diff --git a/testontologies/instances_v08a.owl b/testontologies/instances_v08a.owl
deleted file mode 100644
index ad9b1593586254d7fa06451a79206e441e928383..0000000000000000000000000000000000000000
--- a/testontologies/instances_v08a.owl
+++ /dev/null
@@ -1,2007 +0,0 @@
-<?xml version="1.0"?>
-  <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.2">
-    <isPropertyOf>
-      <LightGrid rdf:ID="Sick_MLG2-0280F511">
-        <hasProperty>
-          <EnclosureRatingIP rdf:ID="EnclosureRatingIP_65">
-            <isPropertyOf>
-              <OpticDistanceSensor rdf:ID="Sick_DME5000-112">
-                <hasProperty>
-                  <BusInterface rdf:ID="BusInterface_Profibus">
-                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                    >Profibus</value>
-                    <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                  </BusInterface>
-                </hasProperty>
-                <hasProperty>
-                  <Accuracy rdf:ID="Accuracy_0.002">
-                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                    >0.0020</value>
-                    <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                  </Accuracy>
-                </hasProperty>
-                <hasProperty>
-                  <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.3">
-                    <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">
-                                    <isPropertyOf>
-                                      <OpticProximitySwitch rdf:ID="Sick_WT18-3P430">
-                                        <hasProperty>
-                                          <MaxVoltageSupply rdf:ID="MaxVoltageSupply_30.0">
-                                            <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                                            <isPropertyOf>
-                                              <OpticReflexSwitch rdf:ID="Sick_WL18-3P430">
-                                                <hasProperty>
-                                                  <LightSpotSize rdf:ID="LightSpotSize_0.040">
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >0.04</value>
-                                                    <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                                  </LightSpotSize>
-                                                </hasProperty>
-                                                <hasProperty>
-                                                  <ElectricalInterface rdf:ID="ElectricalInterface_OpenCollectorPNP">
-                                                    <isPropertyOf>
-                                                      <OpticContrastScanner rdf:ID="Sick_KT10-2P1115">
-                                                        <hasProperty>
-                                                          <Weight rdf:ID="Weight_0.4">
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#float"
-                                                            >0.4</value>
-                                                            <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                                                            <isPropertyOf>
-                                                              <OpticLuminescenceScanner rdf:ID="Sick_LUT3-610">
-    <hasSkill>
-      <DetectLuminescence rdf:ID="DetectLuminescence_1">
-        <isSkillOf rdf:resource="#Sick_LUT3-610"/>
-      </DetectLuminescence>
-    </hasSkill>
-    <hasProperty>
-      <LightSpotSize rdf:ID="LightSpotSize_0.002x0.006">
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >0.002x0.006</value>
-        <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-      </LightSpotSize>
-    </hasProperty>
-    <hasProperty>
-      <ElectricalInterface rdf:ID="ElectricalInterface_OpenCollectorNPN">
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >open collector NPN</value>
-        <isPropertyOf>
-          <OpticColorSensor rdf:ID="Sick_CSM1-N1114">
-            <hasProperty>
-              <LightType rdf:ID="LightType_LEDgreen">
-                <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-                <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                <isPropertyOf>
-                  <OpticColorSensor rdf:ID="Sick_CS81-P1112">
-                    <hasProperty>
-                      <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_55">
-                        <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                        >55.0</value>
-                        <isPropertyOf>
-                          <OpticContrastScanner rdf:ID="Sick_KT5W_2P1116D">
-                            <hasProperty>
-                              <ScanningDistance rdf:ID="ScanningDistance_0.01">
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                >0.01</value>
-                                <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-                                <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                                <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                              </ScanningDistance>
-                            </hasProperty>
-                            <hasProperty>
-                              <EnclosureRatingIP rdf:ID="EnclosureRatingIP_67">
-                                <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                                <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                >67</value>
-                                <isPropertyOf>
-                                  <GeneralParallelGripper rdf:ID="Schunk_MPG_20">
-                                    <hasProperty>
-                                      <MaxLiftWeight rdf:ID="MaxLiftWeight_0.14">
-                                        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >0.14</value>
-                                      </MaxLiftWeight>
-                                    </hasProperty>
-                                    <hasProperty rdf:resource="#Weight_0.4"/>
-                                    <hasProperty>
-                                      <MaxForce rdf:ID="MaximumForce_24">
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >24.0</value>
-                                        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                      </MaxForce>
-                                    </hasProperty>
-                                    <hasProperty>
-                                      <Repeatability rdf:ID="Repeatability_0.02">
-                                        <isPropertyOf>
-                                          <GeneralParallelGripper rdf:ID="Schunk_MPG_64">
-                                            <hasProperty rdf:resource="#Repeatability_0.02"/>
-                                            <hasProperty>
-                                              <Repeatability rdf:ID="Repeatability_0.1">
-                                                <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                                <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                                                <isPropertyOf>
-                                                  <ArticulatedRobot rdf:ID="ArticulatedRobot_ABB_IRB-4400">
-                                                    <hasProperty>
-                                                      <MaxVoltageSupply rdf:ID="MaxVoltageSupply_600">
-                                                        <value
-                                                         rdf:datatype=
-                                                        "http://www.w3.org/2001/XMLSchema#float"
-                                                        >600.0</value>
-                                                        <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 rdf:resource="#Schunk_MPG_20"/>
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-            >40.5</value>
-          </Weight>
-        </hasProperty>
-        <hasProperty>
-          <Payload rdf:ID="Payload_2.0">
-            <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>
-                      <VisionSensor rdf:ID="Sick_CVS2-P112">
-                        <hasProperty>
-                          <MinAmbientTemperature rdf:ID="MinAmbientTemperature_0">
-                            <isPropertyOf>
-                              <SmartCamera rdf:ID="Sick_IVC-2DM1111">
-                                <hasProperty>
-                                  <Weight rdf:ID="Weight_0.5">
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                    >0.5</value>
-                                    <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                    <isPropertyOf>
-                                      <SmartCamera rdf:ID="Sick_IVC-2DM1122">
-                                        <hasSkill>
-                                          <MeasureAngle rdf:ID="MeasureAngle_1">
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                          </MeasureAngle>
-                                        </hasSkill>
-                                        <hasProperty rdf:resource="#MinAmbientTemperature_0"/>
-                                        <hasProperty>
-                                          <Length rdf:ID="Length_161">
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >161.0</value>
-                                          </Length>
-                                        </hasProperty>
-                                        <hasSkill>
-                                          <ClassifyObject rdf:ID="ClassifyObject_1">
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                          </ClassifyObject>
-                                        </hasSkill>
-                                        <hasProperty rdf:resource="#Weight_0.5"/>
-                                        <hasProperty>
-                                          <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_50">
-                                            <rdfs:comment rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#string"
-                                            >in degrees celsius</rdfs:comment>
-                                            <isPropertyOf>
-                                              <OpticDistanceSensor rdf:ID="Sick_DT10-P10B5">
-                                                <hasProperty>
-                                                  <ElectricalInterface rdf:ID="ElectricalInterface_ConnectorM12-5Pins">
-                                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                                    <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
-                                                    <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#string"
-                                                    >Connector M12, 5 Pins</value>
-                                                    <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                                                    <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                                                  </ElectricalInterface>
-                                                </hasProperty>
-                                                <hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
-                                                <hasProperty>
-                                                  <Repeatability rdf:ID="Repeatability_0.003">
-                                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >0.0030</value>
-                                                  </Repeatability>
-                                                </hasProperty>
-                                                <hasProperty>
-                                                  <Accuracy rdf:ID="Accuracy_0.003">
-                                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >0.0030</value>
-                                                  </Accuracy>
-                                                </hasProperty>
-                                                <hasProperty>
-                                                  <SwitchingFrequency rdf:ID="SwitchingFrequency_1000">
-                                                    <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                                                    <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >1000.0</value>
-                                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                                    <isPropertyOf>
-                                                      <OpticThroughBeamSwitch rdf:ID="Sick_WSWE18-3P430">
-                                                        <hasProperty>
-                                                          <Weight rdf:ID="Weight_0.04">
-                                                            <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                                                            <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                                            <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                                            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#float"
-                                                            >0.04</value>
-                                                          </Weight>
-                                                        </hasProperty>
-                                                        <hasProperty>
-                                                          <MaxMeasurementRange rdf:ID="MaxMeasurementRange_20">
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#float"
-                                                            >20.0</value>
-                                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                                          </MaxMeasurementRange>
-                                                        </hasProperty>
-                                                        <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
-                                                        <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-                                                        <hasProperty>
-                                                          <MinMeasurementRange rdf:ID="MinMeasurementRange_0">
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#float"
-                                                            >0.0</value>
-                                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                                            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                                          </MinMeasurementRange>
-                                                        </hasProperty>
-                                                        <hasProperty rdf:resource="#SwitchingFrequency_1000"/>
-                                                        <hasProperty>
-                                                          <ElectricalInterface rdf:ID="ElectricalInterface_ConnectorM12-4Pins">
-                                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                                            <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                                                            <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-                                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                                            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                                            <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-                                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#string"
-                                                            >Connector M12, 4 Pins</value>
-                                                          </ElectricalInterface>
-                                                        </hasProperty>
-                                                        <hasProperty>
-                                                          <LightSpotSize rdf:ID="LightSpotSize_0.450">
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#float"
-                                                            >0.45</value>
-                                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                                          </LightSpotSize>
-                                                        </hasProperty>
-                                                        <hasProperty>
-                                                          <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.055">
-                                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#float"
-                                                            >0.055</value>
-                                                          </MaxCurrentConsumption>
-                                                        </hasProperty>
-                                                        <hasProperty>
-                                                          <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_60">
-                                                            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#float"
-                                                            >60.0</value>
-                                                            <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                                          </MaxAmbientTemperature>
-                                                        </hasProperty>
-                                                        <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
-                                                        <hasSkill>
-                                                          <DetectObject rdf:ID="DetectObject_1">
-                                                            <isSkillOf rdf:resource="#Sick_WL18-3P430"/>
-                                                            <isSkillOf rdf:resource="#Sick_WT18-3P430"/>
-                                                            <isSkillOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                                          </DetectObject>
-                                                        </hasSkill>
-                                                        <hasProperty>
-                                                          <ResponseTime rdf:ID="ResponseTime_0.0005">
-                                                            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#float"
-                                                            >5.0E-4</value>
-                                                            <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-                                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                                          </ResponseTime>
-                                                        </hasProperty>
-                                                        <hasProperty>
-                                                          <MinAmbientTemperature rdf:ID="MinAmbientTemperature_-40">
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#float"
-                                                            >-40.0</value>
-                                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                                            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                                            <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                                                          </MinAmbientTemperature>
-                                                        </hasProperty>
-                                                        <hasProperty>
-                                                          <LightType rdf:ID="LightType_LEDred">
-                                                            <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                                                            <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-                                                            <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                                            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                                            <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#string"
-                                                            >LEDred</value>
-                                                            <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                                          </LightType>
-                                                        </hasProperty>
-                                                        <hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
-                                                      </OpticThroughBeamSwitch>
-                                                    </isPropertyOf>
-                                                  </SwitchingFrequency>
-                                                </hasProperty>
-                                                <hasProperty>
-                                                  <ElectricalInterface rdf:ID="ElectricalInterface_AnalogueOutput4-20mA">
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#string"
-                                                    >4...20 mA</value>
-                                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                                  </ElectricalInterface>
-                                                </hasProperty>
-                                                <hasProperty>
-                                                  <MinMeasurementRange rdf:ID="MinMeasurementRange_0.05">
-                                                    <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >0.05</value>
-                                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                                  </MinMeasurementRange>
-                                                </hasProperty>
-                                                <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
-                                                <hasProperty>
-                                                  <ResponseTime rdf:ID="ResponseTime_0.02">
-                                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >0.02</value>
-                                                  </ResponseTime>
-                                                </hasProperty>
-                                                <hasProperty rdf:resource="#Weight_0.04"/>
-                                                <hasSkill>
-                                                  <MeasureDistance rdf:ID="MeasureDistance_1">
-                                                    <isSkillOf rdf:resource="#Sick_DME5000-112"/>
-                                                    <isSkillOf rdf:resource="#Sick_DT10-P10B5"/>
-                                                  </MeasureDistance>
-                                                </hasSkill>
-                                                <hasProperty>
-                                                  <LightSpotSize rdf:ID="LightSpotSize_0.02">
-                                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >0.02</value>
-                                                  </LightSpotSize>
-                                                </hasProperty>
-                                                <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
-                                                <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-                                                <hasProperty>
-                                                  <PowerConsumption rdf:ID="PowerConsumption_1.2">
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >1.2</value>
-                                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                                  </PowerConsumption>
-                                                </hasProperty>
-                                                <hasProperty rdf:resource="#MaxAmbientTemperature_50"/>
-                                                <hasProperty rdf:resource="#LightType_LEDred"/>
-                                                <hasProperty>
-                                                  <MaxMeasurementRange rdf:ID="MaxMeasurementRange_0.4">
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >0.4</value>
-                                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                                  </MaxMeasurementRange>
-                                                </hasProperty>
-                                                <hasProperty>
-                                                  <MinAmbientTemperature rdf:ID="MinAmbientTemperature_-25">
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >-25.0</value>
-                                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                                    <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
-                                                  </MinAmbientTemperature>
-                                                </hasProperty>
-                                              </OpticDistanceSensor>
-                                            </isPropertyOf>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >50.0</value>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                            <isPropertyOf>
-                                              <LaserScanner2D rdf:ID="Sick_LMS200-30106">
-                                                <hasProperty>
-                                                  <ResponseTime rdf:ID="ResponseTime_0.026">
-                                                    <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >0.026</value>
-                                                  </ResponseTime>
-                                                </hasProperty>
-                                                <hasSkill>
-                                                  <ClassifyObject rdf:ID="ClassifyObject_2">
-                                                    <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                                  </ClassifyObject>
-                                                </hasSkill>
-                                                <hasProperty rdf:resource="#MinAmbientTemperature_0"/>
-                                                <hasProperty>
-                                                  <Resolution rdf:ID="AngleResolution_0.5">
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >0.5</value>
-                                                    <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                                  </Resolution>
-                                                </hasProperty>
-                                                <hasProperty>
-                                                  <Weight rdf:ID="Weight_4.5">
-                                                    <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >4.5</value>
-                                                  </Weight>
-                                                </hasProperty>
-                                                <hasSkill>
-                                                  <Scan rdf:ID="Scan_2D">
-                                                    <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                                  </Scan>
-                                                </hasSkill>
-                                                <hasSkill>
-                                                  <MeasurePositionOfObject rdf:ID="DeterminePositionOfObject_1">
-                                                    <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                                    <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                                    <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                                  </MeasurePositionOfObject>
-                                                </hasSkill>
-                                                <hasSkill>
-                                                  <Count rdf:ID="Count_1">
-                                                    <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                                    <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                                    <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                                  </Count>
-                                                </hasSkill>
-                                                <hasProperty>
-                                                  <PowerConsumption rdf:ID="PowerConsumption_20">
-                                                    <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >20.0</value>
-                                                  </PowerConsumption>
-                                                </hasProperty>
-                                                <hasProperty>
-                                                  <MaxScanAngle rdf:ID="MaxScanAngle_180">
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >180.0</value>
-                                                    <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                                  </MaxScanAngle>
-                                                </hasProperty>
-                                                <hasProperty>
-                                                  <MinVoltageSupply rdf:ID="MinVoltageSupply_20.4">
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >20.4</value>
-                                                    <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                                  </MinVoltageSupply>
-                                                </hasProperty>
-                                                <hasSkill>
-                                                  <MeasureVolume rdf:ID="MeasureVolume_1">
-                                                    <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                                  </MeasureVolume>
-                                                </hasSkill>
-                                                <hasProperty>
-                                                  <MaxMeasurementRange rdf:ID="MaxMeasurementRange_80">
-                                                    <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >80.0</value>
-                                                  </MaxMeasurementRange>
-                                                </hasProperty>
-                                                <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
-                                                <hasProperty>
-                                                  <LaserClass rdf:ID="LaserClass_1">
-                                                    <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#string"
-                                                    >1</value>
-                                                  </LaserClass>
-                                                </hasProperty>
-                                                <hasSkill>
-                                                  <DetectCollision rdf:ID="DetectCollision_1">
-                                                    <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                                  </DetectCollision>
-                                                </hasSkill>
-                                                <hasProperty>
-                                                  <Resolution rdf:ID="DepthResolution_0.01">
-                                                    <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >0.01</value>
-                                                  </Resolution>
-                                                </hasProperty>
-                                                <hasProperty>
-                                                  <MaxVoltageSupply rdf:ID="MaxVoltageSupply_27.6">
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >27.6</value>
-                                                    <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                                  </MaxVoltageSupply>
-                                                </hasProperty>
-                                                <hasProperty rdf:resource="#MaxAmbientTemperature_50"/>
-                                                <hasSkill>
-                                                  <MeasureDistance rdf:ID="MeasureDistance_2">
-                                                    <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                                  </MeasureDistance>
-                                                </hasSkill>
-                                              </LaserScanner2D>
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-                                          </MaxAmbientTemperature>
-                                        </hasProperty>
-                                        <hasProperty>
-                                          <BusInterface rdf:ID="BusInterface_RS485">
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#string"
-                                            >RS485</value>
-                                          </BusInterface>
-                                        </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-2DM1122"/>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                          </Height>
-                                        </hasProperty>
-                                        <hasSkill>
-                                          <MeasureOrientationOfObject rdf:ID="MeasureOrientationOfObject_1">
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                          </MeasureOrientationOfObject>
-                                        </hasSkill>
-                                        <hasProperty>
-                                          <MaxMeasurementRange rdf:ID="MaxMeasurementRange_1">
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >1.0</value>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
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-                                        </hasProperty>
-                                        <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-2DM1111"/>
-                                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                        </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_CSM1-N1114"/>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                            <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                          </MinVoltageSupply>
-                                        </hasProperty>
-                                        <hasSkill>
-                                          <ReadOpticalCharacters rdf:ID="ReadOpticalCharacters_1">
-                                            <isSkillOf rdf:resource="#VisionComponents-VC4465"/>
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                          </ReadOpticalCharacters>
-                                        </hasSkill>
-                                        <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
-                                        <hasProperty>
-                                          <ElectricalInterface rdf:ID="ElectricalInterface_ConnectorM12-8Pins">
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#string"
-                                            >Connector M12, 8 Pins</value>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                          </ElectricalInterface>
-                                        </hasProperty>
-                                        <hasSkill>
-                                          <CheckPresence rdf:ID="CheckPresence_1">
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                          </CheckPresence>
-                                        </hasSkill>
-                                        <hasProperty>
-                                          <MinMeasurementRange rdf:ID="MinMeasurementRange_0.10">
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >0.1</value>
-                                          </MinMeasurementRange>
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-                                        <hasProperty>
-                                          <Width rdf:ID="Width_60">
