntelligentCtrl"/>
+ <owl:disjointWith rdf:resource="#PlaybackCtrl"/>
+ </owl:Class>
+ <owl:Class rdf:about="#OpticReflexSwitch">
+ <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="InductiveProximitySwitch"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Tasks and Skills of Ocptical Sensor 1.1
+Cap: 2</rdfs:comment>
+ <owl:disjointWith rdf:resource="#OpticDistanceSensorScanner"/>
+ <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticThroughBeanSwitches"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#OpticColorSensor"/>
+ <owl:disjointWith rdf:resource="#SmartCamera"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#OpticSensor"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticDistanceSensorReflector"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Fold">
+ <owl:disjointWith rdf:resource="#Stretch-Form"/>
+ <owl:disjointWith rdf:resource="#Crush"/>
+ <owl:disjointWith rdf:resource="#True"/>
+ <owl:disjointWith rdf:resource="#Roll"/>
+ <owl:disjointWith rdf:resource="#Extrude"/>
+ <owl:disjointWith rdf:resource="#Deep-Draw"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bead"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Form"/>
+ <owl:disjointWith rdf:resource="#Bend"/>
+ <owl:disjointWith rdf:resource="#Flang"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Buckle, squeeze or crop thin, malleable and/or flexible materials like sheet metals and plates.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Forge"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Press"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Lathe">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >The workpiece turns on a lathe. The cutting movement is performed by its turning movement. The tool is fixed and removes chips from the workpiece. Usually only rotation-symmetric workpieces are handled here.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Rub"/>
+ <owl:disjointWith rdf:resource="#File"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cut"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Hone"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Plane"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Grind"/>
+ <rdfs:subClassOf rdf:resource="#Separate"/>
+ <owl:disjointWith rdf:resource="#Mill"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Electro-discharge-machine"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <owl:disjointWith rdf:resource="#Thrust"/>
+ <owl:disjointWith rdf:resource="#Drill"/>
+ <owl:disjointWith rdf:resource="#Broach"/>
+ <owl:disjointWith rdf:resource="#Thermal-Separate"/>
+ </owl:Class>
+ <owl:Class rdf:about="#InductiveSensor">
+ <owl:disjointWith rdf:resource="#TorqueForceSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#EncoderSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#UltrasonicSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TactileSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MagneticSensor"/>
+ <rdfs:subClassOf rdf:resource="#Sensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CapacitveSensor"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#ModifyAmount">
+ <rdfs:subClassOf rdf:resource="#ManipulationAndHandlingFunction"/>
+ <owl:disjointWith rdf:resource="#Store"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Move"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Secure"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Press">
+ <owl:disjointWith rdf:resource="#Flang"/>
+ <owl:disjointWith rdf:resource="#Forge"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Modify the surface of a solid body with the help of a stamp. The feed rate is very slow, although the pressure is very high.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bead"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Bend"/>
+ <owl:disjointWith rdf:resource="#Fold"/>
+ <owl:disjointWith rdf:resource="#Stretch-Form"/>
+ <rdfs:subClassOf rdf:resource="#Form"/>
+ <owl:disjointWith rdf:resource="#Deep-Draw"/>
+ <owl:disjointWith rdf:resource="#Roll"/>
+ <owl:disjointWith rdf:resource="#True"/>
+ <owl:disjointWith rdf:resource="#Crush"/>
+ <owl:disjointWith rdf:resource="#Extrude"/>
+ </owl:Class>
+ <owl:Class rdf:about="#EncoderWireDrawDistanceSensor">
+ <owl:disjointWith rdf:resource="#EncoderLinearDistanceSensor"/>
+ <owl:disjointWith rdf:resource="#OpticDistanceSensorScanner"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticDistanceSensorReflector"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >distanceMeasurements.pdf
+SICK
+pag 4</rdfs:comment>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#EncoderSensor"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#UltrasonicDistanceSensor"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Position">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Turn"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Move a part from an undefined to a well-defined position. The part's orientation is not important here.</rdfs:comment>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Move"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Pan"/>
+ <owl:disjointWith rdf:resource="#Orient"/>
+ <owl:disjointWith rdf:resource="#Convey"/>
+ <owl:disjointWith rdf:resource="#Arrange"/>
+ <owl:disjointWith rdf:resource="#Pass"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Displace"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Feed"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Hot-galvanise">
+ <owl:disjointWith rdf:resource="#Powder-coat"/>
+ <rdfs:subClassOf rdf:resource="#Coat"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >A metallic layer is put onto the workpieces by putting them into a smelter. This is mainly done to reduce corrosion.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Electroplate"/>
+ <owl:disjointWith rdf:resource="#Varnish"/>
+ </owl:Class>
+ <owl:Class rdf:about="#OpticSensor">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TactileSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CapacitveSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#InductiveSensor"/>
+ <owl:disjointWith rdf:resource="#TorqueForceSensor"/>
+ <owl:disjointWith rdf:resource="#MagneticSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#UltrasonicSensor"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Sensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#EncoderSensor"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Displace">
+ <owl:disjointWith rdf:resource="#Pass"/>
+ <owl:disjointWith rdf:resource="#Position"/>
+ <owl:disjointWith rdf:resource="#Pan"/>
+ <owl:disjointWith rdf:resource="#Arrange"/>
+ <owl:disjointWith rdf:resource="#Convey"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Move translationally a part along a straight line. The part's orientiation remains unchanged.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Turn"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Orient"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Move"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Feed"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#ArticulatedRobot">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Robot"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SimpleKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#CartesianRobot"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >This is the standard industrial robot-type with usually 5 to 7 joints.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScaraRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ParallelKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#HexapodRobot"/>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Turn">
+ <owl:disjointWith rdf:resource="#Orient"/>
+ <owl:disjointWith rdf:resource="#Position"/>
+ <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="#Pan"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Feed"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Move"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Arrange"/>
+ <owl:disjointWith rdf:resource="#Pass"/>
+ <owl:disjointWith rdf:resource="#Displace"/>
+ <owl:disjointWith rdf:resource="#Convey"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Check">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Scan"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Read"/>
+ <owl:disjointWith rdf:resource="#Determine"/>
+ <owl:disjointWith rdf:resource="#ImageAnalysis"/>
+ <owl:disjointWith rdf:resource="#Sort"/>
+ <owl:disjointWith rdf:resource="#Classify"/>
+ <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>
+ <rdfs:subClassOf rdf:resource="#SensorFunction"/>
+ <owl:disjointWith rdf:resource="#Detect"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Measure"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Payload">
+ <owl:disjointWith rdf:resource="#Length"/>
+ <owl:disjointWith rdf:resource="#Material"/>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in kg</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Height"/>
+ <owl:disjointWith rdf:resource="#Diameter"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Weight"/>
+ <owl:disjointWith rdf:resource="#Width"/>
+ <owl:disjointWith rdf:resource="#Shape"/>
+ <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MechanicalResistance"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#TransformImage">
+ <owl:disjointWith rdf:resource="#CompressDecompressImageData"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CalibrateImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SegmentImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#BlobAnalysis"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#FilterImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ExtractEdges"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ParallelGripper">
+ <rdfs:subClassOf rdf:resource="#PincerGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="AngleGripper"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#InsideOrOutsidePicking">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWay"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <rdfs:subClassOf rdf:resource="#PhysicalPropertiesGripper"/>