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >60.0</value>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                          </Width>
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-                                        <hasSkill rdf:resource="#Count_1"/>
-                                        <hasSkill rdf:resource="#DeterminePositionOfObject_1"/>
-                                        <hasSkill>
-                                          <MeasureArea rdf:ID="MeasureArea_1">
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
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-                                        <hasProperty>
-                                          <MaxVoltageSupply rdf:ID="MaxVoltageSupply_28.8">
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >28.8</value>
-                                            <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-                                            <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
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-                                        <hasProperty>
-                                          <Resolution rdf:ID="Resolution_1024x768">
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#string"
-                                            >1024x768</value>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                        <hasProperty>
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-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >0.4</value>
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-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >30.0</value>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                        <hasSkill>
-                                          <CheckPosition rdf:ID="CheckPosition_1">
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                        <hasSkill>
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-                                            <isSkillOf rdf:resource="#VisionComponents-VC4465"/>
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                        </hasSkill>
-                                        <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
-                                        <hasSkill>
-                                          <Read2DMatrixCode rdf:ID="Read2DMatrixCode_1">
-                                            <isSkillOf rdf:resource="#VisionComponents-VC4465"/>
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                        <hasProperty>
-                                          <BusInterface rdf:ID="BusInterface_FastEthernet">
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#string"
-                                            >Fast Ethernet</value>
-                                            <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                          <MeasureDiameter rdf:ID="MeasureDiameter_1">
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
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-                                        </hasSkill>
-                                      </SmartCamera>
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-                                <hasSkill rdf:resource="#MeasureOrientationOfObject_1"/>
-                                <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
-                                <hasSkill rdf:resource="#ClassifyObject_1"/>
-                                <hasSkill rdf:resource="#CheckPresence_1"/>
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-                                <hasSkill rdf:resource="#MeasureDiameter_1"/>
-                                <hasSkill rdf:resource="#MeasureAngle_1"/>
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-                                <hasSkill rdf:resource="#Count_1"/>
-                                <hasProperty rdf:resource="#IntelligentCtrl_1"/>
-                                <hasSkill rdf:resource="#CheckPosition_1"/>
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-                                <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
-                                <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-8Pins"/>
-                                <hasProperty rdf:resource="#MaxAmbientTemperature_50"/>
-                                <hasProperty rdf:resource="#Length_161"/>
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-                                <hasProperty rdf:resource="#Width_60"/>
-                                <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
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-                                  <Resolution rdf:ID="Resolution_640x480">
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                    >640x480</value>
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-                                <hasProperty rdf:resource="#MinMeasurementRange_0.10"/>
-                                <hasProperty rdf:resource="#BusInterface_RS485"/>
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-                            >0.0</value>
-                            <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-                            <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                            >in degrees celsius</rdfs:comment>
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-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                            >50x60</value>
-                            <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
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-                          <SortObjects rdf:ID="SortObjectColor_15">
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-                            <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
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-                            >12.0</value>
-                            <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-                            <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
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-                            >0.24</value>
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-                            <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
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-                            >0.0050</value>
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-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                            >208x238</value>
-                            <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
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-                        <hasProperty rdf:resource="#MaxAmbientTemperature_40"/>
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-                            >24.0</value>
-                            <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
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-                        </hasProperty>
-                        <hasProperty>
-                          <LightType rdf:ID="LightType_LEDwhite">
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-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                            >LEDwhite</value>
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-                        <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
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-                          <Weight rdf:ID="Weight_0.18">
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-                            >0.18</value>
-                            <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
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-                    </isPropertyOf>
-                    <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
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-                    <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 rdf:resource="#Payload_2.0"/>
-                <hasProperty>
-                  <MinAmbientTemperature rdf:ID="MinAmbientTemperature_5">
-                    <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                    <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 rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                    >5.0</value>
-                  </MinAmbientTemperature>
-                </hasProperty>
-                <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"
-            >2.0</value>
-            <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-            <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-          </Payload>
-        </hasProperty>
-        <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">
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-            >400</value>
-            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-            <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>
-    <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-    >4</value>                                                </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>
-                                                              <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="#IntelligentCtrl_1"/>
-                                                            <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>
-                                                              <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_45">
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-    >45.0</value>
-    <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-    <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                                                              </MaxAmbientTemperature>
-                                                            </hasProperty>
-                                                            <hasProperty rdf:resource="#Reachability_400"/>
-                                                            <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>
-                                                            <hasSkill rdf:resource="#Karthesian_30"/>
-                                                            <hasProperty rdf:resource="#NumberOfJoints_4"/>
-                                                            <hasProperty>
-                                                              <MinVoltageSupply rdf:ID="MinVoltageSupply_200">
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-    >200.0</value>
-    <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-    <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                                                              </MinVoltageSupply>
-                                                            </hasProperty>
-                                                            <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="#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>
-                                                      <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 rdf:resource="#NumberOfJoints_4"/>
-                                                    <hasProperty rdf:resource="#Reachability_800"/>
-                                                    <hasProperty rdf:resource="#MinVoltageSupply_200"/>
-                                                    <hasProperty rdf:resource="#EnclosureRatingIP_54"/>
-                                                    <hasProperty rdf:resource="#DegreesOfFreedom_4"/>
-                                                    <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>
-                                                      <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 rdf:resource="#IntelligentCtrl_1"/>
-                                                    <hasProperty rdf:resource="#DegreesOfFreedom_6"/>
-                                                  </ArticulatedRobot>
-                                                </isPropertyOf>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >0.1</value>
-                                              </Repeatability>
-                                            </hasProperty>
-                                            <hasProperty>
-                                              <Weight rdf:ID="Weight_0.6">
-                                                <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >0.6</value>
-                                              </Weight>
-                                            </hasProperty>
-                                            <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-                                            <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
-                                            <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 rdf:resource="#Repeatability_0.03"/>
-                                            <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"
-                                                >0.01</value>
-                                                <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                                              </CycleTime>
-                                            </hasProperty>
-                                            <hasSkill>
-                                              <OpenFingers rdf:ID="OpenFingers_1">
-                                                <isSkillOf rdf:resource="#Schunk_MPG_20"/>
-                                                <isSkillOf rdf:resource="#Schunk_MPG_64"/>
-                                              </OpenFingers>
-                                            </hasSkill>
-                                            <hasProperty rdf:resource="#Repeatability_0.01"/>
-                                            <hasProperty>
-                                              <MaxLiftWay rdf:ID="MaxLiftWay_2.0">
-                                                <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >2.0</value>
-                                                <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                              </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 rdf:resource="#EnclosureRatingIP_65"/>
-                                          </GeneralParallelGripper>
-                                        </isPropertyOf>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >0.02</value>
-                                        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                      </Repeatability>
-                                    </hasProperty>
-                                    <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 rdf:resource="#Weight_0.04"/>
-                                    <hasProperty rdf:resource="#MaxLiftWay_2.0"/>
-                                    <hasSkill rdf:resource="#OpenFingers_1"/>
-                                    <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-                                    <hasProperty rdf:resource="#EnclosureRatingIP_30"/>
-                                    <hasProperty>
-                                      <Weight rdf:ID="Weight_0.038">
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >0.038</value>
-                                        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                      </Weight>
-                                    </hasProperty>
-                                    <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 rdf:resource="#Payload_45.0"/>
-                                    <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 rdf:resource="#Weight_985"/>
-                                    <hasProperty rdf:resource="#Payload_5.0"/>
-                                    <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">
-                                        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >0.03</value>
-                                      </CycleTime>
-                                    </hasProperty>
-                                  </GeneralParallelGripper>
-                                </isPropertyOf>
-                                <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                                <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-                                <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                                <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                                <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-                                <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-                                <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                              </EnclosureRatingIP>
-                            </hasProperty>
-                            <hasSkill>
-                              <DetectContrast rdf:ID="DetectContrast_1">
-                                <isSkillOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                                <isSkillOf rdf:resource="#Sick_KT10-2P1115"/>
-                              </DetectContrast>
-                            </hasSkill>
-                            <hasProperty>
-                              <MinAmbientTemperature rdf:ID="MinAmbientTemperature_-10">
-                                <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                                <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-                                <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                >-10.0</value>
-                                <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                                <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                                <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                              </MinAmbientTemperature>
-                            </hasProperty>
-                            <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-5Pins"/>
-                            <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
-                            <hasProperty>
-                              <LightSpotSize rdf:ID="LightSpotSize_0.0012x0.0042">
-                                <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                >0.0012x0.0042</value>
-                              </LightSpotSize>
-                            </hasProperty>
-                            <hasProperty>
-                              <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.13">
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                >0.13</value>
-                                <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                              </MaxCurrentConsumption>
-                            </hasProperty>
-                            <hasProperty rdf:resource="#Weight_0.4"/>
-                            <hasProperty>
-                              <ResponseTime rdf:ID="ResponseTime_0.00005">
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                >5.0E-5</value>
-                                <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                              </ResponseTime>
-                            </hasProperty>
-                            <hasProperty>
-                              <SwitchingFrequency rdf:ID="SwitchingFrequency_10000">
-                                <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                >10000.0</value>
-                              </SwitchingFrequency>
-                            </hasProperty>
-                            <hasProperty rdf:resource="#MaxAmbientTemperature_55"/>
-                          </OpticContrastScanner>
-                        </isPropertyOf>
-                        <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-                        <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-                        <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                        <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                        <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
-                        <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                      </MaxAmbientTemperature>
-                    </hasProperty>
-                    <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
-                    <hasProperty>
-                      <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.08">
-                        <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                        <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                        >0.08</value>
-                        <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-                        <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                      </MaxCurrentConsumption>
-                    </hasProperty>
-                    <hasSkill>
-                      <DetectColor rdf:ID="DetectColor_1">
-                        <isSkillOf rdf:resource="#Sick_CS81-P1112"/>
-                        <isSkillOf rdf:resource="#Sick_CSM1-N1114"/>
-                      </DetectColor>
-                    </hasSkill>
-                    <hasProperty>
-                      <LightType rdf:ID="LightType_LEDblue">
-                        <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-                        <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                        <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                        >LEDblue</value>
-                      </LightType>
-                    </hasProperty>
-                    <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-5Pins"/>
-                    <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
-                    <hasProperty rdf:resource="#Weight_0.4"/>
-                    <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-                    <hasProperty>
-                      <LightSpotSize rdf:ID="LightSpotSize_0.004x0.002">
-                        <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                        >0.004x0.002</value>
-                      </LightSpotSize>
-                    </hasProperty>
-                    <hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
-                    <hasProperty rdf:resource="#LightType_LEDred"/>
-                    <hasProperty rdf:resource="#LightType_LEDgreen"/>
-                    <hasProperty>
-                      <ScanningDistance rdf:ID="ScanningDistance_0.0125">
-                        <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                        >0.0125</value>
-                        <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-                      </ScanningDistance>
-                    </hasProperty>
-                    <hasProperty rdf:resource="#MinAmbientTemperature_-10"/>
-                  </OpticColorSensor>
-                </isPropertyOf>
-                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                >LEDgreen</value>
-              </LightType>
-            </hasProperty>
-            <hasProperty>
-              <SwitchingFrequency rdf:ID="SwitchingFrequency_1500">
-                <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-                <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                >1500.0</value>
-              </SwitchingFrequency>
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-                                                            <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
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-                                                        <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
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-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#float"
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-                                                        <hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
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-                                                        <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
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-                                                        <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
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-                                                            <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
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-                                                        <hasProperty rdf:resource="#ScanningDistance_0.01"/>
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-                                                    <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
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-                                                    <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                                                    <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
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-                                                    "http://www.w3.org/2001/XMLSchema#float"
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-                                                    "http://www.w3.org/2001/XMLSchema#float"
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-                                                    <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
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-                                                <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
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-                                            <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                                            <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
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-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >7.0E-4</value>
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-                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
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-                                    >26.4</value>
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-          <ResponseTime rdf:ID="ResponseTime_0.003">
-            <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-            >0.0030</value>
-          </ResponseTime>
-        </hasProperty>
-        <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-5Pins"/>
-      </LightGrid>
-    </isPropertyOf>
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-    >0.2</value>
-    <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-  </MaxCurrentConsumption>
-  <VacuumGripper rdf:ID="Schmalz_FSGPL_200_NBR-55_G1-2-IG">
-    <hasProperty>
-      <DiameterOfGripper rdf:ID="DiameterOfGripper_200">
-        <isPropertyOf rdf:resource="#Schmalz_FSGPL_200_NBR-55_G1-2-IG"/>
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-        >200.0</value>
-      </DiameterOfGripper>
-    </hasProperty>
-    <hasProperty>
-      <Worm rdf:ID="Worm_Inside">
-        <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>
-    <hasSkill>
-      <AdjustVacuumToGrip rdf:ID="AdjustVacuumToGrip_16">
-        <isSkillOf rdf:resource="#Schmalz_FSGPL_200_NBR-55_G1-2-IG"/>
-        <isSkillOf>
-          <VacuumGripper rdf:ID="Schmalz_FSGA_20_SI-55_M5-AG">
-            <hasSkill rdf:resource="#AdjustVacuumToGrip_16"/>
-            <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>
-              <Worm rdf:ID="Worm_Outside">
-                <isPropertyOf rdf:resource="#Schmalz_FSGA_20_SI-55_M5-AG"/>
-                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                >Outside</value>
-              </Worm>
-            </hasProperty>
-            <hasProperty>
-              <DiameterOfGripper rdf:ID="DiameterOfGripper_20">
-                <isPropertyOf rdf:resource="#Schmalz_FSGA_20_SI-55_M5-AG"/>
-                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                >20.0</value>
-              </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>
-            <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>
-            <hasProperty>
-              <MaxForce 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"
-                >4.7</value>
-              </MaxForce>
-            </hasProperty>
-          </VacuumGripper>
-        </isSkillOf>
-      </AdjustVacuumToGrip>
-    </hasSkill>
-    <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>
-      <MaxForce rdf:ID="MaximumForce_850">
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-        >850.0</value>
-        <isPropertyOf rdf:resource="#Schmalz_FSGPL_200_NBR-55_G1-2-IG"/>
-      </MaxForce>
-    </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 rdf:resource="#AdjustVacuumToRelease_1"/>
-  </VacuumGripper>
-  <Material rdf:ID="Material-ZincPressureCasting">
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Zinc Pressure Casting</value>
-  </Material>
-  <MinAmbientTemperature rdf:ID="MinAmbientTemperature_-20">
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-    >-20.0</value>
-  </MinAmbientTemperature>
-  <owl:AllDifferent>
-    <owl:distinctMembers rdf:parseType="Collection">
-      <VacuumGripper rdf:about="#Schmalz_FSGA_20_SI-55_M5-AG"/>
-    </owl:distinctMembers>
-  </owl:AllDifferent>
-
-<!-- Created with Protege (with OWL Plugin 2.2, Build 311)  http://protege.stanford.edu -->
diff --git a/testontologies/instances_v09.owl b/testontologies/instances_v09.owl
deleted file mode 100644
index c4f1ff8264f6710be14df4fbfaee0a6f3911050f..0000000000000000000000000000000000000000
--- a/testontologies/instances_v09.owl
+++ /dev/null
@@ -1,2544 +0,0 @@
-<?xml version="1.0"?>
-<rdf:RDF>
-  <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.2">
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-    >0.2</value>
-    <isPropertyOf>
-      <VisionSensor rdf:ID="Sick_CVS2-P112">
-        <hasProperty>
-          <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_40">
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-            >40.0</value>
-            <isPropertyOf>
-              <ScaraRobot rdf:ID="ScaraRobot_Staeubli_RS80">
-                <hasProperty>
-                  <NumberOfJoints rdf:ID="NumberOfJoints_4">
-                    <hasEditable>
-                      <isEditable rdf:ID="isEditable_false">
-                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#boolean"
-                        >false</value>
-                      </isEditable>
-                    </hasEditable>
-                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-                    >4</value>
-                    <isPropertyOf>
-                      <ArticulatedRobot rdf:ID="ArticulatedRobot_ABB_IRB-140">
-                        <hasProperty rdf:resource="#MaxAmbientTemperature_40"/>
-                        <hasProperty>
-                          <PowerConsumption rdf:ID="PowerConsumption_4.5">
-                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >4.5</value>
-                          </PowerConsumption>
-                        </hasProperty>
-                        <hasProperty>
-                          <TypeOfActuation rdf:ID="TypeOfActuation_Electric">
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                            >Electric</value>
-                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                            <isPropertyOf>
-                              <ArticulatedRobot rdf:ID="ArticulatedRobot_ABB_IRB-4400">
-                                <hasProperty rdf:resource="#TypeOfActuation_Electric"/>
-                                <hasProperty>
-                                  <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_45">
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                    >45.0</value>
-                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                                  </MaxAmbientTemperature>
-                                </hasProperty>
-                                <hasProperty>
-                                  <IntelligentCtrl rdf:ID="IntelligentCtrl_1">
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                    >yes</value>
-                                    <isPropertyOf>
-                                      <SmartCamera rdf:ID="Sick_IVC-2DM1122">
-                                        <hasProperty>
-                                          <EnclosureRatingIP rdf:ID="EnclosureRatingIP_65">
-                                            <isPropertyOf>
-                                              <OpticColorSensor rdf:ID="Sensopart_FL64C">
-                                                <hasProperty>
-                                                  <MinVoltageSupply rdf:ID="MinVoltageSupply_12.0">
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >12.0</value>
-                                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                                    <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-                                                    <isPropertyOf>
-                                                      <OpticLuminescenceScanner rdf:ID="Sick_LUT3-610">
-                                                        <hasProperty>
-                                                          <SwitchingFrequency rdf:ID="SwitchingFrequency_1500">
-                                                            <isPropertyOf>
-                                                              <OpticColorSensor rdf:ID="Sick_CSM1-N1114">
-    <hasProperty>
-      <EnclosureRatingIP rdf:ID="EnclosureRatingIP_67">
-        <isPropertyOf>
-          <OpticDistanceSensor rdf:ID="Sick_DT10-P10B5">
-            <hasProperty>
-              <MinMeasurementRange rdf:ID="MinMeasurementRange_0.05">
-                <hasEditable rdf:resource="#isEditable_false"/>
-                <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                <isPropertyOf>
-                  <OpticProximitySwitch rdf:ID="Sick_WT18-3P430">
-                    <hasProperty>
-                      <ElectricalInterface rdf:ID="ElectricalInterface_ConnectorM12-4Pins">
-                        <isPropertyOf>
-                          <SmartCamera rdf:ID="Sick_IVC-2DM1111">
-                            <hasProperty>
-                              <Length rdf:ID="Length_161">
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                >161.0</value>
-                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                              </Length>
-                            </hasProperty>
-                            <hasProperty rdf:resource="#IntelligentCtrl_1"/>
-                            <hasProperty>
-                              <MinAmbientTemperature rdf:ID="MinAmbientTemperature_0">
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                                <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                >in degrees celsius</rdfs:comment>
-                                <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-                                <isPropertyOf>
-                                  <LaserScanner2D rdf:ID="Sick_LMS200-30106">
-                                    <hasProperty>
-                                      <ResponseTime rdf:ID="ResponseTime_0.026">
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >0.026</value>
-                                      </ResponseTime>
-                                    </hasProperty>
-                                    <hasProperty>
-                                      <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_50">
-                                        <rdfs:comment rdf:datatype=
-                                        "http://www.w3.org/2001/XMLSchema#string"
-                                        >in degrees celsius</rdfs:comment>
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >50.0</value>
-                                        <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                        <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                      </MaxAmbientTemperature>
-                                    </hasProperty>
-                                    <hasSkill>
-                                      <MeasureVolume rdf:ID="MeasureVolume_1">
-                                        <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                      </MeasureVolume>
-                                    </hasSkill>
-                                    <hasSkill>
-                                      <Count rdf:ID="Count_1">
-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                        <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                      </Count>
-                                    </hasSkill>
-                                    <hasProperty>
-                                      <LaserClass rdf:ID="LaserClass_1">
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                        >1</value>
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                      </LaserClass>
-                                    </hasProperty>
-                                    <hasProperty>
-                                      <PowerConsumption rdf:ID="PowerConsumption_20">
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >20.0</value>
-                                        <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                      </PowerConsumption>
-                                    </hasProperty>
-                                    <hasSkill>
-                                      <MeasurePositionOfObject rdf:ID="DeterminePositionOfObject_1">
-                                        <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                      </MeasurePositionOfObject>
-                                    </hasSkill>
-                                    <hasSkill>
-                                      <MeasureDistance rdf:ID="MeasureDistance_2">
-                                        <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                      </MeasureDistance>
-                                    </hasSkill>
-                                    <hasProperty>
-                                      <Weight rdf:ID="Weight_4.5">
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >4.5</value>
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                      </Weight>
-                                    </hasProperty>
-                                    <hasProperty>
-                                      <MinVoltageSupply rdf:ID="MinVoltageSupply_20.4">
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >20.4</value>
-                                        <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                      </MinVoltageSupply>
-                                    </hasProperty>
-                                    <hasProperty>
-                                      <MaxMeasurementRange rdf:ID="MaxMeasurementRange_80">
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >80.0</value>
-                                        <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                      </MaxMeasurementRange>
-                                    </hasProperty>
-                                    <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
-                                    <hasSkill>
-                                      <Scan rdf:ID="Scan_2D">
-                                        <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                      </Scan>
-                                    </hasSkill>
-                                    <hasProperty>
-                                      <Resolution rdf:ID="AngleResolution_0.5">
-                                        <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >0.5</value>
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                      </Resolution>
-                                    </hasProperty>
-                                    <hasIdentifier>
-                                      <Identifier rdf:ID="ID_Sick_LMS200-30106">
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                        >Sick_LMS200-30106</value>
-                                      </Identifier>
-                                    </hasIdentifier>
-                                    <hasSkill>
-                                      <DetectCollision rdf:ID="DetectCollision_1">
-                                        <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                      </DetectCollision>
-                                    </hasSkill>
-                                    <hasProperty>
-                                      <MaxVoltageSupply rdf:ID="MaxVoltageSupply_27.6">
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >27.6</value>
-                                      </MaxVoltageSupply>
-                                    </hasProperty>
-                                    <hasSkill>
-                                      <ClassifyObject rdf:ID="ClassifyObject_2">
-                                        <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                      </ClassifyObject>
-                                    </hasSkill>
-                                    <hasProperty>
-                                      <Resolution rdf:ID="DepthResolution_0.01">
-                                        <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >0.01</value>
-                                      </Resolution>
-                                    </hasProperty>
-                                    <hasProperty>
-                                      <MaxScanAngle rdf:ID="MaxScanAngle_180">
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >180.0</value>
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                      </MaxScanAngle>
-                                    </hasProperty>
-                                    <hasProperty rdf:resource="#MinAmbientTemperature_0"/>
-                                  </LaserScanner2D>
-                                </isPropertyOf>
-                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                >0.0</value>
-                              </MinAmbientTemperature>
-                            </hasProperty>
-                            <hasIdentifier>
-                              <Identifier rdf:ID="ID_Sick_IVC-2DM1111">
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                >Sick_IVC-2DM1111</value>
-                              </Identifier>
-                            </hasIdentifier>
-                            <hasProperty>
-                              <Height rdf:ID="Height_55">
-                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                >55.0</value>
-                              </Height>
-                            </hasProperty>
-                            <hasSkill>
-                              <MeasureOrientationOfObject rdf:ID="MeasureOrientationOfObject_1">
-                                <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                              </MeasureOrientationOfObject>
-                            </hasSkill>
-                            <hasSkill>
-                              <MeasureAngle rdf:ID="MeasureAngle_1">
-                                <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                              </MeasureAngle>
-                            </hasSkill>
-                            <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
-                            <hasProperty>
-                              <MaxMeasurementRange rdf:ID="MaxMeasurementRange_1">
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                >1.0</value>
-                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                              </MaxMeasurementRange>
-                            </hasProperty>
-                            <hasProperty rdf:resource="#MaxAmbientTemperature_50"/>
-                            <hasProperty>
-                              <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.4">
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                >0.4</value>
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                              </MaxCurrentConsumption>
-                            </hasProperty>
-                            <hasProperty>
-                              <Weight rdf:ID="Weight_0.5">
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                >0.5</value>
-                              </Weight>
-                            </hasProperty>
-                            <hasSkill rdf:resource="#DeterminePositionOfObject_1"/>
-                            <hasSkill>
-                              <MeasureDiameter rdf:ID="MeasureDiameter_1">
-                                <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                              </MeasureDiameter>
-                            </hasSkill>
-                            <hasSkill>
-                              <CheckPosition rdf:ID="CheckPosition_1">
-                                <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                              </CheckPosition>
-                            </hasSkill>
-                            <hasProperty>
-                              <BusInterface rdf:ID="BusInterface_RS485">
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                >RS485</value>
-                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                              </BusInterface>
-                            </hasProperty>
-                            <hasProperty>
-                              <BusInterface rdf:ID="BusInterface_FastEthernet">
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                >Fast Ethernet</value>
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                <isPropertyOf>
-                                  <SmartCamera rdf:ID="VisionComponents-VC4465">
-                                    <hasSkill>
-                                      <Read2DMatrixCode rdf:ID="Read2DMatrixCode_1">
-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                        <isSkillOf rdf:resource="#VisionComponents-VC4465"/>
-                                      </Read2DMatrixCode>
-                                    </hasSkill>
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-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >19.2</value>
-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                        <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
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-                                        <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
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-                                        >53.0</value>
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-                                        <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
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-                                        >66.25</value>
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-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >0.08</value>
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-                                              <MaxVoltageSupply rdf:ID="MaxVoltageSupply_30.0">
-                                                <hasEditable rdf:resource="#isEditable_false"/>
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-                                                  <OpticReflexSwitch rdf:ID="Sick_WL18-3P430">
-                                                    <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
-                                                    <hasSkill>
-                                                      <DetectObject rdf:ID="DetectObject_1">
-                                                        <isSkillOf>
-                                                          <OpticThroughBeamSwitch rdf:ID="Sick_WSWE18-3P430">
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-    >20.0</value>
-    <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-    <hasEditable rdf:resource="#isEditable_false"/>           </MaxMeasurementRange>
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-    >60.0</value>
-    <hasEditable rdf:resource="#isEditable_false"/>
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-    <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-    <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>           </MaxAmbientTemperature>
-                                                            </hasProperty>
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-                                                              <SwitchingFrequency rdf:ID="SwitchingFrequency_1000">
-    <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-    <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
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-            >Sick_DME5000-112</value>
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-        <hasProperty>
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-            <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
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-                            >Sick_KT10-2P1115</value>
-                            <hasEditable rdf:resource="#isEditable_false"/>
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-                          <MinVoltageSupply rdf:ID="MinVoltageSupply_10.0">
-                            <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >10.0</value>
-                            <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                            <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                            <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                          </MinVoltageSupply>
-                        </hasProperty>
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-                          <DetectContrast rdf:ID="DetectContrast_1">
-                            <isSkillOf rdf:resource="#Sick_KT10-2P1115"/>
-                            <isSkillOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                          </DetectContrast>
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-                          <ElectricalInterface rdf:ID="ElectricalInterface_OpenCollectorPNP">
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                            >open collector PNP</value>
-                            <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                            <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                            <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                            <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-                            <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                          </ElectricalInterface>
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-                        <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-                        <hasProperty>
-                          <ResponseTime rdf:ID="ResponseTime_0.00001">
-                            <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >1.0E-5</value>
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-                          <LightType rdf:ID="LightType_LEDred">
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                            >LEDred</value>
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-                            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                            <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                            <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                            <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                            <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
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-                        <hasProperty>
-                          <LightType rdf:ID="LightType_LEDblue">
-                            <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                            <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                            <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
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-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                            >LEDblue</value>
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-                          <ElectricalInterface rdf:ID="ElectricalInterface_ConnectorM12-5Pins">
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
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-                            <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                            <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
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-                              <LightGrid rdf:ID="Sick_MLG2-0280F511">
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-                                    >15.0</value>
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-                                  <DetectObject rdf:ID="DetectObject_15">
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-                                <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-5Pins"/>
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-                                    >0.0030</value>
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-                                    <isSkillOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
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-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >0.01</value>
-                                            <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                                          </CycleTime>
-                                        </hasProperty>
-                                        <hasSkill>
-                                          <CloseFingers rdf:ID="CloseFingers_25">
-                                            <isSkillOf rdf:resource="#Schunk_MPG_20"/>
-                                            <isSkillOf rdf:resource="#Schunk_MPG_64"/>
-                                          </CloseFingers>
-                                        </hasSkill>
-                                        <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
-                                        <hasProperty>
-                                          <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_90">
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >90.0</value>
-                                            <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                            <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                          </MaxAmbientTemperature>
-                                        </hasProperty>
-                                        <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-                                        <hasProperty rdf:resource="#Repeatability_0.01"/>
-                                      </rdf:Description>
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-                                    <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                    >5.0</value>
-                                    <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                    <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                    <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-                                  </MinAmbientTemperature>
-                                </hasProperty>
-                                <hasSkill>
-                                  <AsFastAsPossible rdf:ID="AsFastAsPossible_28">
-                                    <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                                    <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                                    <isSkillOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-                                    <isSkillOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-                                  </AsFastAsPossible>
-                                </hasSkill>
-                                <hasSkill>
-                                  <Karthesian rdf:ID="Karthesian_30">
-                                    <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                                    <isSkillOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-                                    <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                                    <isSkillOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-                                  </Karthesian>
-                                </hasSkill>
-                                <hasProperty rdf:resource="#EnclosureRatingIP_54"/>
-                                <hasProperty rdf:resource="#MaxAmbientTemperature_40"/>
-                                <hasProperty>
-                                  <Reachability rdf:ID="Reachability_400">
-                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-                                    >400</value>
-                                    <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                                  </Reachability>
-                                </hasProperty>
-                                <hasProperty rdf:resource="#Repeatability_0.01"/>
-                                <hasProperty rdf:resource="#NumberOfJoints_4"/>
-                                <hasProperty>
-                                  <Payload rdf:ID="Payload_2.0">
-                                    <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                    <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-                                    <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                    >2.0</value>
-                                  </Payload>
-                                </hasProperty>
-                              </ScaraRobot>
-                            </isPropertyOf>
-                            <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >0.01</value>
-                            <hasEditable rdf:resource="#isEditable_false"/>
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-                        <hasProperty rdf:resource="#MaxAmbientTemperature_90"/>
-                        <hasProperty rdf:resource="#MaxLiftWay_2.0"/>
-                        <hasProperty>
-                          <Weight rdf:ID="Weight_0.038">
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >0.038</value>
-                          </Weight>
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-                        <hasProperty>
-                          <MaxLiftWeight rdf:ID="MaxLiftWeight_0.14">
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >0.14</value>
-                            <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                          </MaxLiftWeight>
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-                        <hasProperty rdf:resource="#Repeatability_0.1"/>
-                        <hasProperty>
-                          <Weight rdf:ID="Weight_0.04">
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                            <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                            <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                            <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >0.04</value>
-                          </Weight>
-                        </hasProperty>
-                        <hasProperty>
-                          <Weight rdf:ID="Weight_985">
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                            <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >985.0</value>
-                          </Weight>
-                        </hasProperty>
-                        <hasProperty>
-                          <Weight rdf:ID="Weight_98">
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >98.0</value>
-                            <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                          </Weight>
-                        </hasProperty>
-                        <hasProperty rdf:resource="#NumberOfFingers_2"/>
-                        <hasProperty>
-                          <Payload rdf:ID="Payload_45.0">
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >45.0</value>
-                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                            <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                          </Payload>
-                        </hasProperty>
-                        <hasProperty>
-                          <CycleTime rdf:ID="CycleTime_0.03">
-                            <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >0.03</value>
-                          </CycleTime>
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-                        <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
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-                        <hasIdentifier>
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-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                            >Schunk_MPG_20</value>
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-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#boolean"
-                                >true</value>
-                              </isEditable>
-                            </hasEditable>
-                          </Identifier>
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-                        <hasProperty rdf:resource="#Repeatability_0.02"/>
-                        <hasProperty>
-                          <Payload rdf:ID="Payload_0.14">
-                            <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >0.14</value>
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-                        <hasProperty>
-                          <Weight rdf:ID="Weight_51">
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >51.0</value>
-                            <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-                            <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                            <hasEditable rdf:resource="#isEditable_false"/>
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-                        <hasProperty>
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-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >24.0</value>
-                            <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                            <hasEditable rdf:resource="#isEditable_false"/>
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-                        <hasProperty rdf:resource="#Weight_40.5"/>
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-                        <hasProperty rdf:resource="#Repeatability_0.03"/>
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-                          <Payload rdf:ID="Payload_5.0">
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >5.0</value>
-                            <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                          </Payload>
-                        </hasProperty>
-                        <hasProperty rdf:resource="#EnclosureRatingIP_54"/>
-                        <hasProperty rdf:resource="#Weight_0.4"/>
-                        <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
-                        <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
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-                        <hasProperty rdf:resource="#EnclosureRatingIP_30"/>
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-                    <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-                    <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
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-                <hasProperty rdf:resource="#MinAmbientTemperature_-10"/>
-                <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-5Pins"/>
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-    >1000.0</value>                                           </SwitchingFrequency>
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-                                                            <hasSkill rdf:resource="#DetectObject_1"/>
-                                                            <hasProperty rdf:resource="#LightType_LEDred"/>
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-    <hasEditable rdf:resource="#isEditable_false"/>
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-                                                            </hasProperty>
-                                                            <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
-                                                            <hasProperty>
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-    <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
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-                                                            </hasProperty>
-                                                            <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
-                                                            <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
-                                                            <hasProperty>
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-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
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-    <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
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-    <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
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-                                                            </hasProperty>
-                                                          </OpticThroughBeamSwitch>
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-                                                        <isSkillOf rdf:resource="#Sick_WT18-3P430"/>
-                                                        <isSkillOf rdf:resource="#Sick_WL18-3P430"/>
-                                                      </DetectObject>
-                                                    </hasSkill>
-                                                    <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
-                                                    <hasProperty rdf:resource="#LightType_LEDred"/>
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-                                                    <hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
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-                                                      <Identifier rdf:ID="ID_Sick_WL18-3P430">
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-                                                         rdf:datatype=
-                                                        "http://www.w3.org/2001/XMLSchema#string"
-                                                        >Sick_WL18-3P430</value>
-                                                      </Identifier>
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-                                                    <hasProperty rdf:resource="#ResponseTime_0.0005"/>
-                                                    <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
-                                                    <hasProperty rdf:resource="#MaxAmbientTemperature_60"/>
-                                                    <hasProperty rdf:resource="#MinAmbientTemperature_-40"/>
-                                                    <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
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-                                                        <value
-                                                         rdf:datatype=
-                                                        "http://www.w3.org/2001/XMLSchema#float"
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-                                                      </LightSpotSize>
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-                                                        <value
-                                                         rdf:datatype=
-                                                        "http://www.w3.org/2001/XMLSchema#float"
-                                                        >0.03</value>
-                                                        <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
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-                                                    <hasProperty rdf:resource="#MaxMeasurementRange_5"/>
-                                                    <hasProperty rdf:resource="#Weight_0.04"/>
-                                                    <hasProperty rdf:resource="#SwitchingFrequency_1000"/>
-                                                  </OpticReflexSwitch>
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-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >30.0</value>
-                                                <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                                <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                                                <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                                                <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                                                <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
-                                                <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                                                <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                                                <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-                                                <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                              </MaxVoltageSupply>
-                                            </hasProperty>
-                                            <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
-                                            <hasProperty rdf:resource="#MaxCurrentConsumption_0.08"/>
-                                            <hasProperty rdf:resource="#Weight_0.4"/>
-                                            <hasProperty>
-                                              <ScanningDistance rdf:ID="ScanningDistance_0.0125">
-                                                <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-                                                <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
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-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >0.0125</value>
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-                                            <hasProperty rdf:resource="#MinAmbientTemperature_-10"/>
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-                                                <isSkillOf rdf:resource="#Sick_CSM1-N1114"/>
-                                                <isSkillOf rdf:resource="#Sick_CS81-P1112"/>
-                                              </DetectColor>
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-                                            <hasProperty rdf:resource="#LightType_LEDgreen"/>
-                                            <hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
-                                            <hasProperty>
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-                                                <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
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-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#string"
-                                                >0.004x0.002</value>
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-                                            <hasProperty rdf:resource="#LightType_LEDblue"/>
-                                            <hasProperty rdf:resource="#LightType_LEDred"/>
-                                            <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-5Pins"/>
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-                                                "http://www.w3.org/2001/XMLSchema#string"
-                                                >Sick_CS81-P1112</value>
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-                                            <hasProperty rdf:resource="#MaxAmbientTemperature_55"/>
-                                            <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-                                          </OpticColorSensor>
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-                                        <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-                                        <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                                        <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                                      </MaxCurrentConsumption>
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-                                    <hasProperty rdf:resource="#MaxCurrentConsumption_0.3"/>