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
+ <owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
+ </owl:Class>
+ <owl:Class rdf:about="#OpticThroughBeanSwitches">
+ <owl:disjointWith rdf:resource="#OpticColorSensor"/>
+ <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
+ <owl:disjointWith rdf:resource="#SmartCamera"/>
+ <owl:disjointWith rdf:resource="#OpticDistanceSensorScanner"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InductiveProximitySwitch"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#OpticReflexSwitch"/>
+ <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="#OpticSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticDistanceSensorReflector"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Electro-discharge-machine">
+ <rdfs:subClassOf rdf:resource="#Separate"/>
+ <owl:disjointWith rdf:resource="#Thrust"/>
+ <owl:disjointWith rdf:resource="#Drill"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >A spark removes material from the workpiece.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Mill"/>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <owl:disjointWith rdf:resource="#File"/>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <owl:disjointWith rdf:resource="#Grind"/>
+ <owl:disjointWith rdf:resource="#Thermal-Separate"/>
+ <owl:disjointWith rdf:resource="#Lathe"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Plane"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Broach"/>
+ <owl:disjointWith rdf:resource="#Rub"/>
+ <owl:disjointWith rdf:resource="#Hone"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cut"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#MaxVoltageSupply">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinAmbientTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in volts</rdfs:comment>
+ <rdfs:subClassOf rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#EnclosureRatingIP"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
+ <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
+ <owl:disjointWith rdf:resource="#MountedDevicePosition"/>
+ <owl:disjointWith rdf:resource="#PhysicalInterface"/>
+ <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Assign">
+ <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:disjointWith rdf:resource="#Part"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Unify"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Branch"/>
+ <rdfs:subClassOf rdf:resource="#ModifyAmount"/>
+ <owl:disjointWith rdf:resource="#Divide"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ControlSystem">
+ <owl:disjointWith rdf:resource="#Identifier"/>
+ <owl:disjointWith rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith rdf:resource="#Communication"/>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith rdf:resource="#WorkFrame"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Cost"/>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#QualityCriteria"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Task">
+ <owl:disjointWith rdf:resource="#Property"/>
+ <owl:disjointWith rdf:resource="#Skill"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Device"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Robot">
+ <rdfs: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>
+ <owl:disjointWith rdf:resource="#Gripper"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Introdution to Robotics
+(Analysis, System, Applications)
+Saeed B. Niku</rdfs:comment>
+ <rdfs:subClassOf rdf:resource="#ManipulationAndHandling"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom rdf:resource="#Cost"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:someValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#WorkFrame"/>
+ </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>
+ <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:someValuesFrom>
+ <owl:Class rdf:about="#QualityCriteria"/>
+ </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="#hasProperty"/>
+ </owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#ControlSystem"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#Identifier"/>
+ </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>
+ </owl:Class>
+ <owl:Class rdf:about="#PathVelocityFluctuation">
+ <owl:disjointWith rdf:resource="#ResponseTime"/>
+ <owl:disjointWith rdf:resource="#Repeatability"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#QualityCriteria"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Precision"/>
+ <owl:disjointWith rdf:resource="#Accuracy"/>
+ <owl:disjointWith rdf:resource="#CycleTime"/>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
+ </owl:Class>
+ <owl:Class rdf:about="#CommunicationProtocol">
+ <rdfs:subClassOf rdf:resource="#Communication"/>
+ <owl:disjointWith rdf:resource="#BusInterface"/>
+ <owl:disjointWith rdf:resource="#ElectricalInterface"/>
+ </owl:Class>
+ <owl:Class rdf:about="#LineParallelGripper">
+ <owl:disjointWith rdf:resource="#CircularParallelGripper"/>
+ <owl:disjointWith rdf:resource="#GeneralParallelGripper"/>
+ <rdfs:subClassOf rdf:resource="#ParallelGripper"/>
+ </owl:Class>
+ <owl:Class rdf:about="#DetermineMotionOfObject">
+ <rdfs:subClassOf rdf:resource="#Determine"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DeterminePositionOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DetermineOrientationOfObject"/>
+ </owl:Class>
+ <owl:Class rdf:about="#UltrasonicDistanceSensor">
+ <owl:disjointWith rdf:resource="#EncoderLinearDistanceSensor"/>
+ <owl:disjointWith rdf:resource="#OpticDistanceSensorScanner"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#UltrasonicSensor"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#EncoderWireDrawDistanceSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticDistanceSensorReflector"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >distanceMeasurements.pdf
+SICK
+pag 4</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#StoreUnOrdered">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StoreInOrder"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Save workpieces which are geometrically defined in an undefined position and orientation.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#StorePartlyOrdered"/>
+ <rdfs:subClassOf rdf:resource="#Store"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Bead">
+ <owl:disjointWith rdf:resource="#Flang"/>
+ <owl:disjointWith rdf:resource="#Stretch-Form"/>
+ <owl:disjointWith rdf:resource="#Bend"/>
+ <owl:disjointWith rdf:resource="#Deep-Draw"/>
+ <owl:disjointWith rdf:resource="#True"/>
+ <owl:disjointWith rdf:resource="#Crush"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Create channel-shaped deepenings which are meant to increase the stiffness.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Forge"/>
+ <owl:disjointWith rdf:resource="#Extrude"/>
+ <rdfs:subClassOf rdf:resource="#Form"/>
+ <owl:disjointWith rdf:resource="#Fold"/>
+ <owl:disjointWith rdf:resource="#Press"/>
+ <owl:disjointWith rdf:resource="#Roll"/>
+ </owl:Class>
+ <owl:Class rdf:about="#MechanicalResistance">
+ <owl:disjointWith rdf:resource="#Length"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Weight"/>
+ <owl:disjointWith rdf:resource="#Diameter"/>
+ <owl:disjointWith rdf:resource="#Shape"/>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith rdf:resource="#Material"/>
+ <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith rdf:resource="#Width"/>
+ <owl:disjointWith rdf:resource="#Height"/>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
+ <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ </owl:Class>
+ <owl:Class rdf:about="#TypeOfFingers">
+ <owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <rdfs:subClassOf rdf:resource="#PhysicalPropertiesGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWay"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Device">
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ <owl:allValuesFrom rdf:resource="#Property"/>
+ </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:8</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Task"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom rdf:resource="#MainFunction"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:allValuesFrom rdf:resource="#Skill"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Property"/>
+ <owl:disjointWith rdf:resource="#Skill"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom rdf:resource="#PhysicalProperties"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf rdf:resource="http://www.w3.org/2002/07/owl#Thing"/>
+ </owl:Class>
+ <owl:Class rdf:about="#MaterialOfGripper">
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
+ <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
+ <owl:disjointWith rdf:resource="#TypeOfFingers"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWay"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <rdfs:subClassOf rdf:resource="#PhysicalPropertiesGripper"/>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ScaraRobot">
+ <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#CartesianRobot"/>
+ <owl:disjointWith rdf:resource="#HexapodRobot"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SimpleKinematicRobot"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Robot"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ParallelKinematicRobot"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Industrial type, but special kinematic arrangement. Well-known manufacturer: Bosch-Rexrodt.</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#StoreInOrder">
+ <owl:disjointWith rdf:resource="#StorePartlyOrdered"/>
+ <owl:disjointWith rdf:resource="#StoreUnOrdered"/>
+ <rdfs:subClassOf rdf:resource="#Store"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Save workpieces which are geometrically defined in a well-defined position and/or orientation.</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#SimpleKinematicRobot">
+ <rdfs:subClassOf rdf:resource="#Robot"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Simple, sometimes small machines with reduced capabilities, e.g. with only 1 DOF. These can be devices which are arranged to more complex machines.