-                                    <hasProperty>
-                                      <Length rdf:ID="Length_120">
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >120.0</value>
-                                        <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                      </Length>
-                                    </hasProperty>
-                                    <hasProperty>
-                                      <Resolution rdf:ID="Resolution_800x600">
-                                        <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                        >800x600</value>
-                                      </Resolution>
-                                    </hasProperty>
-                                    <hasProperty>
-                                      <Height rdf:ID="Height_43">
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >43.0</value>
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                                        <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-                                      </Height>
-                                    </hasProperty>
-                                    <hasSkill>
-                                      <ReadOpticalCharacters rdf:ID="ReadOpticalCharacters_1">
-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                        <isSkillOf rdf:resource="#VisionComponents-VC4465"/>
-                                      </ReadOpticalCharacters>
-                                    </hasSkill>
-                                    <hasSkill>
-                                      <ReadBarCode rdf:ID="ReadBarCode_1">
-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                        <isSkillOf rdf:resource="#VisionComponents-VC4465"/>
-                                      </ReadBarCode>
-                                    </hasSkill>
-                                    <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
-                                    <hasProperty>
-                                      <Length rdf:ID="Length_30.4">
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >30.4</value>
-                                      </Length>
-                                    </hasProperty>
-                                    <hasIdentifier>
-                                      <Identifier rdf:ID="ID_VisionComponents-VC4465">
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                        >VisionComponents-VC4465</value>
-                                      </Identifier>
-                                    </hasIdentifier>
-                                    <hasSkill>
-                                      <DetectColor rdf:ID="DetectColor_3">
-                                        <isSkillOf rdf:resource="#Sensopart_FL64C"/>
-                                        <isSkillOf rdf:resource="#VisionComponents-VC4465"/>
-                                      </DetectColor>
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-                                    <hasProperty>
-                                      <Weight rdf:ID="Weight_0.25">
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >0.25</value>
-                                      </Weight>
-                                    </hasProperty>
-                                    <hasProperty>
-                                      <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.06">
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >0.06</value>
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                                        <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-                                        <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-                                      </MaxCurrentConsumption>
-                                    </hasProperty>
-                                    <hasProperty>
-                                      <MaxVoltageSupply rdf:ID="MaxVoltageSupply_28.8">
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >28.8</value>
-                                        <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-                                        <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                      </MaxVoltageSupply>
-                                    </hasProperty>
-                                    <hasProperty>
-                                      <Height rdf:ID="Height_50">
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >50.0</value>
-                                      </Height>
-                                    </hasProperty>
-                                    <hasProperty>
-                                      <BusInterface rdf:ID="BusInterface_RS232">
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                        >RS232</value>
-                                        <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                      </BusInterface>
-                                    </hasProperty>
-                                  </SmartCamera>
-                                </isPropertyOf>
-                              </BusInterface>
-                            </hasProperty>
-                            <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
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-                                <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                >30.0</value>
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
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-                            <hasProperty>
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-                                <hasEditable rdf:resource="#isEditable_false"/>
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                >0.1</value>
-                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                              </MinMeasurementRange>
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-                            <hasProperty>
-                              <Resolution rdf:ID="Resolution_640x480">
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                >640x480</value>
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-                              <MeasureArea rdf:ID="MeasureArea_1">
-                                <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                            </hasSkill>
-                            <hasSkill rdf:resource="#Count_1"/>
-                            <hasProperty>
-                              <ElectricalInterface rdf:ID="ElectricalInterface_ConnectorM12-8Pins">
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
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-                                >Connector M12, 8 Pins</value>
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-                            <hasProperty rdf:resource="#MaxVoltageSupply_28.8"/>
-                            <hasProperty>
-                              <Width rdf:ID="Width_60">
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                >60.0</value>
-                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
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-                              </Width>
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-                            <hasProperty rdf:resource="#MinVoltageSupply_19.2"/>
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-                                <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
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-                            </hasSkill>
-                          </SmartCamera>
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-                        >Connector M12, 4 Pins</value>
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-                        <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                        <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
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-      <Displace rdf:ID="IPA_AMMS_MoveFront">
-        <isSkillOf>
-          <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK_2DOF_Part1">
-            <hasSkill rdf:resource="#IPA_AMMS_MoveFront"/>
-            <isSubskillOf>
-              <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK_2DOF_Part2">
-                <hasSubskill rdf:resource="#AMMS_IPA_PICK_2DOF_Part1"/>
-                <hasSkill>
-                  <Displace rdf:ID="IPA_AMMS_MoveDown">
-                    <isSkillOf rdf:resource="#AMMS_IPA_PICK_2DOF_Part2"/>
-                  </Displace>
-                </hasSkill>
-                <isSubskillOf>
-                  <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK_2DOF_Part3">
-                    <hasSkill>
-                      <AdjustVacuumToGrip rdf:ID="AdjustVacuumToGrip_16">
-                        <isSkillOf rdf:resource="#AMMS_IPA_PICK_2DOF_Part3"/>
-                      </AdjustVacuumToGrip>
-                    </hasSkill>
-                    <hasSubskill rdf:resource="#AMMS_IPA_PICK_2DOF_Part2"/>
-                    <isSubskillOf>
-                      <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK_2DOF">
-                        <hasSubskill rdf:resource="#AMMS_IPA_PICK_2DOF_Part3"/>
-                        <hasSkill>
-                          <Displace rdf:ID="IPA_AMMS_MoveUp">
-                            <isSkillOf rdf:resource="#AMMS_IPA_PICK_2DOF"/>
-                          </Displace>
-                        </hasSkill>
-                        <isSkillOf>
-                          <rdf:Description rdf:ID="AMMS_IPA_2DOF_Gripper">
-                            <hasSkill rdf:resource="#AMMS_IPA_PICK_2DOF"/>
-                          </rdf:Description>
-                        </isSkillOf>
-                        <isSkillOf>
-                          <rdf:Description rdf:ID="VacuumGripper_1">
-                            <hasSkill rdf:resource="#AMMS_IPA_PICK_2DOF"/>
-                            <hasIdentifier>
-                              <Identifier rdf:ID="ID_IPA_AMMS_SimpleGripper-2DOF">
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                >IPA_AMMS_SimpleGripper-2DOF</value>
-                                <hasEditable rdf:resource="#isEditable_true"/>
-                                <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                >IPA-2DOF Picker from AMMS.</rdfs:comment>
-                              </Identifier>
-                            </hasIdentifier>
-                          </rdf:Description>
-                        </isSkillOf>
-                        <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                        >Pick operation for IPA-2DOF Picker from AMMS.
-Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
-                      </CompoundManipulationAndHandlingFunction>
-                    </isSubskillOf>
-                  </CompoundManipulationAndHandlingFunction>
-                </isSubskillOf>
-              </CompoundManipulationAndHandlingFunction>
-            </isSubskillOf>
-          </CompoundManipulationAndHandlingFunction>
-        </isSkillOf>
-      </Displace>
-      <Displace rdf:ID="IPA_AMMS_MoveBack"/>
-      <Displace rdf:about="#IPA_AMMS_MoveUp"/>
-      <Displace rdf:about="#IPA_AMMS_MoveDown"/>
-    </owl:distinctMembers>
-  </owl:AllDifferent>
-  <AdjustVacuumToRelease rdf:ID="AdjustVacuumToRelease_1"/>
-  <Worm rdf:ID="Worm_Outside">
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Outside</value>
-    <hasEditable rdf:resource="#isEditable_false"/>
-  </Worm>
-  <WormDiameter rdf:ID="WormDiameter_G1-2">
-    <hasEditable rdf:resource="#isEditable_false"/>
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >G1/2</value>
-  </WormDiameter>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >cylindrical</rdf:first>
-        <rdf:rest rdf:parseType="Resource">
-          <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-          >spherical</rdf:first>
-          <rdf:rest rdf:parseType="Resource">
-            <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-            >articulated</rdf:first>
-            <rdf:rest rdf:parseType="Resource">
-              <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-              >scara</rdf:first>
-              <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-            </rdf:rest>
-          </rdf:rest>
-        </rdf:rest>
-      </rdf:rest>
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >carthesian</rdf:first>
-    </owl:oneOf>
-  </owl:DataRange>
-  <MinAmbientTemperature rdf:ID="MinAmbientTemperature_-20">
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-    >-20.0</value>
-    <hasEditable rdf:resource="#isEditable_false"/>
-  </MinAmbientTemperature>
-  <owl:AllDifferent/>
-  <owl:AllDifferent/>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-      >3.0</rdf:first>
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:rest rdf:parseType="Resource">
-          <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-          >4.0</rdf:first>
-          <rdf:rest rdf:parseType="Resource">
-            <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-            >5.0</rdf:first>
-            <rdf:rest rdf:parseType="Resource">
-              <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-              >6.0</rdf:first>
-              <rdf:rest rdf:parseType="Resource">
-                <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                >7.0</rdf:first>
-                <rdf:rest rdf:parseType="Resource">
-                  <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                  >4.5</rdf:first>
-                  <rdf:rest rdf:parseType="Resource">
-                    <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                    >5.5</rdf:first>
-                    <rdf:rest rdf:parseType="Resource">
-                      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                      >6.5</rdf:first>
-                      <rdf:rest rdf:parseType="Resource">
-                        <rdf:rest rdf:parseType="Resource">
-                          <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-                          <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                          >2.0</rdf:first>
-                        </rdf:rest>
-                        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                        >2.5</rdf:first>
-                      </rdf:rest>
-                    </rdf:rest>
-                  </rdf:rest>
-                </rdf:rest>
-              </rdf:rest>
-            </rdf:rest>
-          </rdf:rest>
-        </rdf:rest>
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-        >3.5</rdf:first>
-      </rdf:rest>
-    </owl:oneOf>
-  </owl:DataRange>
-  <owl:AllDifferent/>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >vacuum pump</rdf:first>
-        <rdf:rest rdf:parseType="Resource">
-          <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-          <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-          >blower</rdf:first>
-        </rdf:rest>
-      </rdf:rest>
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >venturi nozzle</rdf:first>
-    </owl:oneOf>
-  </owl:DataRange>
-  <Material rdf:ID="Material_Silicon">
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Silicon SI 55+-5</value>
-    <hasEditable rdf:resource="#isEditable_false"/>
-  </Material>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >3</rdf:first>
-        <rdf:rest rdf:parseType="Resource">
-          <rdf:rest rdf:parseType="Resource">
-            <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-            >5</rdf:first>
-            <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-          </rdf:rest>
-          <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-          >4</rdf:first>
-        </rdf:rest>
-      </rdf:rest>
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-      >2</rdf:first>
-    </owl:oneOf>
-  </owl:DataRange>
-  <isEditable rdf:ID="isEditableFalse">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    ></rdfs:comment>
-  </isEditable>
-  <rdf:Description rdf:ID="AMMS_IPA-2DOF_Picker">
-    <hasIdentifier rdf:resource="#ID_IPA_AMMS_SimpleGripper-2DOF"/>
-  </rdf:Description>
-  <SortObjects rdf:ID="SortObjects_1"/>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >elastic</rdf:first>
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >multiple joints</rdf:first>
-      </rdf:rest>
-    </owl:oneOf>
-  </owl:DataRange>
-  <Worm rdf:ID="Worm_Inside">
-    <hasEditable rdf:resource="#isEditable_false"/>
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Inside</value>
-  </Worm>
-  <DiameterOfGripper rdf:ID="DiameterOfGripper_20">
-    <hasEditable rdf:resource="#isEditable_false"/>
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-    >20.0</value>
-  </DiameterOfGripper>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >joint</rdf:first>
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:rest rdf:parseType="Resource">
-          <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-          >world</rdf:first>
-          <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-        </rdf:rest>
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >tool</rdf:first>
-      </rdf:rest>
-    </owl:oneOf>
-  </owl:DataRange>
-  <owl:AllDifferent/>
-  <DiameterOfGripper rdf:ID="DiameterOfGripper_200">
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-    >200.0</value>
-    <hasEditable rdf:resource="#isEditable_false"/>
-  </DiameterOfGripper>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >torque</rdf:first>
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:rest rdf:parseType="Resource">
-          <rdf:rest rdf:parseType="Resource">
-            <rdf:rest rdf:parseType="Resource">
-              <rdf:rest rdf:parseType="Resource">
-                <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                >ball-screw</rdf:first>
-                <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-              </rdf:rest>
-              <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-              >harmonic</rdf:first>
-            </rdf:rest>
-            <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-            >gears</rdf:first>
-          </rdf:rest>
-          <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-          >chains</rdf:first>
-        </rdf:rest>
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >belts</rdf:first>
-      </rdf:rest>
-    </owl:oneOf>
-  </owl:DataRange>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:rest rdf:parseType="Resource">
-          <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-          >electric</rdf:first>
-          <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-        </rdf:rest>
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >pneumatic</rdf:first>
-      </rdf:rest>
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >hydraulic</rdf:first>
-    </owl:oneOf>
-  </owl:DataRange>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >inside</rdf:first>
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >outside</rdf:first>
-        <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-      </rdf:rest>
-    </owl:oneOf>
-  </owl:DataRange>
-  <owl:AllDifferent/>
-  <rdf:Description rdf:ID="IPA_AMMS_SimpleGripper-2DOF">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >2DOF-Gripper of the IPA AMMS Demonstrator.</rdfs:comment>
-  </rdf:Description>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >outside</rdf:first>
-        <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-      </rdf:rest>
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >inside</rdf:first>
-    </owl:oneOf>
-  </owl:DataRange>
-  <MaxForce rdf:ID="MaximumForce_850">
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-    >850.0</value>
-    <hasEditable rdf:resource="#isEditable_false"/>
-  </MaxForce>
-  <Material rdf:ID="Material_Perbunan">
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Perbunan NBR 55+-5</value>
-    <hasEditable rdf:resource="#isEditable_false"/>
-  </Material>
-  <owl:AllDifferent/>
-</rdf:RDF>
-
diff --git a/testontologies/ontologyV0.4MMB.owl b/testontologies/ontologyV0.4MMB.owl
deleted file mode 100644
index 8e9fc2f1dbb920fad3bc328140b3d85ef846db6a..0000000000000000000000000000000000000000
--- a/testontologies/ontologyV0.4MMB.owl
+++ /dev/null
@@ -1,6314 +0,0 @@
-<?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="MeasureDistance">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureArea"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:ID="DistanceSensor"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Measure"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="DetermineOrientationOfObject">
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Determine"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="DetermineMotionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="DeterminePositionOfObject"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <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="PalletizerRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ParallelKinematicRobot"/>
-    </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="MagnetGripper">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:allValuesFrom>
-          <owl:Class>
-            <owl:unionOf rdf:parseType="Collection">
-              <owl:Class rdf:ID="AdjustCurrentToGrip"/>
-              <owl:Class rdf:ID="AdjustCurrentToRelease"/>
-            </owl:unionOf>
-          </owl:Class>
-        </owl:allValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="FingerGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Gripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="VacuumGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="PincerGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:ID="TypeOfMagnet"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="LightType">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaxMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CycleTime"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaxLiftWeight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaximumForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Arrangement"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
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-    >SIARAS (FP6-017146)
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-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Physical"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CycleTime"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DriveSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfActuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="OpenClaws">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#AdjustCurrentToRelease"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="OpenFingers"/>
-    </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>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Release"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="AdjustVacuumToRelease"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureArea">
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Measure"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAngle"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="VisionSensor">
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="SmartCamera"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxMeasurementRange">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DriveSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ElectricallySupported"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Property"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfActuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CycleTime"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ResponseTime"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWeight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Accuracy"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Repeatibility"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Resolution"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#Physical"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SpecialKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightSpotSize"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="Place">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#MainRobotFunction"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Pick"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Picking is a sequence of moving  somewhere, deactivating a gripper and moving back again.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="FollowTrajectory"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MoveFromTo"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MainSensorFunction">
-    <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>
-    <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>
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-    <owl:disjointWith>
-      <owl:Class rdf:about="#MainRobotFunction"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#MainFunction"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#TypeOfVacuum">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Resolution"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ResponseTime"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ElectricallySupported"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfActuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DriveSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Accuracy"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWeight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Property"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Repeatibility"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CycleTime"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SpecialKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Physical"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightSpotSize"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#DetectColor">
-    <owl:disjointWith rdf:resource="#DetectContrast"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DetectObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DetectLuminescence"/>
-    </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>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:ID="ColorSensor"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Resolution">
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-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SpecialKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Property"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CycleTime"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWeight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfActuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DriveSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightSpotSize"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Physical"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Repeatibility"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Accuracy"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ResponseTime"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ElectricallySupported"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#AdjustCurrentToRelease">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:allValuesFrom rdf:resource="#MagnetGripper"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#AdjustVacuumToRelease"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpenFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpenClaws"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Release"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="CheckSurfaceForIrregularities">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Task and Skills of Optical Sensors v1.1
-part:7</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CheckPosition"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Check"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#LightSpotSize">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfActuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Property"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DriveSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ResponseTime"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ElectricallySupported"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
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-Saeed B. Niku</rdfs:comment>
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-(Analysis, System, Applications)
-Saeed B. Niku</rdfs:comment>
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-(Analysis, System, Applications)
-Saeed B. Niku</rdfs:comment>
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-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
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-      <owl:Class rdf:about="#ShapeOfClaws"/>
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-    <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>
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-    <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>
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-      <owl:Class rdf:about="#NumberOfFingers"/>
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-    >distanceMeasurements.pdf
-SICK
-pag 4</rdfs:comment>
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-      <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>
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-    </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>
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-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5</rdfs:comment>
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-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >How to connect a tool electrically.</rdfs:comment>
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-      <owl:Class rdf:ID="Length"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#FingerGripper">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class>
-            <owl:unionOf rdf:parseType="Collection">
-              <owl:Class rdf:about="#NumberOfFingers"/>
-              <owl:Class rdf:about="#TypeOfFingers"/>
-            </owl:unionOf>
-          </owl:Class>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PincerGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:allValuesFrom>
-          <owl:Class>
-            <owl:unionOf rdf:parseType="Collection">
-              <owl:Class rdf:about="#OpenFingers"/>
-              <owl:Class rdf:ID="CloseFingers"/>
-            </owl:unionOf>
-          </owl:Class>
-        </owl:allValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="#Gripper"/>
-    <owl:disjointWith rdf:resource="#MagnetGripper"/>
-    <owl:disjointWith rdf:resource="#VacuumGripper"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ResponseTime">
-    <owl:disjointWith rdf:resource="#DriveSystem"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Accuracy"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Repeatibility"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith rdf:resource="#Precision"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ElectricallySupported"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#Physical"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfActuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CycleTime"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MountedDeviceOrientation">
-    <rdfs:subClassOf rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalInterface"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
-    <owl:disjointWith rdf:resource="#MountedDevicePosition"/>
-  </owl:Class>
-  <owl:Class rdf:about="#PlaybackCtrl">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#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 rdf:resource="#IntelligentCtrl"/>
-  </owl:Class>
-  <owl:Class rdf:about="#DiameterOfGripper">
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#Precision"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CycleTime"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith rdf:resource="#Physical"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#Repeatibility"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ElectricallySupported"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Accuracy"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DriveSystem"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfActuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#DetectObject">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Detect"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#DetectLuminescence"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#PhotoeletricSwitch"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#DetectContrast"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 2</rdfs:comment>
-    <owl:disjointWith rdf:resource="#DetectColor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#DistanceSensor">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 6</rdfs:comment>
-    <owl:disjointWith rdf:resource="#SmartCamera"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DetectionSensor"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Sensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#PhotoeletricSwitch"/>
-  </owl:Class>
-  <owl:Class rdf:about="#EncoderWireDrawDistanceSensor">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EncoderLinearDistanceSensor"/>
-    </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 rdf:resource="#DistanceSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MaximumVacuum">
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfActuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CycleTime"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Accuracy"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#Repeatibility"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ElectricallySupported"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#DriveSystem"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#Physical"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Precision"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Pick">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FollowTrajectory"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#MainRobotFunction"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Place"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Picking is a sequence of moving  somewhere, activating a gripper and moving back again.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MoveFromTo"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Skill">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:allValuesFrom>
-          <owl:Class rdf:about="#Device"/>
-        </owl:allValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Device"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="http://www.w3.org/2002/07/owl#Thing"/>
-    <owl:disjointWith rdf:resource="#Property"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Task"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-(Breakdown of Skills)</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#ArticulatedRobot">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Robot"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SimpleKinematicRobot"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is the standard industrial robot-type with usually 5 to 7 joints.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PalletizerRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScaraRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ParallelKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#HexapodRobot"/>
-  </owl:Class>
-  <owl:Class rdf:about="#NumberOfFingers">
-    <owl:disjointWith rdf:resource="#Physical"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DriveSystem"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Accuracy"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfActuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ElectricallySupported"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#Precision"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CycleTime"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Repeatibility"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Check">
-    <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</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Read"/>
-    <owl:disjointWith rdf:resource="#Determine"/>
-    <owl:disjointWith rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Classify"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Sort"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Detect"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#MainSensorFunction"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Measure"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MoveFromTo">
-    <owl:disjointWith rdf:resource="#Place"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#MainRobotFunction"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Pick"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >How a robot moves from A  to B.