+Sometimes, the tool is already included in the robot, e.g. a gripper is already connected.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#ScaraRobot"/>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#CartesianRobot"/>
+ <owl:disjointWith rdf:resource="#HexapodRobot"/>
+ <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ParallelKinematicRobot"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Cut">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Divide a workpiece into two parts.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Mill"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Plane"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Separate"/>
+ <owl:disjointWith rdf:resource="#Hone"/>
+ <owl:disjointWith rdf:resource="#Thermal-Separate"/>
+ <owl:disjointWith rdf:resource="#Electro-discharge-machine"/>
+ <owl:disjointWith rdf:resource="#Rub"/>
+ <owl:disjointWith rdf:resource="#Grind"/>
+ <owl:disjointWith rdf:resource="#File"/>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <owl:disjointWith rdf:resource="#Drill"/>
+ <owl:disjointWith rdf:resource="#Thrust"/>
+ <owl:disjointWith rdf:resource="#Lathe"/>
+ <owl:disjointWith rdf:resource="#Broach"/>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ </owl:Class>
+ <owl:Class rdf:about="#UltrasonicSensor">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#EncoderSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MagneticSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TactileSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CapacitveSensor"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Sensor"/>
+ <owl:disjointWith rdf:resource="#InductiveSensor"/>
+ <owl:disjointWith rdf:resource="#TorqueForceSensor"/>
+ <owl:disjointWith rdf:resource="#OpticSensor"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ExtractEdges">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CalibrateImage"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SegmentImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#CompressDecompressImageData"/>
+ <owl:disjointWith rdf:resource="#TransformImage"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#FilterImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#BlobAnalysis"/>
+ </owl:Class>
+ <owl:Class rdf:about="#AngleGripper">
+ <owl:disjointWith rdf:resource="#ParallelGripper"/>
+ <rdfs:subClassOf rdf:resource="#PincerGripper"/>
+ </owl:Class>
+ <owl:Class rdf:about="#DeterminePositionOfObject">
+ <owl:disjointWith rdf:resource="#DetermineOrientationOfObject"/>
+ <rdfs:subClassOf rdf:resource="#Determine"/>
+ <owl:disjointWith rdf:resource="#DetermineMotionOfObject"/>
+ </owl:Class>
+ <owl:Class rdf:about="#CheckPosition">
+ <owl:disjointWith rdf:resource="#Count"/>
+ <rdfs:subClassOf rdf:resource="#Check"/>
+ <owl:disjointWith rdf:resource="#CheckSurfaceForIrregularities"/>
+ </owl:Class>
+ <owl:Class rdf:about="#EncoderSensor">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CapacitveSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TactileSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#OpticSensor"/>
+ <owl:disjointWith rdf:resource="#TorqueForceSensor"/>
+ <rdfs:subClassOf rdf:resource="#Sensor"/>
+ <owl:disjointWith rdf:resource="#MagneticSensor"/>
+ <owl:disjointWith rdf:resource="#InductiveSensor"/>
+ <owl:disjointWith rdf:resource="#UltrasonicSensor"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Karthesian">
+ <owl:disjointWith rdf:resource="#AsFastAsPossible"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Feed"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Circular"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ParallelKinematicRobot">
+ <rdfs:subClassOf rdf:resource="#Robot"/>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
+ <owl:disjointWith rdf:resource="#ScaraRobot"/>
+ <owl:disjointWith rdf:resource="#HexapodRobot"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Special kinematic arrangement like the one built in SMErobot.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#CartesianRobot"/>
+ <owl:disjointWith rdf:resource="#SimpleKinematicRobot"/>
+ </owl:Class>
+ <owl:Class rdf:about="#SizeOfGripper">
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith rdf:resource="#TypeOfFingers"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWay"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
+ <rdfs:subClassOf rdf:resource="#PhysicalPropertiesGripper"/>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
+ <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
+ <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Measure">
+ <rdfs:subClassOf rdf:resource="#SensorFunction"/>
+ <owl:disjointWith rdf:resource="#Detect"/>
+ <owl:disjointWith rdf:resource="#Check"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Structured Description of Skills and Device 1.0
+pag:5
+Gather a value as a multiple of a reference value.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Sort"/>
+ <owl:disjointWith rdf:resource="#Determine"/>
+ <owl:disjointWith rdf:resource="#Classify"/>
+ <owl:disjointWith rdf:resource="#Read"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Scan"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ImageAnalysis"/>
+ </owl:Class>
+ <owl:Class rdf:about="#FilterImage">
+ <owl:disjointWith rdf:resource="#BlobAnalysis"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SegmentImage"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
+ <owl:disjointWith rdf:resource="#ExtractEdges"/>
+ <owl:disjointWith rdf:resource="#TransformImage"/>
+ <owl:disjointWith rdf:resource="#CompressDecompressImageData"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CalibrateImage"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#SegmentImage">
+ <owl:disjointWith rdf:resource="#TransformImage"/>
+ <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
+ <owl:disjointWith rdf:resource="#FilterImage"/>
+ <owl:disjointWith rdf:resource="#CompressDecompressImageData"/>
+ <owl:disjointWith rdf:resource="#ExtractEdges"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CalibrateImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#BlobAnalysis"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Unify">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Create a superset from subsets.
+The size of source and target sets does not necessarily have to be defined.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Divide"/>
+ <owl:disjointWith rdf:resource="#Merge"/>
+ <rdfs:subClassOf rdf:resource="#ModifyAmount"/>
+ <owl:disjointWith rdf:resource="#Branch"/>
+ <owl:disjointWith rdf:resource="#Assign"/>
+ <owl:disjointWith rdf:resource="#Part"/>
+ </owl:Class>
+ <owl:Class rdf:ID="ElasticFingerGripper">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="JointFingerGripper"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#FingerGripper"/>
+ </owl:Class>
+ <owl:Class rdf:about="#PowerConsumption">
+ <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
+ <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
+ <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
+ <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in kVA</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinAmbientTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
+ <rdfs:subClassOf rdf:resource="#Arrangement"/>
+ <owl:disjointWith rdf:resource="#PhysicalInterface"/>
+ <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#EnclosureRatingIP"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MountedDevicePosition"/>
+ </owl:Class>
+ <owl:Class rdf:about="#NumberOfJoints">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Reachability"/>
+ <owl:disjointWith rdf:resource="#TypeOfActuation"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ElectrolyticSegregate">
+ <owl:disjointWith rdf:resource="#Cast"/>
+ <owl:disjointWith rdf:resource="#Sinter"/>
+ <rdfs:subClassOf rdf:resource="#Mold"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Move">
+ <owl:disjointWith rdf:resource="#Secure"/>
+ <rdfs:subClassOf rdf:resource="#ManipulationAndHandlingFunction"/>
+ <owl:disjointWith rdf:resource="#ModifyAmount"/>
+ <owl:disjointWith rdf:resource="#Store"/>
+ </owl:Class>
+ <owl:Class rdf:about="#QualityCriteria">
+ <owl:disjointWith rdf:resource="#Communication"/>
+ <owl:disjointWith rdf:resource="#Identifier"/>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith rdf:resource="#WorkFrame"/>
+ <owl:disjointWith rdf:resource="#Cost"/>
+ <owl:disjointWith rdf:resource="#ControlSystem"/>
+ <owl:disjointWith rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ </owl:Class>
+ <owl:Class rdf:about="#MinAmbientTemperature">
+ <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#EnclosureRatingIP"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MountedDevicePosition"/>
+ <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
+ <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
+ <owl:disjointWith rdf:resource="#PhysicalInterface"/>
+ <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in degrees celsius</rdfs:comment>
+ <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
+ <owl:disjointWith rdf:resource="#PowerConsumption"/>
+ <rdfs:subClassOf rdf:resource="#Arrangement"/>
+ <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
+ </owl:Class>
+ <owl:Class rdf:about="#InductiveProximitySwitch">
+ <owl:disjointWith rdf:resource="#OpticThroughBeanSwitches"/>
+ <owl:disjointWith rdf:resource="#OpticReflexSwitch"/>
+ <rdfs:subClassOf rdf:resource="#InductiveSensor"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Tasks and Skills of Ocptical Sensor 1.1
+Cap: 2</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#Feed">
+ <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 rdf:resource="#Pass"/>
+ <owl:disjointWith rdf:resource="#Pan"/>
+ <rdfs:subClassOf rdf:resource="#Move"/>
+ <owl:disjointWith rdf:resource="#Displace"/>
+ <owl:disjointWith rdf:resource="#Orient"/>
+ <owl:disjointWith rdf:resource="#Position"/>
+ <owl:disjointWith rdf:resource="#Convey"/>
+ <owl:disjointWith rdf:resource="#Arrange"/>
+ <owl:disjointWith rdf:resource="#Turn"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Scan">
+ <owl:disjointWith rdf:resource="#Read"/>
+ <owl:disjointWith rdf:resource="#Detect"/>
+ <owl:disjointWith rdf:resource="#Check"/>
+ <owl:disjointWith rdf:resource="#Sort"/>
+ <owl:disjointWith rdf:resource="#ImageAnalysis"/>
+ <rdfs:subClassOf rdf:resource="#SensorFunction"/>
+ <owl:disjointWith rdf:resource="#Determine"/>
+ <owl:disjointWith rdf:resource="#Classify"/>
+ <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="#Measure"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ScanningDistance">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in mm</rdfs:comment>
+ <owl:disjointWith rdf:resource="#LaserClass"/>
+ <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Manufacturing">
+ <rdfs:subClassOf rdf:resource="#Device"/>
+ <owl:disjointWith rdf:resource="#ManipulationAndHandling"/>
+ <owl:disjointWith rdf:resource="#Sensor"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#ManufacturingFunction"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Release">
+ <owl:disjointWith rdf:resource="#Grasp"/>
+ <rdfs:subClassOf rdf:resource="#Secure"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Structured Description of Skills and Device 1.0
+pag:5
+Invert the grasping.</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#JointFingerGripper">
+ <rdfs:subClassOf rdf:resource="#FingerGripper"/>
+ <owl:disjointWith rdf:resource="#ElasticFingerGripper"/>
+ </owl:Class>
+ <owl:Class rdf:about="#EnclosureRatingIP">
+ <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
+ <owl:disjointWith rdf:resource="#PhysicalInterface"/>
+ <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
+ <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
+ <owl:disjointWith rdf:resource="#MountedDevicePosition"/>
+ <owl:disjointWith rdf:resource="#PowerConsumption"/>
+ <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
+ <rdfs:subClassOf rdf:resource="#Arrangement"/>
+ <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
+ <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
+ <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
+ </owl:Class>
+ <owl:Class rdf:about="#TactileSensor">
+ <owl:disjointWith rdf:resource="#TorqueForceSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CapacitveSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MagneticSensor"/>
+ <owl:disjointWith rdf:resource="#UltrasonicSensor"/>
+ <owl:disjointWith rdf:resource="#OpticSensor"/>
+ <owl:disjointWith rdf:resource="#InductiveSensor"/>
+ <owl:disjointWith rdf:resource="#EncoderSensor"/>
+ <rdfs:subClassOf rdf:resource="#Sensor"/>
+ </owl:Class>
+ <owl:Class rdf:about="#CalibrateImage">
+ <owl:disjointWith rdf:resource="#ExtractEdges"/>
+ <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
+ <owl:disjointWith rdf:resource="#TransformImage"/>
+ <owl:disjointWith rdf:resource="#CompressDecompressImageData"/>
+ <owl:disjointWith rdf:resource="#FilterImage"/>
+ <owl:disjointWith rdf:resource="#SegmentImage"/>
+ <owl:disjointWith rdf:resource="#BlobAnalysis"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Plane">
+ <rdfs:subClassOf rdf:resource="#Separate"/>
+ <owl:disjointWith rdf:resource="#Lathe"/>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <owl:disjointWith rdf:resource="#Hone"/>
+ <owl:disjointWith rdf:resource="#Drill"/>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <owl:disjointWith rdf:resource="#Rub"/>
+ <owl:disjointWith rdf:resource="#Broach"/>
+ <owl:disjointWith rdf:resource="#Thrust"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >This is mainly used for wooden workpieces to remove chipping from the workpiece.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#File"/>
+ <owl:disjointWith rdf:resource="#Electro-discharge-machine"/>
+ <owl:disjointWith rdf:resource="#Cut"/>
+ <owl:disjointWith rdf:resource="#Grind"/>
+ <owl:disjointWith rdf:resource="#Mill"/>
+ <owl:disjointWith rdf:resource="#Thermal-Separate"/>
+ </owl:Class>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot">
+ <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith rdf:resource="#Width"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#MechanicalResistance"/>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith rdf:resource="#Material"/>
+ <owl:disjointWith rdf:resource="#Shape"/>
+ <owl:disjointWith rdf:resource="#Height"/>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
+ <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
+ <owl:disjointWith rdf:resource="#Weight"/>
+ <owl:disjointWith rdf:resource="#Diameter"/>
+ <owl:disjointWith rdf:resource="#Length"/>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
+ </owl:Class>
+ <owl:Class rdf:about="#OpticDistanceSensorReflector">
+ <owl:disjointWith rdf:resource="#SmartCamera"/>
+ <owl:disjointWith rdf:resource="#OpticReflexSwitch"/>
+ <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
+ <rdfs:subClassOf rdf:resource="#OpticSensor"/>
+ <owl:disjointWith rdf:resource="#UltrasonicDistanceSensor"/>
+ <owl:disjointWith rdf:resource="#EncoderLinearDistanceSensor"/>
+ <owl:disjointWith rdf:resource="#OpticThroughBeanSwitches"/>
+ <owl:disjointWith rdf:resource="#OpticColorSensor"/>
+ <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >distanceMeasurements.pdf
+SICK
+pag 4</rdfs:comment>
+ <owl:disjointWith rdf:resource="#EncoderWireDrawDistanceSensor"/>
+ <owl:disjointWith rdf:resource="#OpticDistanceSensorScanner"/>
+ </owl:Class>
+ <owl:Class rdf:about="#WorkCoordinates">
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith rdf:resource="#QualityCriteria"/>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith rdf:resource="#Cost"/>
+ <owl:disjointWith rdf:resource="#WorkFrame"/>
+ <owl:disjointWith rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith rdf:resource="#Communication"/>
+ <owl:disjointWith rdf:resource="#ControlSystem"/>
+ <owl:disjointWith rdf:resource="#Identifier"/>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ </owl:Class>
+ <owl:Class rdf:about="#MechanicalConnector">
+ <rdfs:subClassOf rdf:resource="#ToolInterface"/>
+ <owl:disjointWith rdf:resource="#ElectricalConnector"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >How to connect a tool mechanically.
+This includes the size and is dependent on the Payload.</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#MaxLiftWay">
+ <owl:disjointWith rdf:resource="#TypeOfFingers"/>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <rdfs:subClassOf rdf:resource="#PhysicalPropertiesGripper"/>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith rdf:resource="#SizeOfGripper"/>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in mm</rdfs:comment>
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
+ <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
+ <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ </owl:Class>
+ <owl:Class rdf:about="#CapacitveSensor">
+ <rdfs:subClassOf rdf:resource="#Sensor"/>
+ <owl:disjointWith rdf:resource="#MagneticSensor"/>
+ <owl:disjointWith rdf:resource="#TactileSensor"/>
+ <owl:disjointWith rdf:resource="#TorqueForceSensor"/>
+ <owl:disjointWith rdf:resource="#EncoderSensor"/>
+ <owl:disjointWith rdf:resource="#OpticSensor"/>
+ <owl:disjointWith rdf:resource="#UltrasonicSensor"/>
+ <owl:disjointWith rdf:resource="#InductiveSensor"/>
+ </owl:Class>
+ <owl:Class rdf:about="#AdjustCurrentToGrip">
+ <rdfs:subClassOf rdf:resource="#Grasp"/>
+ <owl:disjointWith rdf:resource="#CloseFingers"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#MagnetGripper"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#AdjustVacuumToGrip"/>
+ <owl:disjointWith rdf:resource="#CloseClaws"/>
+ </owl:Class>
+ <owl:ObjectProperty rdf:ID="canBePerformedBy">