-Also included are movements of simple kinematics like Move Up (for one linear - maybe pneumatic - axis).</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FollowTrajectory"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Payload">
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#Repeatibility"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Accuracy"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfActuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ElectricallySupported"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#Physical"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CycleTime"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Precision"/>
-    <owl:disjointWith rdf:resource="#DriveSystem"/>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-  </owl:Class>
-  <owl:Class rdf:ID="CloseClaws">
-    <rdfs:subClassOf rdf:resource="#Grasp"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#AdjustVacuumToGrip"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#AdjustCurrentToGrip"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#PincerGripper"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CloseFingers"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#TypeOfMagnet">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfActuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#DriveSystem"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Repeatibility"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CycleTime"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Physical"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Precision"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Accuracy"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ElectricallySupported"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-  </owl:Class>
-  <owl:Class rdf:about="#LuminescenceScanner">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 5</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ColorSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ContrastScanner"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#DetectionSensor"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#InsideOrOutsidePicking">
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith rdf:resource="#Precision"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#Repeatibility"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ElectricallySupported"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfActuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Physical"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#DriveSystem"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Accuracy"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CycleTime"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ParallelGripper">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PincerGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="AngleGripper"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#CycleTime">
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfActuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Repeatibility"/>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#Precision"/>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ElectricallySupported"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Accuracy"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith rdf:resource="#Physical"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DriveSystem"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-  </owl:Class>
-  <owl:Class rdf:ID="ElectricalInterface">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CommunicationProtocol"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="BusInterface"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Communicational"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#ControlSystem">
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#Precision"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Accuracy"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Repeatibility"/>
-    <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 rdf:resource="#CycleTime"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#Physical"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfActuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DriveSystem"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ElectricallySupported"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Task">
-    <owl:disjointWith rdf:resource="#Property"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Device"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Skill"/>
-  </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="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ElectricallySupported"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Physical"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
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-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1</rdfs:comment>
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-Saeed B. Niku</rdfs:comment>
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-Structured Description of Skills and Device 1.0
-pag:5
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-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 3</rdfs:comment>
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-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
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-Tasks and Skills of Ocptical Sensor 1.1
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-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Device">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:8</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Task"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:allValuesFrom rdf:resource="#Property"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#MainFunction"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Property"/>
-    <owl:disjointWith rdf:resource="#Skill"/>
-    <rdfs:subClassOf rdf:resource="http://www.w3.org/2002/07/owl#Thing"/>
-  </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 rdf:resource="#Grasp"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#FingerGripper"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#CloseClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#AdjustCurrentToGrip"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#ScaraRobot">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PalletizerRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#HexapodRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SimpleKinematicRobot"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Robot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ParallelKinematicRobot"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Industrial type, but special kinematic arrangement. Well-known manufacturer: Bosch-Rexrodt.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#SimpleKinematicRobot">
-    <rdfs:subClassOf rdf:resource="#Robot"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Simple, sometimes small machines with reduced capabilites, e.g. with only 1 DOF. These can be devices which are arranged to more complex machines.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#ScaraRobot"/>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PalletizerRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#HexapodRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ParallelKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
-  </owl:Class>
-  <owl:Class rdf:about="#AngleGripper">
-    <owl:disjointWith rdf:resource="#ParallelGripper"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PincerGripper"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#ExtractEdges">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CalibrateImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TrasformImage"/>
-    <owl:disjointWith rdf:resource="#CompressDecompressImageData"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SegmentImage"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FilterImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#BlobAnalysis"/>
-  </owl:Class>
-  <owl:Class rdf:about="#OpenFingers">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Release"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#AdjustVacuumToRelease"/>
-    <owl:disjointWith rdf:resource="#OpenClaws"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#FingerGripper"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#AdjustCurrentToRelease"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CheckPosition">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#DistanceSensor"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="#Check"/>
-    <owl:disjointWith rdf:resource="#CheckSurfaceForIrregularities"/>
-  </owl:Class>
-  <owl:Class rdf:about="#DeterminePositionOfObject">
-    <owl:disjointWith rdf:resource="#DetermineOrientationOfObject"/>
-    <rdfs:subClassOf rdf:resource="#Determine"/>
-    <owl:disjointWith rdf:resource="#DetermineMotionOfObject"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ColorSensor">
-    <rdfs:subClassOf rdf:resource="#DetectionSensor"/>
-    <owl:disjointWith rdf:resource="#LuminescenceScanner"/>
-    <owl:disjointWith rdf:resource="#ContrastScanner"/>
-    <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="#ParallelKinematicRobot">
-    <rdfs:subClassOf rdf:resource="#Robot"/>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#ScaraRobot"/>
-    <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
-    <owl:disjointWith rdf:resource="#HexapodRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PalletizerRobot"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Special kinematic arrangement like the one built in SMErobot.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#SimpleKinematicRobot"/>
-  </owl:Class>
-  <owl:Class rdf:about="#SizeOfGripper">
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith rdf:resource="#Repeatibility"/>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ElectricallySupported"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#Physical"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfActuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#Precision"/>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#DriveSystem"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Measure">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Detect"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Check"/>
-    <owl:disjointWith rdf:resource="#Sort"/>
-    <owl:disjointWith rdf:resource="#Determine"/>
-    <owl:disjointWith rdf:resource="#Read"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Classify"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#MainSensorFunction"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Scan"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ImageAnalysis"/>
-  </owl:Class>
-  <owl:Class rdf:about="#FilterImage">
-    <owl:disjointWith rdf:resource="#TrasformImage"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SegmentImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#BlobAnalysis"/>
-    <owl:disjointWith rdf:resource="#ExtractEdges"/>
-    <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith rdf:resource="#CompressDecompressImageData"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CalibrateImage"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#SegmentImage">
-    <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith rdf:resource="#FilterImage"/>
-    <owl:disjointWith rdf:resource="#TrasformImage"/>
-    <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="#PowerConsumption">
-    <rdfs:subClassOf rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
-    <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
-    <owl:disjointWith rdf:resource="#PhysicalInterface"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MountedDevicePosition"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-  </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="#TypeOfActuation">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ElectricallySupported"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-    <owl:disjointWith rdf:resource="#DriveSystem"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#Precision"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#Repeatibility"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#Physical"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-  </owl:Class>
-  <owl:Class rdf:about="#NumberOfJoints">
-    <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#Physical"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith rdf:resource="#DriveSystem"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Repeatibility"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ElectricallySupported"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith rdf:resource="#Precision"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-  </owl:Class>
-  <owl:Class rdf:about="#DegreesOfFreedom">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#NumberOfJoints"/>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DriveSystem"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#Physical"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ElectricallySupported"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#Precision"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith rdf:resource="#Repeatibility"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MinAmbientTemperature">
-    <owl:disjointWith rdf:resource="#PhysicalInterface"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MountedDevicePosition"/>
-    <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
-    <owl:disjointWith rdf:resource="#PowerConsumption"/>
-    <rdfs:subClassOf rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Length">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ID"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cost"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Physical"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Mass"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ElectricallySupported">
-    <owl:disjointWith rdf:resource="#DriveSystem"/>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <owl:disjointWith rdf:resource="#Precision"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Physical"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#NumberOfJoints"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Repeatibility"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-  </owl:Class>
-  <owl:Class rdf:about="#WorkFrame">
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#DriveSystem"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
-    <owl:disjointWith rdf:resource="#Precision"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#Repeatibility"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-    <owl:disjointWith rdf:resource="#NumberOfJoints"/>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#ElectricallySupported"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#Physical"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Scan">
-    <owl:disjointWith rdf:resource="#Read"/>
-    <owl:disjointWith rdf:resource="#Check"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Detect"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith rdf:resource="#Sort"/>
-    <owl:disjointWith rdf:resource="#Determine"/>
-    <rdfs:subClassOf rdf:resource="#MainSensorFunction"/>
-    <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:disjointWith rdf:resource="#Measure"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ScanningDistance">
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#Precision"/>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
-    <owl:disjointWith rdf:resource="#Physical"/>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#Repeatibility"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DriveSystem"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#NumberOfJoints"/>
-    <owl:disjointWith rdf:resource="#ElectricallySupported"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-  </owl:Class>
-  <owl:Class rdf:about="#SwitchingFrequency">
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith rdf:resource="#Physical"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith rdf:resource="#ScanningDistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#ElectricallySupported"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <owl:disjointWith rdf:resource="#Precision"/>
-    <owl:disjointWith rdf:resource="#NumberOfJoints"/>
-    <owl:disjointWith rdf:resource="#Repeatibility"/>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DriveSystem"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Release">
-    <owl:disjointWith rdf:resource="#Grasp"/>
-    <rdfs:subClassOf rdf:resource="#MainGripperFunction"/>
-    <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="#PalletizerRobot">
-    <owl:disjointWith rdf:resource="#SimpleKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#ParallelKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-    <rdfs:subClassOf rdf:resource="#Robot"/>
-    <owl:disjointWith rdf:resource="#ScaraRobot"/>
-    <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >These machines contain 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 rdf:resource="#HexapodRobot"/>
-  </owl:Class>
-  <owl:Class rdf:about="#JointFingerGripper">
-    <rdfs:subClassOf rdf:resource="#FingerGripper"/>
-    <owl:disjointWith rdf:resource="#ElasticFingerGripper"/>
-  </owl:Class>
-  <owl:Class rdf:about="#NumericalCtrl">
-    <rdfs:subClassOf rdf:resource="#ControlSystem"/>
-    <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 rdf:resource="#IntelligentCtrl"/>
-  </owl:Class>
-  <owl:Class rdf:about="#EnclosureRatingIP">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalInterface"/>
-    <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
-    <owl:disjointWith rdf:resource="#MountedDevicePosition"/>
-    <owl:disjointWith rdf:resource="#PowerConsumption"/>
-    <rdfs:subClassOf rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
-  </owl:Class>
-  <owl:Class rdf:about="#PincerGripper">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class>
-            <owl:unionOf rdf:parseType="Collection">
-              <owl:Class rdf:about="#MaximumForce"/>
-              <owl:Class rdf:about="#NumberOfClaws"/>
-              <owl:Class rdf:about="#NumberOfMovableClaws"/>
-              <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-              <owl:Class rdf:about="#ShapeOfClaws"/>
-            </owl:unionOf>
-          </owl:Class>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="#Gripper"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:allValuesFrom>
-          <owl:Class>
-            <owl:unionOf rdf:parseType="Collection">
-              <owl:Class rdf:about="#CloseClaws"/>
-              <owl:Class rdf:about="#OpenClaws"/>
-            </owl:unionOf>
-          </owl:Class>
-        </owl:allValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#FingerGripper"/>
-    <owl:disjointWith rdf:resource="#MagnetGripper"/>
-    <owl:disjointWith rdf:resource="#VacuumGripper"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CalibrateImage">
-    <owl:disjointWith rdf:resource="#TrasformImage"/>
-    <owl:disjointWith rdf:resource="#ExtractEdges"/>
-    <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith rdf:resource="#CompressDecompressImageData"/>
-    <owl:disjointWith rdf:resource="#FilterImage"/>
-    <owl:disjointWith rdf:resource="#SegmentImage"/>
-    <owl:disjointWith rdf:resource="#BlobAnalysis"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ID">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cost"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <rdfs:subClassOf rdf:resource="#Physical"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#Mass"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Detect">
-    <owl:disjointWith rdf:resource="#Sort"/>
-    <owl:disjointWith rdf:resource="#Read"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Classify"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Measure"/>
-    <owl:disjointWith rdf:resource="#Scan"/>
-    <owl:disjointWith rdf:resource="#Determine"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 2-5</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Check"/>
-    <owl:disjointWith rdf:resource="#ImageAnalysis"/>
-    <rdfs:subClassOf rdf:resource="#MainSensorFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#NumericalControl">
-    <owl:disjointWith rdf:resource="#VariableSequenceRobot"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Introdution to Robotics
-(Analysis, System, Applications)
-Saeed B. Niku</rdfs:comment>
-    <owl:disjointWith rdf:resource="#IntelligentRobot"/>
-    <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#DeprecatedClass"/>
-    <owl:disjointWith rdf:resource="#PlaybackRobot"/>
-    <rdfs:subClassOf rdf:resource="#Robot"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ShapeOfClaws">
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DriveSystem"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#Repeatibility"/>
-    <owl:disjointWith rdf:resource="#Precision"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith rdf:resource="#NumberOfJoints"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#Physical"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith rdf:resource="#ElectricallySupported"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ScanningDistance"/>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-    <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
-  </owl:Class>
-  <owl:Class rdf:about="#FollowTrajectory">
-    <owl:disjointWith rdf:resource="#Pick"/>
-    <owl:disjointWith rdf:resource="#Place"/>
-    <rdfs:subClassOf rdf:resource="#MainRobotFunction"/>
-    <owl:disjointWith rdf:resource="#MoveFromTo"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Following a trajectory means moving the TCP (tool center point) along a given path. This path can be given either in carthesian coordinates or in joint coordinates. And the path can be given as a number of points or as a function.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxAmbientTemperature">
-    <owl:disjointWith rdf:resource="#PhysicalInterface"/>
-    <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
-    <owl:disjointWith rdf:resource="#PowerConsumption"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
-    <rdfs:subClassOf rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#MountedDevicePosition"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Shape">
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <rdfs:subClassOf rdf:resource="#Physical"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cost"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ID"/>
-    <owl:disjointWith rdf:resource="#Mass"/>
-    <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 rdf:resource="#Sort"/>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticDistanceSensorReflector">
-    <rdfs:subClassOf rdf:resource="#DistanceSensor"/>
-    <owl:disjointWith rdf:resource="#UltrasonicDistanceSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EncoderLinearDistanceSensor"/>
-    </owl:disjointWith>
-    <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="#Classify">
-    <owl:disjointWith rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith rdf:resource="#Detect"/>
-    <owl:disjointWith rdf:resource="#Scan"/>
-    <owl:disjointWith rdf:resource="#Read"/>
-    <rdfs:subClassOf rdf:resource="#MainSensorFunction"/>
-    <owl:disjointWith rdf:resource="#Sort"/>
-    <owl:disjointWith rdf:resource="#Measure"/>
-    <owl:disjointWith rdf:resource="#Determine"/>
-    <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</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Communicational">
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#Repeatibility"/>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-    <owl:disjointWith rdf:resource="#DriveSystem"/>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#Physical"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#Precision"/>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#ElectricallySupported"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#NumberOfJoints"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#ScanningDistance"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-  </owl:Class>
-  <owl:Class rdf:about="#BusInterface">
-    <owl:disjointWith rdf:resource="#CommunicationProtocol"/>
-    <owl:disjointWith rdf:resource="#ElectricalInterface"/>
-    <rdfs:subClassOf rdf:resource="#Communicational"/>
-  </owl:Class>
-  <owl:Class rdf:about="#WorkCoordinates">
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
-    <owl:disjointWith rdf:resource="#Communicational"/>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#Physical"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith rdf:resource="#ElectricallySupported"/>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#Repeatibility"/>
-    <owl:disjointWith rdf:resource="#ScanningDistance"/>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#Precision"/>
-    <owl:disjointWith rdf:resource="#DriveSystem"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#NumberOfJoints"/>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MechanicalConnector">
-    <rdfs:subClassOf rdf:resource="#ToolInterface"/>
-    <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:disjointWith rdf:resource="#ElectricalConnector"/>
-  </owl:Class>
-  <owl:Class rdf:about="#EncoderLinearDistanceSensor">
-    <owl:disjointWith rdf:resource="#OpticDistanceSensorScanner"/>
-    <owl:disjointWith rdf:resource="#EncoderWireDrawDistanceSensor"/>
-    <owl:disjointWith rdf:resource="#OpticDistanceSensorReflector"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >distanceMeasurements.pdf
-SICK
-pag 4</rdfs:comment>
-    <owl:disjointWith rdf:resource="#UltrasonicDistanceSensor"/>
-    <rdfs:subClassOf rdf:resource="#DistanceSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Cost">
-    <owl:disjointWith rdf:resource="#Mass"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <rdfs:subClassOf rdf:resource="#Physical"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith rdf:resource="#ID"/>
-  </owl:Class>
-  <owl:Class rdf:ID="Workpiece"/>
-  <owl:Class rdf:about="#StiffnessOfGripper">
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <owl:disjointWith rdf:resource="#Precision"/>
-    <owl:disjointWith rdf:resource="#Repeatibility"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith rdf:resource="#WorkCoordinates"/>
-    <owl:disjointWith rdf:resource="#Communicational"/>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#ElectricallySupported"/>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#Physical"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#DriveSystem"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#ScanningDistance"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#NumberOfJoints"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Height">
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <owl:disjointWith rdf:resource="#Mass"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#ID"/>
-    <rdfs:subClassOf rdf:resource="#Physical"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith rdf:resource="#Cost"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Material">
-    <owl:disjointWith rdf:resource="#Mass"/>
-    <rdfs:subClassOf rdf:resource="#Physical"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#Cost"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#ID"/>
-  </owl:Class>
-  <owl:Class rdf:about="#AdjustCurrentToGrip">
-    <rdfs:subClassOf rdf:resource="#Grasp"/>
-    <owl:disjointWith rdf:resource="#CloseFingers"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#MagnetGripper"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#AdjustVacuumToGrip"/>
-    <owl:disjointWith rdf:resource="#CloseClaws"/>
-  </owl:Class>
-  <owl:ObjectProperty rdf:ID="hasDiagnosticSkill">
-    <rdfs:domain rdf:resource="#Device"/>
-    <rdfs:range rdf:resource="#DiagnosticFunction"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:ID="canBePerformedBy">
-    <rdfs:domain rdf:resource="#Task"/>
-    <rdfs:range rdf:resource="#MainFunction"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasSkill">
-    <rdfs:range 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:domain rdf:resource="#Device"/>
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:about="#isSkillOf"/>
-    </owl:inverseOf>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasProperty">
-    <rdfs:domain>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Skill"/>
-          <owl:Class rdf:about="#Device"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:domain>
-    <rdfs:range rdf:resource="#Property"/>
-    <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="#MainFunction"/>
-    <rdfs:range rdf:resource="#Device"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:ID="hasAdditionalSkill">
-    <rdfs:range rdf:resource="#AdditionalFunction"/>
-    <rdfs:domain rdf:resource="#Device"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#isPropertyOf">