+ <rdfs:domain rdf:resource="#Task"/>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill">
+ <rdfs:range 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>
+ <rdfs:domain rdf:resource="#Device"/>
+ <owl:inverseOf>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:inverseOf>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty">
+ <owl:inverseOf>
+ <owl:ObjectProperty rdf:ID="isPropertyOf"/>
+ </owl:inverseOf>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf">
+ <owl:inverseOf rdf:resource="#hasSkill"/>
+ <rdfs:domain rdf:resource="#Skill"/>
+ <rdfs:range rdf:resource="#Device"/>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:about="#isPropertyOf">
+ <owl:inverseOf rdf:resource="#hasProperty"/>
+ </owl:ObjectProperty>
+ <owl:DatatypeProperty rdf:ID="value">
+ <rdfs:domain rdf:resource="#Property"/>
+ </owl:DatatypeProperty>
+ <Weight rdf:ID="Mass_0.25">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.25</value>
+ <isPropertyOf>
+ <SmartCamera rdf:ID="VisionComponents-VC4465">
+ <hasProperty>
+ <Height rdf:ID="Height_43">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >43.0</value>
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ <isPropertyOf>
+ <OpticColorSensor rdf:ID="Sensopart_FL64C">
+ <hasProperty>
+ <MinVoltageSupply rdf:ID="MinVoltageSupply_10.0">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >10.0</value>
+ <isPropertyOf>
+ <SmartCamera rdf:ID="Sick_IVC-2DM1112">
+ <hasSkill>
+ <CheckPosition rdf:ID="CheckPosition_4">
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1112"/>
+ </CheckPosition>
+ </hasSkill>
+ <hasProperty>
+ <MinVoltageSupply rdf:ID="MinVoltageSupply_200">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >200.0</value>
+ <isPropertyOf>
+ <ArticulatedRobot rdf:ID="ArticulatedRobot_ABB_IRB-4400">
+ <hasProperty>
+ <MaxVoltageSupply rdf:ID="MaxVoltageSupply_600">
+ <isPropertyOf>
+ <ArticulatedRobot rdf:ID="ArticulatedRobot_ABB_IRB-140">
+ <hasProperty>
+ <Reachability rdf:ID="Reachability_810">
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#integer"
+ >810</value>
+ </Reachability>
+ </hasProperty>
+ <hasProperty>
+ <DegreesOfFreedom rdf:ID="DegreesOfFreedom_4">
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <isPropertyOf>
+ <ScaraRobot rdf:ID="ScaraRobot_Staeubli_RS40B">
+ <hasProperty>
+ <Weight rdf:ID="Weight_40.5">
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
+ <isPropertyOf>
+ <GeneralParallelGripper rdf:ID="Schunk_MPG_20">
+ <hasProperty>
+ <MaxLiftWeight rdf:ID="MaxLiftWeight_0.14">
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >0.0</value>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ </MaxLiftWeight>
+ </hasProperty>
+ <hasProperty>
+ <Weight rdf:ID="Weight_0.4">
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >0.4</value>
+ <isPropertyOf>
+ <OpticColorSensor rdf:ID="Sick_CS1-N3611">
+ <hasProperty>
+ <MaxMeasurementRange rdf:ID="MaxMeasurementRange_1000">
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1112"/>
+ <isPropertyOf rdf:resource="#Sick_CS1-N3611"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >1000.0</value>
+ </MaxMeasurementRange>
+ </hasProperty>
+ <hasProperty>
+ <Height rdf:ID="Height_53">
+ <isPropertyOf rdf:resource="#Sick_CS1-N3611"/>
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >53.0</value>
+ </Height>
+ </hasProperty>
+ <hasProperty>
+ <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.08">
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <isPropertyOf rdf:resource="#Sick_CS1-N3611"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.08</value>
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ </MaxCurrentConsumption>
+ </hasProperty>
+ <hasProperty>
+ <Width rdf:ID="Width_80">
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <isPropertyOf rdf:resource="#Sick_CS1-N3611"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1112"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >80.0</value>
+ </Width>
+ </hasProperty>
+ <hasProperty>
+ <MaxVoltageSupply rdf:ID="MaxVoltageSupply_30.0">
+ <isPropertyOf rdf:resource="#Sick_CS1-N3611"/>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >30.0</value>
+ </MaxVoltageSupply>
+ </hasProperty>
+ <hasProperty>
+ <LightSpotSize rdf:ID="LightSpotSize_13">
+ <isPropertyOf rdf:resource="#Sick_CS1-N3611"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >13.0</value>
+ </LightSpotSize>
+ </hasProperty>
+ <hasProperty>
+ <Material rdf:ID="Material-ZincPressureCasting">
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1112"/>
+ <isPropertyOf rdf:resource="#Sick_CS1-N3611"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Zinc Pressure Casting</value>
+ </Material>
+ </hasProperty>
+ <hasProperty>
+ <EnclosureRatingIP rdf:ID="EnclosureRatingIP_67">
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >67</value>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <isPropertyOf>
+ <GeneralParallelGripper rdf:ID="Schunk_MPG_64">
+ <hasProperty>
+ <Repeatability rdf:ID="Repeatability_0.02">
+ <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.02</value>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ </Repeatability>
+ </hasProperty>
+ <hasProperty>
+ <Repeatability rdf:ID="Repeatability_0.1">
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.1</value>
+ </Repeatability>
+ </hasProperty>
+ <hasProperty>
+ <Weight rdf:ID="Mass_0.6">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.0</value>
+ <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
+ </Weight>
+ </hasProperty>
+ <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
+ <hasProperty>
+ <MinAmbientTemperature rdf:ID="MinAmbientTemperature_5">
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <isPropertyOf rdf:resource="#Sick_CS1-N3611"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <isPropertyOf>
+ <ScaraRobot rdf:ID="ScaraRobot_Staeubli_RS80">
+ <hasProperty>
+ <EnclosureRatingIP rdf:ID="EnclosureRatingIP_54">
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >30</value>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
+ </EnclosureRatingIP>
+ </hasProperty>
+ <hasProperty>
+ <Reachability rdf:ID="Reachability_800">
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
+ >800</value>
+ </Reachability>
+ </hasProperty>
+ <hasProperty>
+ <Repeatability rdf:ID="Repeatability_0.01">
+ <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.01</value>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
+ </Repeatability>
+ </hasProperty>
+ <hasProperty>
+ <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_40">
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1112"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >40.0</value>
+ </MaxAmbientTemperature>
+ </hasProperty>
+ <hasSkill>
+ <Karthesian rdf:ID="Karthesian_30">
+ <isSkillOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
+ <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <isSkillOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
+ <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ </Karthesian>
+ </hasSkill>
+ <hasProperty>
+ <TypeOfActuation rdf:ID="TypeOfActuation_Electric">
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Electric</value>
+ </TypeOfActuation>
+ </hasProperty>
+ <hasSkill>
+ <Circular rdf:ID="Circular_29">
+ <isSkillOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
+ <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <isSkillOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
+ <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ </Circular>
+ </hasSkill>
+ <hasProperty>
+ <NumberOfJoints rdf:ID="NumberOfJoints_4">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
+ >4</value>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ </NumberOfJoints>
+ </hasProperty>
+ <hasSkill>
+ <AsFastAsPossible rdf:ID="AsFastAsPossible_28">
+ <isSkillOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
+ <isSkillOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
+ <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ </AsFastAsPossible>
+ </hasSkill>
+ <hasProperty>
+ <Payload rdf:ID="Payload_2.0">
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >2.0</value>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ </Payload>
+ </hasProperty>
+ <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
+ <hasProperty>
+ <Weight rdf:ID="Weight_51">
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >51.0</value>
+ </Weight>
+ </hasProperty>
+ </ScaraRobot>
+ </isPropertyOf>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >5.0</value>
+ </MinAmbientTemperature>
+ </hasProperty>
+ <hasProperty>
+ <Payload rdf:ID="Payload_1.0">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >1.0</value>
+ <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
+ </Payload>
+ </hasProperty>
+ <hasProperty>
+ <Repeatability rdf:ID="Repeatability_0.03">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.03</value>
+ <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ </Repeatability>
+ </hasProperty>
+ <hasProperty>
+ <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_90">
+ <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >90.0</value>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ </MaxAmbientTemperature>
+ </hasProperty>
+ <hasProperty>
+ <CycleTime rdf:ID="CycleTime_0.01">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.0</value>
+ <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
+ </CycleTime>
+ </hasProperty>
+ <hasProperty rdf:resource="#Repeatability_0.01"/>
+ <hasSkill>
+ <OpenFingers rdf:ID="OpenFingers_1">
+ <isSkillOf rdf:resource="#Schunk_MPG_20"/>
+ <isSkillOf rdf:resource="#Schunk_MPG_64"/>
+ </OpenFingers>
+ </hasSkill>
+ <hasProperty>
+ <MaxLiftWay rdf:ID="MaxLiftWay_2.0">
+ <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >2.0</value>
+ </MaxLiftWay>
+ </hasProperty>
+ <hasProperty rdf:resource="#EnclosureRatingIP_54"/>
+ <hasSkill>
+ <CloseFingers rdf:ID="CloseFingers_25">
+ <isSkillOf rdf:resource="#Schunk_MPG_64"/>
+ <isSkillOf rdf:resource="#Schunk_MPG_20"/>
+ </CloseFingers>
+ </hasSkill>
+ <hasProperty>
+ <NumberOfFingers rdf:ID="NumberOfFingers_2">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >2</value>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
+ </NumberOfFingers>
+ </hasProperty>
+ <hasProperty>
+ <EnclosureRatingIP rdf:ID="EnclosureRatingIP_30">
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >30</value>
+ </EnclosureRatingIP>
+ </hasProperty>
+ <hasProperty>
+ <EnclosureRatingIP rdf:ID="EnclosureRatingIP_65">
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >65</value>
+ <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ </EnclosureRatingIP>
+ </hasProperty>
+ </GeneralParallelGripper>
+ </isPropertyOf>
+ <isPropertyOf rdf:resource="#Sick_CS1-N3611"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ </EnclosureRatingIP>
+ </hasProperty>
+ <hasProperty>
+ <Length rdf:ID="Length_30.4">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >30.4</value>
+ <isPropertyOf rdf:resource="#Sick_CS1-N3611"/>
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ </Length>
+ </hasProperty>
+ <hasProperty rdf:resource="#Weight_0.4"/>
+ <hasProperty>
+ <LightType rdf:ID="LightType_LED">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >LED</value>
+ <isPropertyOf rdf:resource="#Sick_CS1-N3611"/>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ </LightType>
+ </hasProperty>
+ <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
+ <hasProperty>
+ <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_55">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >55.0</value>
+ <isPropertyOf rdf:resource="#Sick_CS1-N3611"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1112"/>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ </MaxAmbientTemperature>
+ </hasProperty>
+ <hasProperty>
+ <ResponseTime rdf:ID="ResponseTime_0.0007">
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >7.0E-4</value>
+ <isPropertyOf rdf:resource="#Sick_CS1-N3611"/>
+ </ResponseTime>
+ </hasProperty>
+ <hasProperty>
+ <MinVoltageSupply rdf:ID="MinVoltageSupply_12.0">
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >12.0</value>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1112"/>
+ <isPropertyOf rdf:resource="#Sick_CS1-N3611"/>
+ </MinVoltageSupply>
+ </hasProperty>
+ <hasSkill>
+ <DetectColor rdf:ID="DetectColor_3">
+ <isSkillOf rdf:resource="#VisionComponents-VC4465"/>
+ <isSkillOf rdf:resource="#Sensopart_FL64C"/>
+ <isSkillOf rdf:resource="#Sick_CS1-N3611"/>
+ </DetectColor>
+ </hasSkill>
+ <hasProperty>
+ <MinMeasurementRange rdf:ID="MinMeasurementRange_250">
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1112"/>
+ <isPropertyOf rdf:resource="#Sick_CS1-N3611"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >250.0</value>
+ </MinMeasurementRange>
+ </hasProperty>
+ <hasProperty>
+ <ElectricalInterface rdf:ID="ElectricalInterface_ConnectorM12-5Pins">
+ <isPropertyOf rdf:resource="#Sick_CS1-N3611"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Connector M12, 5 Pins</value>
+ </ElectricalInterface>
+ </hasProperty>
+ <hasProperty>
+ <SwitchingFrequency rdf:ID="SwitchingFrequency_1">
+ <isPropertyOf rdf:resource="#Sick_CS1-N3611"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >1.0</value>
+ </SwitchingFrequency>
+ </hasProperty> </OpticColorSensor>
+ </isPropertyOf>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ </Weight>
+ </hasProperty>
+ <hasProperty>
+ <MaximumForce rdf:ID="MaximumForce_24">
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >24.0</value>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ </MaximumForce>
+ </hasProperty>
+ <hasProperty rdf:resource="#Repeatability_0.02"/>
+ <hasProperty rdf:resource="#Weight_51"/>
+ <hasProperty>
+ <Payload rdf:ID="Payload_0.14">
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >0.14</value>
+ </Payload>
+ </hasProperty>
+ <hasProperty>
+ <Weight rdf:ID="Weight_0.04">
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >0.04</value>
+ </Weight>
+ </hasProperty>
+ <hasProperty rdf:resource="#MaxLiftWay_2.0"/>
+ <hasSkill rdf:resource="#OpenFingers_1"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_30"/>
+ <hasProperty rdf:resource="#Weight_40.5"/>
+ <hasProperty rdf:resource="#Payload_2.0"/>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_90"/>
+ <hasProperty rdf:resource="#Repeatability_0.03"/>
+ <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
+ <hasProperty>
+ <Weight rdf:ID="Mass_0.038">
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >0.038</value>
+ </Weight>
+ </hasProperty>
+ <hasProperty>
+ <Payload rdf:ID="Payload_45.0">
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >45.0</value>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ </Payload>
+ </hasProperty>
+ <hasProperty>
+ <Weight rdf:ID="Weight_98">
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >98.0</value>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ </Weight>
+ </hasProperty>
+ <hasProperty>
+ <Weight rdf:ID="Weight_985">
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >985.0</value>
+ </Weight>
+ </hasProperty>
+ <hasProperty>
+ <Payload rdf:ID="Payload_5.0">
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >5.0</value>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ </Payload>
+ </hasProperty>
+ <hasProperty rdf:resource="#EnclosureRatingIP_54"/>
+ <hasProperty rdf:resource="#Repeatability_0.01"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
+ <hasProperty rdf:resource="#NumberOfFingers_2"/>
+ <hasSkill rdf:resource="#CloseFingers_25"/>
+ <hasProperty rdf:resource="#Repeatability_0.1"/>
+ <hasProperty>
+ <CycleTime rdf:ID="CycleTime_0.03">
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >0.0</value>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ </CycleTime>
+ </hasProperty>
+ </GeneralParallelGripper>
+ </isPropertyOf>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >40.5</value>
+ </Weight>
+ </hasProperty>
+ <hasProperty rdf:resource="#Payload_2.0"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_54"/>
+ <hasProperty rdf:resource="#TypeOfActuation_Electric"/>
+ <hasSkill rdf:resource="#Circular_29"/>
+ <hasProperty rdf:resource="#DegreesOfFreedom_4"/>
+ <hasProperty rdf:resource="#Repeatability_0.01"/>
+ <hasProperty>
+ <Reachability rdf:ID="Reachability_400">
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#integer"
+ >400</value>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
+ </Reachability>
+ </hasProperty>
+ <hasProperty rdf:resource="#NumberOfJoints_4"/>
+ <hasSkill rdf:resource="#Karthesian_30"/>
+ <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_40"/>
+ <hasSkill rdf:resource="#AsFastAsPossible_28"/>
+ </ScaraRobot>
+ </isPropertyOf>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#integer"
+ >4</value>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ </DegreesOfFreedom>
+ </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-140"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ </DegreesOfFreedom>
+ </hasProperty>
+ <hasProperty rdf:resource="#Payload_5.0"/>
+ <hasProperty>
+ <IntelligentCtrl rdf:ID="IntelligentCtrl_1">
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >yes</value>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1112"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ </IntelligentCtrl>
+ </hasProperty>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_40"/>
+ <hasProperty>
+ <NumberOfJoints rdf:ID="NumberOfJoints_6">
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#integer"
+ >6</value>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ </NumberOfJoints>
+ </hasProperty>
+ <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
+ <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
+ <hasProperty>
+ <Reachability rdf:ID="Reachability_1960">
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#integer"
+ >1960</value>