-    <owl:inverseOf rdf:resource="#hasProperty"/>
-    <rdfs:domain rdf:resource="#Property"/>
-    <rdfs:range>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Device"/>
-          <owl:Class rdf:about="#Skill"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:range>
-  </owl:ObjectProperty>
-  <owl:DatatypeProperty rdf:ID="value">
-    <rdfs:domain rdf:resource="#Property"/>
-  </owl:DatatypeProperty>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >hydraulic</rdf:first>
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:rest rdf:parseType="Resource">
-          <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-          <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-          >electric</rdf:first>
-        </rdf:rest>
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >pneumatic</rdf:first>
-      </rdf:rest>
-    </owl:oneOf>
-  </owl:DataRange>
-  <AdjustVacuumToRelease rdf:ID="AdjustVacuumToRelease_1">
-    <isSkillOf>
-      <VacuumGripper rdf:ID="VacuumGripper_1">
-        <hasSkill>
-          <AdjustVacuumToGrip rdf:ID="AdjustVacuumToGrip_1">
-            <isSkillOf>
-              <Gripper rdf:ID="Gripper_1">
-                <hasSkill>
-                  <OpenFingers rdf:ID="OpenFingers_1">
-                    <isSkillOf rdf:resource="#Gripper_1"/>
-                  </OpenFingers>
-                </hasSkill>
-                <hasSkill rdf:resource="#AdjustVacuumToGrip_1"/>
-              </Gripper>
-            </isSkillOf>
-            <isSkillOf rdf:resource="#VacuumGripper_1"/>
-          </AdjustVacuumToGrip>
-        </hasSkill>
-        <hasSkill rdf:resource="#AdjustVacuumToRelease_1"/>
-      </VacuumGripper>
-    </isSkillOf>
-  </AdjustVacuumToRelease>
-  <owl:AllDifferent/>
-  <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>
-  <Gripper rdf:ID="Gripper_4"/>
-  <owl:DataRange>
-    <owl:oneOf 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"
-        >hydraulic</rdf:first>
-        <rdf:rest rdf:parseType="Resource">
-          <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-          <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-          >electric</rdf:first>
-        </rdf:rest>
-      </rdf:rest>
-    </owl:oneOf>
-  </owl:DataRange>
-  <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: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"
-                >ball-screw</rdf:first>
-              </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#int"
-        >3</rdf:first>
-        <rdf:rest rdf:parseType="Resource">
-          <rdf:rest rdf:parseType="Resource">
-            <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-            <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-            >5</rdf:first>
-          </rdf:rest>
-          <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-          >4</rdf:first>
-        </rdf:rest>
-      </rdf:rest>
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-      >2</rdf:first>
-    </owl:oneOf>
-  </owl:DataRange>
-  <CloseFingers rdf:ID="CloseFingers_2"/>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-        >3.5</rdf:first>
-        <rdf:rest rdf:parseType="Resource">
-          <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-          >4.0</rdf:first>
-          <rdf:rest rdf:parseType="Resource">
-            <rdf:rest rdf:parseType="Resource">
-              <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-              >6.0</rdf:first>
-              <rdf:rest rdf:parseType="Resource">
-                <rdf:rest rdf:parseType="Resource">
-                  <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                  >4.5</rdf:first>
-                  <rdf:rest rdf:parseType="Resource">
-                    <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                    >5.5</rdf:first>
-                    <rdf:rest rdf:parseType="Resource">
-                      <rdf: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>
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-                <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                >7.0</rdf:first>
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-            >5.0</rdf:first>
-          </rdf:rest>
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-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >multiple joints</rdf:first>
-      </rdf:rest>
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >elastic</rdf:first>
-    </owl:oneOf>
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-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
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diff --git a/testontologies/ontologyV06.owl b/testontologies/ontologyV06.owl
deleted file mode 100644
index 8ccdc10824cdcbb342a2fcf1039b03a1e3a92606..0000000000000000000000000000000000000000
--- a/testontologies/ontologyV06.owl
+++ /dev/null
@@ -1,7514 +0,0 @@
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-      <owl:Class rdf:ID="ScaraRobot"/>
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-    <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>
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-Task and Skills of Optical Sensors v1.1
-part:7</rdfs:comment>
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-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CycleTime"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DriveSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfActuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </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="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Quality_Criteria"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DriveSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ElectricallySupported"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfActuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CycleTime"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ResponseTime"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWeight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Accuracy"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Resolution"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Physical_Properties_Sensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <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">
-    <owl:disjointWith rdf:resource="#DetectContrast"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:ID="OpticColorSensor"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DetectLuminescence"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DetectObject"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Detect"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 4</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:ID="AdjustCurrentToRelease">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:allValuesFrom>
-          <owl:Class rdf:ID="MagnetGripper"/>
-        </owl:allValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="AdjustVacuumToRelease"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="OpenFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="OpenClaws"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Release"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="MagneticSensor">
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Sensor"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="Age">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Anneal"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="ModifyWorkpieceProperties"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Improve the mechanical resistivity by modifying the crystal structure. This is done by heating and fast cooling down.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Temper"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Reach">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CycleTime"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ResponseTime"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Physical_Properties_Gripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ElectricallySupported"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Resolution"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Accuracy"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWeight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DriveSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Quality_Criteria"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightSpotSize"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfActuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Property">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Device"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Task"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Skill"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="ManufacturingFunction">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SensorFunction"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="MainFunction"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ManipulationAndHandlingFunction"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="AssemblyFunction"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#DetectLuminescence">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DetectObject"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 5</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:ID="OpticLuminescenceScanner"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#DetectContrast"/>
-    <owl:disjointWith rdf:resource="#DetectColor"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Detect"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Read">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ImageAnalysis"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Check"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Measure"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Determine"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Sort"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Task and Skills of Optical Sensors v1.1
-part:7</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Classify"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Scan"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Detect"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#SensorFunction"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="VacuumGripper">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MagnetGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#AdjustVacuumToRelease"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="PincerGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="FingerGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Gripper"/>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:ID="AdjustVacuumToGrip"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticLuminescenceScanner">
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="OpticSensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticColorSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticContrastScanner"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 5</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:ID="PlaybackRobot">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="VariableSequenceRobot"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Introdution to Robotics
-(Analysis, System, Applications)
-Saeed B. Niku</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Robot"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="NumericalControl"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="IntelligentRobot"/>
-    </owl:disjointWith>
-    <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#DeprecatedClass"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Anneal">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ModifyWorkpieceProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Age"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Temper"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Set specific material properties by heating, holding the heat for a specific time and cooling down.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#ModifyWorkpieceProperties">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Coat"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Separate"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Modify some physical properties of the workpiece.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Form"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Join"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Mold"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MaximumForce">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Physical_Properties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Resolution"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightSpotSize"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DriveSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Accuracy"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Quality_Criteria"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfActuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ElectricallySupported"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ResponseTime"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWeight"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CycleTime"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#ReadBarCode">
-    <owl:disjointWith rdf:resource="#Read2DMatrixCode"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Task and Skills of Optical Sensors v1.1
-part:7</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ReadOpticalCharacters"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Read"/>
-  </owl:Class>
-  <owl:Class rdf:ID="SmartCamera">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#OpticSensor"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 7</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureAngle">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Measure"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Extrude">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is mainly used to create profiles, tubes and wires.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Deep-Draw"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Forge"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Stretch-Form"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#True"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Fold"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bend"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Form"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Crush"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="OpticDistanceSensorScanner">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="EncoderWireDrawDistanceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="UltrasonicDistanceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="EncoderLinearDistanceSensor"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >distanceMeasurements.pdf
-SICK
-pag 4</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="OpticDistanceSensorReflector"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#OpticSensor"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Determine">
-    <owl:disjointWith rdf:resource="#Read"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Detect"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#SensorFunction"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Measure"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Check"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Sort"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ImageAnalysis"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Scan"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Classify"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:ID="CoordinateReferenceSystem">
-    <rdfs:subClassOf rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MountedDeviceOrientation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MountedDevicePosition"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#SpecialKinematicRobot">
-    <owl:disjointWith rdf:resource="#HexapodRobot"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Robot"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CartesianRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ArticulatedRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScaraRobot"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Everything else which cannot be sorted in one of the other categories.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SimpleKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ParallelKinematicRobot"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="Cast">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Mold"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >From fluid metallic material a solid workpiece is created.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Sinter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ElectrolyticSegregate"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Crush">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Deep-Draw"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Stretch-Form"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Relative change of length by pressure force.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#True"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Fold"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bend"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Forge"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Form"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Extrude"/>
-  </owl:Class>
-  <owl:Class rdf:ID="BlobAnalysis">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CompressDecompressImageData"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SegmentImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CalibrateImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ExtractEdges"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="TrasformImage"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ImageAnalysis"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="FilterImage"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="Store">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ManipulationAndHandlingFunction"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="NotClassified"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Secure"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Move"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ModifyAmount"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Forge">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bend"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >The workpiece is heated, the whole profile is plasticised. In doing so the crystal structure of the workpiece changes and the workpiece becomes softer.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Crush"/>
-    <owl:disjointWith rdf:resource="#Extrude"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Deep-Draw"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#True"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Fold"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Form"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Stretch-Form"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#AdjustVacuumToRelease">
-    <owl:disjointWith rdf:resource="#AdjustCurrentToRelease"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpenClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpenFingers"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Release"/>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#VacuumGripper"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#SensorFunction">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#AssemblyFunction"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:6-7
-(breakdown of properties)</rdfs:comment>
-    <owl:disjointWith rdf:resource="#ManufacturingFunction"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#MainFunction"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ManipulationAndHandlingFunction"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:allValuesFrom>
-          <owl:Class rdf:about="#Sensor"/>
-        </owl:allValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Pan">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Position"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Displace"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Arrange"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part from one to another orientation and position by rotation around an axis which does not intersect with the part.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Convey"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Turn"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Feed"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Orient"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="Solder">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Assemble"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Fill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Clinch"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Join"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is a thermic procedure to connect workpieces. Then, a fluid phase is created by melting solder (additional material).</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Weld"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Glue"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Bolt"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Rivet"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Rub">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#File"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cut"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Grind"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lathe"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thermal-Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Saw"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Mill"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Hone"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Create wholes and increase the fitting quality.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lap"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="ClassifyObject">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Classify"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="Physical_Properties_Robot">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Physical_Properties"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#AssemblyFunction">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ManipulationAndHandlingFunction"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SensorFunction"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#MainFunction"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#ManufacturingFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#FingerGripper">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PincerGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#OpenFingers"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:ID="CloseFingers"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Gripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MagnetGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#VacuumGripper"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ResponseTime">
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DriveSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Accuracy"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ElectricallySupported"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWeight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightSpotSize"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfActuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Resolution"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CycleTime"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Quality_Criteria"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MountedDeviceOrientation">
-    <rdfs:subClassOf rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MountedDevicePosition"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="PlaybackCtrl">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="NumericalCtrl"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Capability of replaying preteached sequences and commands.
-This includes as well very simple controllers like Pick-and-Placers. They are capable of replaying a pick sequence.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="IntelligentCtrl"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#DiameterOfGripper">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Resolution"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Physical_Properties_Gripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CycleTime"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWeight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ElectricallySupported"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Accuracy"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DriveSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Quality_Criteria"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightSpotSize"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfActuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="Count">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Check"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#DetectObject">
-    <owl:disjointWith rdf:resource="#DetectLuminescence"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Detect"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#DetectContrast"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 2</rdfs:comment>
-    <owl:disjointWith rdf:resource="#DetectColor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MaximumVacuum">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfActuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CycleTime"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Physical_Properties_Gripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Accuracy"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Quality_Criteria"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightSpotSize"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWeight"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ElectricallySupported"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DriveSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Resolution"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Skill">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Device"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:allValuesFrom>
-          <owl:Class rdf:about="#Device"/>
-        </owl:allValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="http://www.w3.org/2002/07/owl#Thing"/>
-    <owl:disjointWith rdf:resource="#Property"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Task"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-(Breakdown of Skills)</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#VariableSequenceRobot">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Introdution to Robotics
-(Analysis, System, Applications)
-Saeed B. Niku</rdfs:comment>
-    <owl:disjointWith rdf:resource="#PlaybackRobot"/>
-    <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#DeprecatedClass"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Robot"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#IntelligentRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumericalControl"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Stretch-Form">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Form"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Deep-Draw"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#True"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Fold"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bend"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Extrude"/>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith rdf:resource="#Crush"/>
-    <owl:disjointWith rdf:resource="#Forge"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#NumberOfFingers">
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Resolution"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DriveSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightSpotSize"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Accuracy"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Physical_Properties_Gripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfActuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ElectricallySupported"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWeight"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CycleTime"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Quality_Criteria"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="MoveFromTo">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#NotClassified"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Place"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Pick"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >How a robot moves from A  to B.
-Also included are movements of simple kinematics like Move Up (for one linear - maybe pneumatic - axis).</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:ID="CloseClaws">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#PincerGripper"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Grasp"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#AdjustVacuumToGrip"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="AdjustCurrentToGrip"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CloseFingers"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#TypeOfMagnet">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfActuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DriveSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CycleTime"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWeight"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Physical_Properties_Gripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Accuracy"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ElectricallySupported"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Resolution"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Quality_Criteria"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightSpotSize"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CycleTime">
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightSpotSize"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfActuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Resolution"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWeight"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ElectricallySupported"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Accuracy"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DriveSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Quality_Criteria"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="ElectricalInterface">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="BusInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CommunicationProtocol"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Communicational"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Weld">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bolt"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Clinch"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Fill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Assemble"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Join"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Glue"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Solder"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Rivet"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is a permanent connection of workpieces by using heat and/or pressure. The material keeps its properties when welded.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Accuracy">
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWeight"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ElectricallySupported"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Quality_Criteria"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Resolution"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfActuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightSpotSize"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DriveSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Temper">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Influence the mechanical stresses of the workpiece. The material is given a regular structure.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Age"/>
-    <rdfs:subClassOf rdf:resource="#ModifyWorkpieceProperties"/>
-    <owl:disjointWith rdf:resource="#Anneal"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MainFunction">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="AdditionalFunction"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Skill"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-(Breakdown of Skills)</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="DiagnosticFunction"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Lap">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Mill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Saw"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#File"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Flatten surfaces while keeping very low tolerances. Moveable, rolling grains are used between the lapping plate and the workpiece.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thermal-Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith rdf:resource="#Hone"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Grind"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cut"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lathe"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#AdjustVacuumToGrip">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CloseFingers"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Grasp"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#CloseClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#AdjustCurrentToGrip"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#VacuumGripper"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#CompressDecompressImageData">
-    <owl:disjointWith rdf:resource="#BlobAnalysis"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ExtractEdges"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SegmentImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TrasformImage"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ImageAnalysis"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CalibrateImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FilterImage"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="Width">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Mass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Length"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Cost"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ID"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Physical_Properties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Material"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="Varnish">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Coat"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Powder-coat"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Electroplate"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Hot-galvanise"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Put colour or any other material onto the surface, either by spraying or painting.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Sensor">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Gripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#SensorFunction"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Robot"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Device"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticColorSensor">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#OpticSensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticContrastScanner"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 4</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#AdditionalFunction">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-(Breakdown of Skills)</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="#Skill"/>
-    <owl:disjointWith rdf:resource="#MainFunction"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiagnosticFunction"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#DiagnosticFunction">
-    <owl:disjointWith rdf:resource="#AdditionalFunction"/>
-    <owl:disjointWith rdf:resource="#MainFunction"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-(Breakdown of Skills)</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="#Skill"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CloseFingers">
-    <owl:disjointWith rdf:resource="#AdjustVacuumToGrip"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#FingerGripper"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Grasp"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#CloseClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#AdjustCurrentToGrip"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Saw">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Hone"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thermal-Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lathe"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Grind"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >A steel plate with teeth attached to it removes thin chippings by moving into the material. This is widely used for wood, stone, metal, plastics and other solid materials.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cut"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#File"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Mill"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#OpenFingers">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Release"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#AdjustVacuumToRelease"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#FingerGripper"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpenClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#AdjustCurrentToRelease"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Broach">
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >The workpiece is given the tool's contour. This is used where contours are necessary which cannot be created by milling or lathing.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Grind"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cut"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Mill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thermal-Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Hone"/>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lathe"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#File"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Coat">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Form"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Join"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Put a permanent layer of formless material onto the workpiece.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Mold"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ModifyWorkpieceProperties"/>
-  </owl:Class>
-  <owl:Class rdf:about="#TypeOfActuation">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ElectricallySupported"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DriveSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Resolution"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWeight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightSpotSize"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Quality_Criteria"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Physical_Properties_Robot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinMeasurementRange"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#DegreesOfFreedom">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Quality_Criteria"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Resolution"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWeight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DriveSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightSpotSize"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ElectricallySupported"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Physical_Properties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Drill">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thermal-Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lathe"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Broach"/>
-    <owl:disjointWith rdf:resource="#Hone"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#File"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Mill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cut"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Grind"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Create a circular whole in the workpiece.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Bend">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Fold"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Deep-Draw"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Extrude"/>
-    <owl:disjointWith rdf:resource="#Forge"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#True"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Crush"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Form"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Put a bending moment to the material which causes a malleable, i.e. permanent deformation.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Orient">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Feed"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Turn"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Pan"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Displace"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Convey"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Position"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Arrange"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part from an undefined to a well-defined orientation. The part's position is not important here.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#File">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lathe"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith rdf:resource="#Broach"/>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Grind"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Hone"/>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cut"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Drill"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >The workpiece is fixed while a metal plate performs a cutting movement and a feed motion. This is done manually very often.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Mill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thermal-Separate"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Length">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ID"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cost"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Physical_Properties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Mass"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#ElectricallySupported">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DriveSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Resolution"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Physical_Properties_Robot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Quality_Criteria"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWeight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightSpotSize"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#WorkFrame">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DriveSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightSpotSize"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Quality_Criteria"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ElectricallySupported"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Resolution"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWeight"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Separate">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Form"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Coat"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Modify the workpiece by breaking the coherence at some location.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#ModifyWorkpieceProperties"/>
-    <rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Join"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Mold"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#SwitchingFrequency">
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#ElectricallySupported"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Quality_Criteria"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWeight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Quality_Criteria"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DriveSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightSpotSize"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Resolution"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-  </owl:Class>
-  <owl:Class rdf:about="#NumericalCtrl">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#PlaybackCtrl"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Capability of setting up movements via numerical positions instead of functions.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#IntelligentCtrl"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Electroplate">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Powder-coat"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hot-galvanise"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Coat"/>
-    <owl:disjointWith rdf:resource="#Varnish"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Put the material to the surface with the help of some electrochemical processes.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#PincerGripper">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#CloseClaws"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Gripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#FingerGripper"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#OpenClaws"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#VacuumGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MagnetGripper"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="Repeatability">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Quality_Criteria"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Detect">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Sort"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Read"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Classify"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Measure"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Determine"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Scan"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 2-5</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Check"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#SensorFunction"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ImageAnalysis"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="Assembly">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Device"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Convey">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Turn"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Orient"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Displace"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Feed"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part (or transported material) from one undefined to another undefined position. The trajectory and the orientation of the parts while moved are not necessarily defined.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Position"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pass"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Pan"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Arrange"/>
-  </owl:Class>
-  <owl:Class rdf:ID="Circular">
-    <rdfs:subClassOf rdf:resource="#MoveFromTo"/>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="AsFastAsPossible"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Karthesian"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#ShapeOfClaws">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communicational"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Resolution"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DriveSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightSpotSize"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Physical_Properties_Gripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWeight"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Quality_Criteria"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ElectricallySupported"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
-  </owl:Class>
-  <owl:Class rdf:about="#NumericalControl">
-    <owl:disjointWith rdf:resource="#VariableSequenceRobot"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Introdution to Robotics
-(Analysis, System, Applications)
-Saeed B. Niku</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#IntelligentRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PlaybackRobot"/>
-    <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#DeprecatedClass"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Robot"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxAmbientTemperature">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
-    <rdfs:subClassOf rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MountedDevicePosition"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Shape">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cost"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Physical_Properties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ID"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Mass"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="SortObjects">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Task and Skills of Optical Sensors v1.1
-part:7</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Sort"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="ManipulationAndHandling">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Device"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Grind">
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lathe"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Increase the surface performance, flatten the surface.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Hone"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thermal-Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Broach"/>
-    <owl:disjointWith rdf:resource="#File"/>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Separate"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Mill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cut"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Drill"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Classify">
-    <rdfs:subClassOf rdf:resource="#SensorFunction"/>
-    <owl:disjointWith rdf:resource="#Detect"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ImageAnalysis"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Read"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Scan"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Sort"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Measure"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Determine"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Check"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5</rdfs:comment>
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-  <owl:Class rdf:about="#Communicational">
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-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
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-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Resolution"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Quality_Criteria"/>
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-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DriveSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
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-      <owl:Class rdf:about="#MaxLiftWeight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
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-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfVacuum"/>
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-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#ElectricallySupported"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightSpotSize"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-  </owl:Class>
-  <owl:Class rdf:about="#BusInterface">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CommunicationProtocol"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ElectricalInterface"/>
-    <rdfs:subClassOf rdf:resource="#Communicational"/>
-  </owl:Class>
-  <owl:Class rdf:about="#EncoderLinearDistanceSensor">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EncoderWireDrawDistanceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpticDistanceSensorScanner"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticDistanceSensorReflector"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >distanceMeasurements.pdf
-SICK
-pag 4</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#UltrasonicDistanceSensor"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
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-    </rdfs:subClassOf>
-  </owl:Class>
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-      <owl:Class rdf:about="#Mass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
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-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
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-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ID"/>
-    </owl:disjointWith>
-  </owl:Class>
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-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
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-    <owl:disjointWith>
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-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Communicational"/>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ElectricallySupported"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Resolution"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
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-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
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-      <owl:Class rdf:about="#DriveSystem"/>
-    </owl:disjointWith>
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-      <owl:Class rdf:about="#MaxLiftWeight"/>
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-    <owl:disjointWith>
-      <owl:Class rdf:about="#Quality_Criteria"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightSpotSize"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Physical_Properties_Gripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
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-  </owl:Class>
-  <owl:Class rdf:about="#Height">
-    <owl:disjointWith>
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-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Physical_Properties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Mass"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ID"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith rdf:resource="#Cost"/>
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-  <owl:Class rdf:about="#Material">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Physical_Properties"/>
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-      <owl:Class rdf:about="#Mass"/>
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-    <owl:disjointWith rdf:resource="#Shape"/>
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-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ID"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Quality_Criteria">
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-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWeight"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-    <owl:disjointWith>
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-    <rdfs:subClassOf rdf:resource="#Property"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightSpotSize"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
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-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#ElectricallySupported"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Physical_Properties"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DriveSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
-    <owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
-    <owl:disjointWith rdf:resource="#Communicational"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinMeasurementRange"/>
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-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureDistance">
-    <owl:disjointWith rdf:resource="#MeasureAngle"/>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Measure"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="DetermineOrientationOfObject">
-    <rdfs:subClassOf rdf:resource="#Determine"/>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="DetermineMotionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="DeterminePositionOfObject"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MagnetGripper">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#AdjustCurrentToGrip"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#AdjustCurrentToRelease"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#FingerGripper"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Gripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#VacuumGripper"/>
-    <owl:disjointWith rdf:resource="#PincerGripper"/>
-  </owl:Class>
-  <owl:Class rdf:about="#True">
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Deep-Draw"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Crush"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <owl:disjointWith rdf:resource="#Extrude"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Machine finishing after e.g. folding</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Form"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Forge"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Fold"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="TorqueForceSensor">
-    <rdfs:subClassOf rdf:resource="#Sensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Flang">
-    <owl:disjointWith rdf:resource="#Forge"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Fold"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Deep-Draw"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Orthogonal bending up of the border of metal sheets. This is used for creating pipe connections and is widely used in the manufacturing of air channels.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Form"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#True"/>
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-      <owl:Class rdf:about="#Press"/>
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-    <owl:disjointWith rdf:resource="#Crush"/>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith rdf:resource="#Extrude"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ReadOpticalCharacters">
-    <owl:disjointWith rdf:resource="#ReadBarCode"/>
-    <owl:disjointWith rdf:resource="#Read2DMatrixCode"/>
-    <rdfs:subClassOf rdf:resource="#Read"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Task and Skills of Optical Sensors v1.1
-part:7</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Bolt">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Join"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Weld"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Rivet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Glue"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Solder"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Fill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Clinch"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Bolts are removable elements to create a connection between two or more workpieces.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Assemble"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Gripper">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Robot"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#ManipulationAndHandling"/>
-    <owl:disjointWith rdf:resource="#Sensor"/>
-  </owl:Class>
-  <owl:Class rdf:ID="StorePartlyOrdered">
-    <rdfs:subClassOf rdf:resource="#Store"/>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="StoreUnOrdered"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="StoreInOrder"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Save workpieces which are geometrically defined in a well-defined position and/or orientation. This means position and orientation are only defined in some of their degrees of freedom.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Deep-Draw">
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith rdf:resource="#Flang"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Crush"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Form"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Change the shape of a sheet metal or plate by pressing into a hollow piece. 
-This is one of the most important procedures in mass production and small series production.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Fold"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <owl:disjointWith rdf:resource="#Forge"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Extrude"/>
-    <owl:disjointWith rdf:resource="#True"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Glue">
-    <owl:disjointWith rdf:resource="#Bolt"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Clinch"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Join"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Fill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Assemble"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Weld"/>
-    <owl:disjointWith rdf:resource="#Solder"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Connect workpieces with the help of a glue. This is done by physical interaction of the glue at the workpieces' interfaces.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Rivet"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#PhysicalInterface">
-    <rdfs:subClassOf rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MountedDevicePosition"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ManipulationAndHandlingFunction">
-    <owl:disjointWith rdf:resource="#ManufacturingFunction"/>
-    <rdfs:subClassOf rdf:resource="#MainFunction"/>
-    <owl:disjointWith rdf:resource="#SensorFunction"/>
-    <owl:disjointWith rdf:resource="#AssemblyFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#OpenClaws">
-    <owl:disjointWith rdf:resource="#AdjustCurrentToRelease"/>
-    <owl:disjointWith rdf:resource="#OpenFingers"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Release"/>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#PincerGripper"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#AdjustVacuumToRelease"/>
-  </owl:Class>
-  <owl:Class rdf:about="#AsFastAsPossible">
-    <rdfs:subClassOf rdf:resource="#MoveFromTo"/>
-    <owl:disjointWith rdf:resource="#Circular"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Karthesian"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="VisionSensor">
-    <rdfs:subClassOf rdf:resource="#SmartCamera"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Pass">
-    <owl:disjointWith rdf:resource="#Arrange"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part from one to another positition along an undefined trajectory. The part's orientation remains unchanged.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Convey"/>
-    <owl:disjointWith rdf:resource="#Orient"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Feed"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Turn"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Displace"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Position"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Pan"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Place">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pick"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Picking is a sequence of moving  somewhere, deactivating a gripper and moving back again.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#MoveFromTo"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#NotClassified"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Form">
-    <owl:disjointWith rdf:resource="#ModifyWorkpieceProperties"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Join"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Mold"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Separate"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Create workpieces from solid raw pieces. The shape is permanently modified. The volumina remains the same.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Coat"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Join">
-    <owl:disjointWith rdf:resource="#ModifyWorkpieceProperties"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is the creation of a long-term connection of workpieces with a geometrically defined, fixed shape or with formless-parts.</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
-    <owl:disjointWith rdf:resource="#Form"/>
-    <owl:disjointWith rdf:resource="#Coat"/>
-    <owl:disjointWith rdf:resource="#Separate"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Mold"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#TypeOfVacuum">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Resolution"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#ElectricallySupported"/>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DriveSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWeight"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Quality_Criteria"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Communicational"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightSpotSize"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Physical_Properties_Gripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Resolution">
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWeight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DriveSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightSpotSize"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Communicational"/>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-    <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ElectricallySupported"/>
-    <rdfs:subClassOf rdf:resource="#Quality_Criteria"/>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticContrastScanner">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 3</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#OpticSensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
-    <owl:disjointWith rdf:resource="#OpticColorSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CartesianRobot">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ParallelKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Robot"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ArticulatedRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SimpleKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#HexapodRobot"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >These machines move along the cartesian axes, i.e. they don't have revolute joints. Sometimes, there is a kind of portal where they move in. They are usually used for packing, palletizing and so on where they move heavy loads.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScaraRobot"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="CheckSurfaceForIrregularities">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Task and Skills of Optical Sensors v1.1
-part:7</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CheckPosition"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Check"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Powder-coat">
-    <owl:disjointWith rdf:resource="#Varnish"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >The powder becomes electrostatically charged and sprayed to the workpiece. Then it is burned into the workpiece.</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="#Coat"/>
-    <owl:disjointWith rdf:resource="#Electroplate"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hot-galvanise"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#LightSpotSize">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Quality_Criteria"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DriveSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Communicational"/>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#ElectricallySupported"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Physical_Properties_Sensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWeight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Reach"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Assemble">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Putting together two workpieces.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Fill"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Glue"/>
-    <owl:disjointWith rdf:resource="#Bolt"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Clinch"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Join"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Rivet"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Solder"/>
-    <owl:disjointWith rdf:resource="#Weld"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxLiftWeight">
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Quality_Criteria"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#Communicational"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ElectricallySupported"/>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DriveSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Physical_Properties_Gripper"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="GeneralParallelGripper">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="LineParallelGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CircularParallelGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="ParallelGripper"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="Part">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Merge"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Create a subset of a defined size from a superset.
-Separating is a special case of parting with size 1.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Assign"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Divide"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Unify"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Branch"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ModifyAmount"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#MinMeasurementRange">
-    <owl:disjointWith rdf:resource="#Quality_Criteria"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Physical_Properties_Sensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#ElectricallySupported"/>
-    <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DriveSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Communicational"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-  </owl:Class>
-  <owl:Class rdf:about="#TrasformImage">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FilterImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CompressDecompressImageData"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CalibrateImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ExtractEdges"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SegmentImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#BlobAnalysis"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ImageAnalysis"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#MountedDevicePosition">
-    <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalInterface"/>
-    <rdfs:subClassOf rdf:resource="#Arrangement"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Thermal-Separate">
-    <owl:disjointWith rdf:resource="#Broach"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cut"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Hone"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Cut a contour with the help of a laser, a plasma cutter or a cutting torch.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith rdf:resource="#Drill"/>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Mill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lathe"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <rdfs:subClassOf rdf:resource="#Separate"/>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <owl:disjointWith rdf:resource="#File"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Secure">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NotClassified"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Move"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ModifyAmount"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#ManipulationAndHandlingFunction"/>
-    <owl:disjointWith rdf:resource="#Store"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ToolInterface">
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DriveSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Communicational"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >How to connect a tool to a robot.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ElectricallySupported"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-    <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Quality_Criteria"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-  </owl:Class>
-  <owl:Class rdf:about="#NumberOfMovableClaws">
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ElectricallySupported"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith rdf:resource="#Quality_Criteria"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DriveSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#Communicational"/>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Physical_Properties_Gripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Sort">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ImageAnalysis"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Scan"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Detect"/>
-    <owl:disjointWith rdf:resource="#Read"/>
-    <rdfs:subClassOf rdf:resource="#SensorFunction"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Measure"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Determine"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Check"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Classify"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Divide">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Merge"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ModifyAmount"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Assign"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Unify"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Part"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Branch"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Create a subset from a superset. 