+ </Reachability>
+ </hasProperty>
+ <hasProperty rdf:resource="#Reachability_400"/>
+ <hasProperty>
+ <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_45">
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >45.0</value>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1112"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ </MaxAmbientTemperature>
+ </hasProperty>
+ <hasProperty rdf:resource="#Repeatability_0.03"/>
+ <hasSkill rdf:resource="#Karthesian_30"/>
+ <hasProperty rdf:resource="#NumberOfJoints_4"/>
+ <hasProperty rdf:resource="#MinVoltageSupply_200"/>
+ <hasProperty>
+ <PowerConsumption rdf:ID="PowerConsumption_4.5">
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >4.5</value>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ </PowerConsumption>
+ </hasProperty>
+ <hasProperty rdf:resource="#Reachability_800"/>
+ <hasProperty rdf:resource="#MaxVoltageSupply_600"/>
+ <hasProperty rdf:resource="#TypeOfActuation_Electric"/>
+ <hasSkill rdf:resource="#Circular_29"/>
+ <hasSkill rdf:resource="#AsFastAsPossible_28"/>
+ </ArticulatedRobot>
+ </isPropertyOf>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >600.0</value>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ </MaxVoltageSupply>
+ </hasProperty>
+ <hasSkill rdf:resource="#AsFastAsPossible_28"/>
+ <hasProperty rdf:resource="#Reachability_400"/>
+ <hasProperty rdf:resource="#TypeOfActuation_Electric"/>
+ <hasSkill rdf:resource="#Karthesian_30"/>
+ <hasProperty rdf:resource="#Reachability_1960"/>
+ <hasProperty rdf:resource="#Payload_45.0"/>
+ <hasProperty rdf:resource="#NumberOfJoints_4"/>
+ <hasProperty rdf:resource="#Reachability_800"/>
+ <hasProperty rdf:resource="#MinVoltageSupply_200"/>
+ <hasProperty rdf:resource="#DegreesOfFreedom_4"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_54"/>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_45"/>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_40"/>
+ <hasProperty rdf:resource="#Repeatability_0.1"/>
+ <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
+ <hasSkill rdf:resource="#Circular_29"/>
+ <hasProperty rdf:resource="#NumberOfJoints_6"/>
+ <hasProperty rdf:resource="#Weight_985"/>
+ <hasProperty rdf:resource="#IntelligentCtrl_1"/>
+ <hasProperty rdf:resource="#DegreesOfFreedom_6"/>
+ </ArticulatedRobot>
+ </isPropertyOf>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1112"/>
+ </MinVoltageSupply>
+ </hasProperty>
+ <hasSkill>
+ <DeterminePositionOfObject rdf:ID="DeterminePositionOfObject_5">
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1112"/>
+ </DeterminePositionOfObject>
+ </hasSkill>
+ <hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
+ <hasProperty>
+ <MinAmbientTemperature rdf:ID="MinAmbientTemperature_0">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.0</value>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1112"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in degrees celsius</rdfs:comment>
+ </MinAmbientTemperature>
+ </hasProperty>
+ <hasProperty>
+ <Resolution rdf:ID="Resolution_1024x768">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >1024x768</value>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1112"/>
+ </Resolution>
+ </hasProperty>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_55"/>
+ <hasProperty rdf:resource="#IntelligentCtrl_1"/>
+ <hasProperty rdf:resource="#MinMeasurementRange_250"/>
+ <hasProperty>
+ <Width rdf:ID="Width_35">
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1112"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >35.0</value>
+ </Width>
+ </hasProperty>
+ <hasSkill>
+ <ClassifyObject rdf:ID="ClassifyObject_6">
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1112"/>
+ </ClassifyObject>
+ </hasSkill>
+ <hasSkill>
+ <Read2DMatrixCode rdf:ID="Read2DMatrixCode_3">
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1112"/>
+ <isSkillOf rdf:resource="#VisionComponents-VC4465"/>
+ </Read2DMatrixCode>
+ </hasSkill>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_40"/>
+ <hasProperty>
+ <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_50">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in degrees celsius</rdfs:comment>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1112"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >50.0</value>
+ </MaxAmbientTemperature>
+ </hasProperty>
+ <hasProperty rdf:resource="#Width_80"/>
+ <hasProperty>
+ <Length rdf:ID="Length_161">
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1112"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >161.0</value>
+ </Length>
+ </hasProperty>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_45"/>
+ <hasProperty rdf:resource="#MaxMeasurementRange_1000"/>
+ <hasProperty rdf:resource="#MinVoltageSupply_12.0"/>
+ <hasProperty>
+ <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.4">
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1112"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.4</value>
+ </MaxCurrentConsumption>
+ </hasProperty>
+ <hasProperty>
+ <Material rdf:ID="Material_Polycarbonat">
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1112"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Polycarbonat</value>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ </Material>
+ </hasProperty>
+ <hasSkill>
+ <ReadOpticalCharacters rdf:ID="ReadOpticalCharacters_2">
+ <isSkillOf rdf:resource="#VisionComponents-VC4465"/>
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1112"/>
+ </ReadOpticalCharacters>
+ </hasSkill>
+ <hasProperty>
+ <BusInterface rdf:ID="BusInterface_FastEthernet">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Fast Ethernet</value>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1112"/>
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ </BusInterface>
+ </hasProperty>
+ <hasProperty>
+ <Width rdf:ID="Width_60">
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1112"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >60.0</value>
+ </Width>
+ </hasProperty>
+ <hasProperty>
+ <MaxVoltageSupply rdf:ID="MaxVoltageSupply_28.8">
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1112"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >28.8</value>
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ </MaxVoltageSupply>
+ </hasProperty>
+ <hasProperty>
+ <Height rdf:ID="Height_55">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >55.0</value>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1112"/>
+ </Height>
+ </hasProperty>
+ <hasProperty>
+ <Resolution rdf:ID="Resolution_640x480">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >640x480</value>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1112"/>
+ </Resolution>
+ </hasProperty>
+ <hasProperty>
+ <Width rdf:ID="Width_12">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >12.0</value>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1112"/>
+ </Width>
+ </hasProperty>
+ <hasProperty rdf:resource="#Material-ZincPressureCasting"/>
+ <hasProperty>
+ <BusInterface rdf:ID="BusInterface_RS485">
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1112"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >RS485</value>
+ </BusInterface>
+ </hasProperty>
+ <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-2DM1112"/>
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ </MinVoltageSupply>
+ </hasProperty>
+ </SmartCamera>
+ </isPropertyOf>
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ </MinVoltageSupply>
+ </hasProperty>
+ <hasProperty>
+ <MaxVoltageSupply rdf:ID="MaxVoltageSupply_26.4">
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >26.4</value>
+ </MaxVoltageSupply>
+ </hasProperty>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_55"/>
+ <hasProperty>
+ <Length rdf:ID="Length_66.25">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >66.25</value>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ </Length>
+ </hasProperty>
+ <hasProperty>
+ <ResponseTime rdf:ID="ResponseTime_0.0009">
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >9.0E-4</value>
+ </ResponseTime>
+ </hasProperty>
+ <hasProperty rdf:resource="#Height_53"/>
+ <hasProperty rdf:resource="#Height_43"/>
+ <hasProperty rdf:resource="#Material_Polycarbonat"/>
+ <hasProperty rdf:resource="#LightType_LED"/>
+ <hasProperty>
+ <ElectricalInterface rdf:ID="ElectricalInterface_OpenCollectorNPN">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >open collector NPN</value>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ </ElectricalInterface>
+ </hasProperty>
+ <hasProperty rdf:resource="#MinVoltageSupply_200"/>
+ <hasProperty rdf:resource="#MaxVoltageSupply_600"/>
+ <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
+ <hasProperty rdf:resource="#Width_80"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
+ <hasSkill rdf:resource="#DetectColor_3"/>
+ <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
+ <hasProperty rdf:resource="#MaxCurrentConsumption_0.08"/>
+ <hasProperty rdf:resource="#Width_12"/>
+ <hasProperty rdf:resource="#MinVoltageSupply_12.0"/>
+ <hasProperty rdf:resource="#ResponseTime_0.0007"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
+ <hasProperty>
+ <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.06">
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.06</value>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ </MaxCurrentConsumption>
+ </hasProperty>
+ </OpticColorSensor>
+ </isPropertyOf>
+ </Height>
+ </hasProperty>
+ <hasProperty rdf:resource="#Mass_0.25"/>
+ <hasSkill rdf:resource="#ReadOpticalCharacters_2"/>
+ <hasSkill rdf:resource="#DetectColor_3"/>
+ <hasProperty rdf:resource="#MaxCurrentConsumption_0.08"/>
+ <hasProperty rdf:resource="#Length_30.4"/>
+ <hasProperty rdf:resource="#MaxCurrentConsumption_0.06"/>
+ <hasProperty rdf:resource="#MaxVoltageSupply_28.8"/>
+ <hasProperty>
+ <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.3">
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.3</value>
+ </MaxCurrentConsumption>
+ </hasProperty>
+ <hasProperty>
+ <Length rdf:ID="Length_120">
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >120.0</value>
+ </Length>
+ </hasProperty>
+ <hasProperty rdf:resource="#Height_53"/>
+ <hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
+ <hasSkill>
+ <ReadBarCode rdf:ID="ReadBarCode_29">
+ <isSkillOf rdf:resource="#VisionComponents-VC4465"/>
+ </ReadBarCode>
+ </hasSkill>
+ <hasSkill rdf:resource="#Read2DMatrixCode_3"/>
+ <hasProperty rdf:resource="#Length_66.25"/>
+ <hasProperty>
+ <BusInterface rdf:ID="BusInterface_RS232">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >RS232</value>
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ </BusInterface>
+ </hasProperty>
+ <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
+ <hasProperty>
+ <Resolution rdf:ID="Resolution_800x600">
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >800x600</value>
+ </Resolution>
+ </hasProperty>
+ <hasProperty rdf:resource="#MinVoltageSupply_19.2"/>
+ <hasProperty>
+ <Height rdf:ID="Height_50">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >50.0</value>
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ </Height>
+ </hasProperty>
+ </SmartCamera>
+ </isPropertyOf>
+ </Weight>
+ <owl:AllDifferent>
+ <owl:distinctMembers rdf:parseType="Collection">
+ <VacuumGripper rdf:ID="Schmalz_FSGA_20_SI-55_M5-AG">
+ <hasSkill>
+ <AdjustVacuumToGrip rdf:ID="AdjustVacuumToGrip_16">
+ <isSkillOf>
+ <VacuumGripper rdf:ID="Schmalz_FSGPL_200_NBR-55_G1-2-IG">
+ <hasProperty>
+ <DiameterOfGripper rdf:ID="DiameterOfGripper_200">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.0</value>
+ <isPropertyOf rdf:resource="#Schmalz_FSGPL_200_NBR-55_G1-2-IG"/>
+ </DiameterOfGripper>
+ </hasProperty>
+ <hasSkill rdf:resource="#AdjustVacuumToGrip_16"/>
+ <hasProperty>
+ <Material rdf:ID="Material_Perbunan">
+ <isPropertyOf rdf:resource="#Schmalz_FSGPL_200_NBR-55_G1-2-IG"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Perbunan NBR 55+-5</value>
+ </Material>
+ </hasProperty>
+ <hasProperty>
+ <MaximumForce rdf:ID="MaximumForce_850">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.0</value>
+ <isPropertyOf rdf:resource="#Schmalz_FSGPL_200_NBR-55_G1-2-IG"/>
+ </MaximumForce>
+ </hasProperty>
+ <hasProperty>
+ <Worm rdf:ID="Worm_22">
+ <isPropertyOf rdf:resource="#Schmalz_FSGPL_200_NBR-55_G1-2-IG"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Inside</value>
+ </Worm>
+ </hasProperty>
+ <hasProperty>
+ <WormDiameter rdf:ID="WormDiameter_G1-2">
+ <isPropertyOf rdf:resource="#Schmalz_FSGPL_200_NBR-55_G1-2-IG"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >G1/2"</value>
+ </WormDiameter>
+ </hasProperty>
+ <hasSkill>
+ <AdjustVacuumToRelease rdf:ID="AdjustVacuumToRelease_1">
+ <isSkillOf rdf:resource="#Schmalz_FSGA_20_SI-55_M5-AG"/>
+ <isSkillOf rdf:resource="#Schmalz_FSGPL_200_NBR-55_G1-2-IG"/>
+ </AdjustVacuumToRelease>
+ </hasSkill>
+ </VacuumGripper>
+ </isSkillOf>
+ <isSkillOf rdf:resource="#Schmalz_FSGA_20_SI-55_M5-AG"/>
+ </AdjustVacuumToGrip>
+ </hasSkill>
+ <hasProperty>
+ <WormDiameter rdf:ID="WormDiameter_M5">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >M5</value>
+ <isPropertyOf rdf:resource="#Schmalz_FSGA_20_SI-55_M5-AG"/>
+ </WormDiameter>
+ </hasProperty>
+ <hasProperty>
+ <DiameterOfGripper rdf:ID="DiameterOfGripper_20">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.0</value>
+ <isPropertyOf rdf:resource="#Schmalz_FSGA_20_SI-55_M5-AG"/>
+ </DiameterOfGripper>
+ </hasProperty>
+ <hasProperty>
+ <Material rdf:ID="Material_Silikon">
+ <isPropertyOf rdf:resource="#Schmalz_FSGA_20_SI-55_M5-AG"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Silikon SI 55+-5</value>
+ </Material>
+ </hasProperty>
+ <hasProperty>
+ <Worm rdf:ID="Worm_13">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Outside</value>
+ <isPropertyOf rdf:resource="#Schmalz_FSGA_20_SI-55_M5-AG"/>
+ </Worm>
+ </hasProperty>
+ <hasSkill rdf:resource="#AdjustVacuumToRelease_1"/>
+ <hasProperty>
+ <MaximumForce rdf:ID="MaximumForce_4.7">
+ <isPropertyOf rdf:resource="#Schmalz_FSGA_20_SI-55_M5-AG"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.0</value>
+ </MaximumForce>
+ </hasProperty>
+ </VacuumGripper>
+ </owl:distinctMembers>
+ </owl:AllDifferent>
+ <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:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >multiple joints</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"
+ >elastic</rdf:first>
+ </owl:oneOf>
+ </owl:DataRange>
+ <owl:AllDifferent/>
+ <owl:DataRange>
+ <owl:oneOf rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >5.0</rdf:first>
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >7.0</rdf:first>
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >2.0</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#float"
+ >2.5</rdf:first>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >6.5</rdf:first>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >5.5</rdf:first>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >4.5</rdf:first>
+ </rdf:rest>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >6.0</rdf:first>
+ </rdf:rest>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >4.0</rdf:first>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >3.5</rdf:first>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >3.0</rdf:first>
+ </owl:oneOf>
+ </owl:DataRange>
+ <owl:DataRange>
+ <owl:oneOf rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >pneumatic</rdf:first>
+ <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:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >hydraulic</rdf:first>
+ </owl:oneOf>
+ </owl:DataRange>
+ <owl:DataRange>
+ <owl:oneOf rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >blower</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"
+ >vacuum pump</rdf:first>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >venturi nozzle</rdf:first>
+ </owl:oneOf>
+ </owl:DataRange>
+ <owl:DataRange>
+ <owl:oneOf rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >world</rdf:first>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >tool</rdf:first>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >joint</rdf:first>
+ </owl:oneOf>
+ </owl:DataRange>
+ <owl:DataRange>
+ <owl:oneOf rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >cylindrical</rdf:first>
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >spherical</rdf:first>
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >scara</rdf:first>
+ <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >articulated</rdf:first>
+ </rdf:rest>
+ </rdf:rest>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >carthesian</rdf:first>
+ </owl:oneOf>
+ </owl:DataRange>
+ <owl:DataRange>
+ <owl:oneOf rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >electric</rdf:first>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >hydraulic</rdf:first>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >pneumatic</rdf:first>
+ </owl:oneOf>
+ </owl:DataRange>
+ <owl:AllDifferent/>
+ <owl:DataRange>
+ <owl:oneOf rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
+ >2</rdf:first>
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
+ >4</rdf:first>
+ <rdf:rest rdf:parseType="Resource">
+ <rdf: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:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
+ >3</rdf:first>
+ </rdf:rest>
+ </owl:oneOf>
+ </owl:DataRange>
+ <owl:DataRange>
+ <owl:oneOf rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >inside</rdf:first>
+ <rdf:rest rdf:parseType="Resource">
+ <rdf: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"
+ >outside</rdf:first>
+ </rdf:rest>
+ </owl:oneOf>
+ </owl:DataRange>
+ <owl:AllDifferent/>
+ <owl:AllDifferent/>
+ <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>
+</rdf:RDF>
+
+<!-- Created with Protege (with OWL Plugin 2.2, Build 311) http://protege.stanford.edu -->
--
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