-The size of source and target sets does not necessarily have to be defined.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Physical_Properties_Gripper">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Physical_Properties"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Mold">
-    <owl:disjointWith rdf:resource="#ModifyWorkpieceProperties"/>
-    <rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
-    <owl:disjointWith rdf:resource="#Separate"/>
-    <owl:disjointWith rdf:resource="#Coat"/>
-    <owl:disjointWith rdf:resource="#Join"/>
-    <owl:disjointWith rdf:resource="#Form"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >From a formless material a workpiece is created. The original material can be in either form like gaseous, vaporous, fluid, solid (powderous, grainy), papescent, paste-like, ...</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#LaserClass">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#Quality_Criteria"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DriveSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Physical_Properties_Sensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#Communicational"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <owl:disjointWith rdf:resource="#ElectricallySupported"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#IntelligentRobot">
-    <owl:disjointWith rdf:resource="#VariableSequenceRobot"/>
-    <owl:disjointWith rdf:resource="#NumericalControl"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Introdution to Robotics
-(Analysis, System, Applications)
-Saeed B. Niku</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Robot"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#PlaybackRobot"/>
-    <rdfs:subClassOf rdf:resource="http://www.w3.org/2002/07/owl#Thing"/>
-    <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#DeprecatedClass"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Merge">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Unify"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Branch"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Combine subflows of material to a superflow.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Divide"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Assign"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Part"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ModifyAmount"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#ImageAnalysis">
-    <owl:disjointWith rdf:resource="#Detect"/>
-    <owl:disjointWith rdf:resource="#Sort"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Measure"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Classify"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Scan"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Check"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Determine"/>
-    <rdfs:subClassOf rdf:resource="#SensorFunction"/>
-    <owl:disjointWith rdf:resource="#Read"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Clinch">
-    <owl:disjointWith rdf:resource="#Assemble"/>
-    <rdfs:subClassOf rdf:resource="#Join"/>
-    <owl:disjointWith rdf:resource="#Weld"/>
-    <owl:disjointWith rdf:resource="#Glue"/>
-    <owl:disjointWith rdf:resource="#Solder"/>
-    <owl:disjointWith rdf:resource="#Bolt"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Rivet"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is a connection of metal sheets without any additional material. The workpieces are deformed between a stamp and a template to generate a pushbutton-like shape.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Fill"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Fill">
-    <owl:disjointWith rdf:resource="#Assemble"/>
-    <owl:disjointWith rdf:resource="#Bolt"/>
-    <owl:disjointWith rdf:resource="#Clinch"/>
-    <owl:disjointWith rdf:resource="#Glue"/>
-    <owl:disjointWith rdf:resource="#Weld"/>
-    <owl:disjointWith rdf:resource="#Solder"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Rivet"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Join"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Fill a workpiece with a cubic capacity.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#DriveSystem">
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#Communicational"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#Quality_Criteria"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ElectricallySupported"/>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <rdfs:subClassOf rdf:resource="#Physical_Properties_Robot"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="TactileProximitySwitch">
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="TactileSensor"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Precision">
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Quality_Criteria"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Communicational"/>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
-    <owl:disjointWith rdf:resource="#Repeatability"/>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#DriveSystem"/>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ElectricallySupported"/>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Rivet">
-    <rdfs:subClassOf rdf:resource="#Join"/>
-    <owl:disjointWith rdf:resource="#Glue"/>
-    <owl:disjointWith rdf:resource="#Assemble"/>
-    <owl:disjointWith rdf:resource="#Solder"/>
-    <owl:disjointWith rdf:resource="#Fill"/>
-    <owl:disjointWith rdf:resource="#Bolt"/>
-    <owl:disjointWith rdf:resource="#Weld"/>
-    <owl:disjointWith rdf:resource="#Clinch"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Connect workpieces with the help of a deformed, cylindrical connection element.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Physical_Properties_Sensor">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Physical_Properties"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Mill">
-    <owl:disjointWith rdf:resource="#File"/>
-    <owl:disjointWith rdf:resource="#Drill"/>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <owl:disjointWith rdf:resource="#Hone"/>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >The tool moves over the workpiece to remove chipping. The tool is fed in a linear motion over the workpiece while the tool is rotating.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cut"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lathe"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <owl:disjointWith rdf:resource="#Broach"/>
-    <rdfs:subClassOf rdf:resource="#Separate"/>
-  </owl:Class>
-  <owl:Class rdf:about="#IntelligentCtrl">
-    <owl:disjointWith rdf:resource="#NumericalCtrl"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#PlaybackCtrl"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This includes calculating up functions for setting positions and trajectories.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Grasp">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-Keep a workpiece temporarily in a given position and orientation.</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="#Secure"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Release"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Branch">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Divide a material flow into subflows.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Divide"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ModifyAmount"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Unify"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Merge"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Assign"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Part"/>
-  </owl:Class>
-  <owl:Class rdf:ID="ElectricalConnector">
-    <rdfs:subClassOf rdf:resource="#ToolInterface"/>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MechanicalConnector"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >How to connect a tool electrically.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#CircularParallelGripper">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LineParallelGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#GeneralParallelGripper"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ParallelGripper"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Thrust">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lathe"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Separate"/>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cut"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#File"/>
-    <owl:disjointWith rdf:resource="#Drill"/>
-    <owl:disjointWith rdf:resource="#Hone"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >The tool performs a cutting movement and a reverse movement.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Broach"/>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Sinter">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >By using powder material, a workpiece is formed. By heating the workpiece is hardened by avoiding a fluid phase.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Cast"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ElectrolyticSegregate"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Mold"/>
-  </owl:Class>
-  <owl:Class rdf:ID="OpticReflexSwitch">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="InductiveProximitySwitch"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 2</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="OpticThroughBeanSwitches"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#OpticSensor"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Mass">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ID"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#Cost"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Physical_Properties"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Fold">
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <owl:disjointWith rdf:resource="#Crush"/>
-    <owl:disjointWith rdf:resource="#True"/>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith rdf:resource="#Extrude"/>
-    <owl:disjointWith rdf:resource="#Deep-Draw"/>
-    <rdfs:subClassOf rdf:resource="#Form"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <owl:disjointWith rdf:resource="#Flang"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Buckle, squeeze or crop thin, malleable and/or flexible materials like sheet metals and plates.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Forge"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Lathe">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >The workpiece turns on a lathe. The cutting movement is performed by its turning movement. The tool is fixed and removes chips from the workpiece. Usually only rotation-symmetric workpieces are handled here.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith rdf:resource="#File"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cut"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Hone"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <rdfs:subClassOf rdf:resource="#Separate"/>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith rdf:resource="#Thrust"/>
-    <owl:disjointWith rdf:resource="#Drill"/>
-    <owl:disjointWith rdf:resource="#Broach"/>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-  </owl:Class>
-  <owl:Class rdf:ID="InductiveSensor">
-    <rdfs:subClassOf rdf:resource="#Sensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ModifyAmount">
-    <rdfs:subClassOf rdf:resource="#ManipulationAndHandlingFunction"/>
-    <owl:disjointWith rdf:resource="#Store"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Move"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NotClassified"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Secure"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Press">
-    <owl:disjointWith rdf:resource="#Flang"/>
-    <owl:disjointWith rdf:resource="#Forge"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Modify the surface of a solid body with the help of a stamp. The feed rate is very slow, although the pressure is very high.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <rdfs:subClassOf rdf:resource="#Form"/>
-    <owl:disjointWith rdf:resource="#Deep-Draw"/>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith rdf:resource="#True"/>
-    <owl:disjointWith rdf:resource="#Crush"/>
-    <owl:disjointWith rdf:resource="#Extrude"/>
-  </owl:Class>
-  <owl:Class rdf:about="#EncoderWireDrawDistanceSensor">
-    <owl:disjointWith rdf:resource="#EncoderLinearDistanceSensor"/>
-    <owl:disjointWith rdf:resource="#OpticDistanceSensorScanner"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticDistanceSensorReflector"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >distanceMeasurements.pdf
-SICK
-pag 4</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#EncoderSensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#UltrasonicDistanceSensor"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Hot-galvanise">
-    <owl:disjointWith rdf:resource="#Powder-coat"/>
-    <rdfs:subClassOf rdf:resource="#Coat"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >A metallic layer is put onto the workpieces by putting them into a smelter. This is mainly done to reduce corrosion.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Electroplate"/>
-    <owl:disjointWith rdf:resource="#Varnish"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Position">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Turn"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part from an undefined to a well-defined position. The part's orientation is not important here.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Pan"/>
-    <owl:disjointWith rdf:resource="#Orient"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Convey"/>
-    <owl:disjointWith rdf:resource="#Arrange"/>
-    <owl:disjointWith rdf:resource="#Pass"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Displace"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Feed"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Pick">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#NotClassified"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Picking is a sequence of moving  somewhere, activating a gripper and moving back again.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Place"/>
-    <owl:disjointWith rdf:resource="#MoveFromTo"/>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticSensor">
-    <rdfs:subClassOf rdf:resource="#Sensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Displace">
-    <owl:disjointWith rdf:resource="#Pass"/>
-    <owl:disjointWith rdf:resource="#Position"/>
-    <owl:disjointWith rdf:resource="#Pan"/>
-    <owl:disjointWith rdf:resource="#Arrange"/>
-    <owl:disjointWith rdf:resource="#Convey"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move translationally a part along a straight line. The part's orientiation remains unchanged.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Turn"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Orient"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Feed"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#ArticulatedRobot">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Robot"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SimpleKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CartesianRobot"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is the standard industrial robot-type with usually 5 to 7 joints.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScaraRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ParallelKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#HexapodRobot"/>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Turn">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
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-    <rdfs:subClassOf>
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-    <owl:disjointWith rdf:resource="#Pass"/>
-    <owl:disjointWith rdf:resource="#Displace"/>
-    <owl:disjointWith rdf:resource="#Convey"/>
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-  <owl:Class rdf:about="#Check">
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-    <owl:disjointWith rdf:resource="#Determine"/>
-    <owl:disjointWith rdf:resource="#ImageAnalysis"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-Check if a part fulfils given conditions.</rdfs:comment>
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-    <owl:disjointWith rdf:resource="#Detect"/>
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-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
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-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
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-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
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-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
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-    <owl:disjointWith rdf:resource="#ResponseTime"/>
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-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ElectricallySupported"/>
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-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
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-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Physical_Properties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
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-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith rdf:resource="#Precision"/>
-    <owl:disjointWith rdf:resource="#DriveSystem"/>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticThroughBeanSwitches">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InductiveProximitySwitch"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpticReflexSwitch"/>
-    <rdfs:subClassOf rdf:resource="#OpticSensor"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 2</rdfs:comment>
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-  <owl:Class rdf:about="#ParallelGripper">
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-      <owl:Class rdf:ID="AngleGripper"/>
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-  <owl:Class rdf:about="#InsideOrOutsidePicking">
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-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
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-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
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-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
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-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <rdfs:subClassOf rdf:resource="#Physical_Properties_Gripper"/>
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-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#ElectricallySupported"/>
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-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
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-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
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-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
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-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#DriveSystem"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#Quality_Criteria"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
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-  <owl:Class rdf:about="#Electro-discharge-machine">
-    <rdfs:subClassOf rdf:resource="#Separate"/>
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-    <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>
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-    <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"/>
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-    <owl:disjointWith rdf:resource="#Broach"/>
-    <owl:disjointWith rdf:resource="#Rub"/>
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-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cut"/>
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-  </owl:Class>
-  <owl:Class rdf:about="#Assign">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Create subsets of defined size or amount and move these subsets to a defined location.</rdfs:comment>
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-    <owl:disjointWith>
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-      <owl:Class rdf:about="#NumberOfJoints"/>
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-    <owl:disjointWith>
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-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
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-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
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-    <owl:disjointWith>
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-  </owl:Class>
-  <owl:Class rdf:about="#Robot">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Introdution to Robotics
-(Analysis, System, Applications)
-Saeed B. Niku</rdfs:comment>
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-    <rdfs:subClassOf>
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-    <owl:disjointWith>
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-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
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-    <owl:disjointWith rdf:resource="#Communicational"/>
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-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
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-    <owl:disjointWith rdf:resource="#Accuracy"/>
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-  <owl:Class rdf:about="#LineParallelGripper">
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-    <owl:disjointWith rdf:resource="#GeneralParallelGripper"/>
-    <rdfs:subClassOf rdf:resource="#ParallelGripper"/>
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-  <owl:Class rdf:about="#DetermineMotionOfObject">
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-    <owl:disjointWith rdf:resource="#DetermineOrientationOfObject"/>
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-  <owl:Class rdf:about="#Bead">
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-    <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>
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-    <owl:disjointWith rdf:resource="#Extrude"/>
-    <rdfs:subClassOf rdf:resource="#Form"/>
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-  <owl:Class rdf:about="#UltrasonicDistanceSensor">
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-    <rdfs:subClassOf>
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-    <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>
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-  <owl:Class rdf:about="#StoreUnOrdered">
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-      <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>
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-      <owl:Class rdf:about="#ID"/>
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-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#Cost"/>
-    <owl:disjointWith rdf:resource="#Mass"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Physical_Properties"/>
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-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
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-      <owl:Class rdf:about="#WorkCoordinates"/>
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-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <rdfs:subClassOf rdf:resource="#Physical_Properties_Gripper"/>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-    <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#ElectricallySupported"/>
-    <owl:disjointWith rdf:resource="#Communicational"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#Precision"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MaterialOfGripper">
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#ElectricallySupported"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <rdfs:subClassOf rdf:resource="#Physical_Properties_Gripper"/>
-    <owl:disjointWith rdf:resource="#Communicational"/>
-    <owl:disjointWith rdf:resource="#DriveSystem"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#Precision"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith rdf:resource="#Quality_Criteria"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Device">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:8</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Task"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:allValuesFrom rdf:resource="#Property"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:allValuesFrom rdf:resource="#Skill"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Property"/>
-    <owl:disjointWith rdf:resource="#Skill"/>
-    <rdfs:subClassOf rdf:resource="http://www.w3.org/2002/07/owl#Thing"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#MainFunction"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#ScaraRobot">
-    <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#CartesianRobot"/>
-    <owl:disjointWith rdf:resource="#HexapodRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SimpleKinematicRobot"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Robot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ParallelKinematicRobot"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Industrial type, but special kinematic arrangement. Well-known manufacturer: Bosch-Rexrodt.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#SimpleKinematicRobot">
-    <rdfs:subClassOf rdf:resource="#Robot"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Simple, sometimes small machines with reduced capabilities, e.g. with only 1 DOF. These can be devices which are arranged to more complex machines.
-Sometimes, the tool is already included in the robot, e.g. a gripper is already connected.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#ScaraRobot"/>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#CartesianRobot"/>
-    <owl:disjointWith rdf:resource="#HexapodRobot"/>
-    <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ParallelKinematicRobot"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#StoreInOrder">
-    <owl:disjointWith rdf:resource="#StorePartlyOrdered"/>
-    <owl:disjointWith rdf:resource="#StoreUnOrdered"/>
-    <rdfs:subClassOf rdf:resource="#Store"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Save workpieces which are geometrically defined in a well-defined position and/or orientation.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Cut">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Divide a workpiece into two parts.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Separate"/>
-    <owl:disjointWith rdf:resource="#Hone"/>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <owl:disjointWith rdf:resource="#Electro-discharge-machine"/>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <owl:disjointWith rdf:resource="#File"/>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith rdf:resource="#Drill"/>
-    <owl:disjointWith rdf:resource="#Thrust"/>
-    <owl:disjointWith rdf:resource="#Lathe"/>
-    <owl:disjointWith rdf:resource="#Broach"/>
-    <owl:disjointWith rdf:resource="#Saw"/>
-  </owl:Class>
-  <owl:Class rdf:about="#UltrasonicSensor">
-    <rdfs:subClassOf rdf:resource="#Sensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ExtractEdges">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CalibrateImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TrasformImage"/>
-    <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SegmentImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CompressDecompressImageData"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FilterImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#BlobAnalysis"/>
-  </owl:Class>
-  <owl:Class rdf:about="#AngleGripper">
-    <owl:disjointWith rdf:resource="#ParallelGripper"/>
-    <rdfs:subClassOf rdf:resource="#PincerGripper"/>
-  </owl:Class>
-  <owl:Class rdf:about="#NotClassified">
-    <rdfs:subClassOf rdf:resource="#ManipulationAndHandlingFunction"/>
-    <owl:disjointWith rdf:resource="#Store"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Move"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ModifyAmount"/>
-    <owl:disjointWith rdf:resource="#Secure"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CheckPosition">
-    <rdfs:subClassOf rdf:resource="#Check"/>
-    <owl:disjointWith rdf:resource="#CheckSurfaceForIrregularities"/>
-  </owl:Class>
-  <owl:Class rdf:about="#DeterminePositionOfObject">
-    <owl:disjointWith rdf:resource="#DetermineOrientationOfObject"/>
-    <rdfs:subClassOf rdf:resource="#Determine"/>
-    <owl:disjointWith rdf:resource="#DetermineMotionOfObject"/>
-  </owl:Class>
-  <owl:Class rdf:about="#EncoderSensor">
-    <rdfs:subClassOf rdf:resource="#Sensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Karthesian">
-    <owl:disjointWith rdf:resource="#AsFastAsPossible"/>
-    <owl:disjointWith rdf:resource="#Circular"/>
-    <rdfs:subClassOf rdf:resource="#MoveFromTo"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ParallelKinematicRobot">
-    <rdfs:subClassOf rdf:resource="#Robot"/>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
-    <owl:disjointWith rdf:resource="#ScaraRobot"/>
-    <owl:disjointWith rdf:resource="#HexapodRobot"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Special kinematic arrangement like the one built in SMErobot.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#CartesianRobot"/>
-    <owl:disjointWith rdf:resource="#SimpleKinematicRobot"/>
-  </owl:Class>
-  <owl:Class rdf:about="#SizeOfGripper">
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#ElectricallySupported"/>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <rdfs:subClassOf rdf:resource="#Physical_Properties_Gripper"/>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#Precision"/>
-    <owl:disjointWith rdf:resource="#Quality_Criteria"/>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#DriveSystem"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Communicational"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Measure">
-    <rdfs:subClassOf rdf:resource="#SensorFunction"/>
-    <owl:disjointWith rdf:resource="#Detect"/>
-    <owl:disjointWith rdf:resource="#Check"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-Gather a value as a multiple of a reference value.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Sort"/>
-    <owl:disjointWith rdf:resource="#Determine"/>
-    <owl:disjointWith rdf:resource="#Classify"/>
-    <owl:disjointWith rdf:resource="#Read"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Scan"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ImageAnalysis"/>
-  </owl:Class>
-  <owl:Class rdf:about="#FilterImage">
-    <owl:disjointWith rdf:resource="#TrasformImage"/>
-    <owl:disjointWith rdf:resource="#BlobAnalysis"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SegmentImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ExtractEdges"/>
-    <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith rdf:resource="#CompressDecompressImageData"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CalibrateImage"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#SegmentImage">
-    <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith rdf:resource="#FilterImage"/>
-    <owl:disjointWith rdf:resource="#CompressDecompressImageData"/>
-    <owl:disjointWith rdf:resource="#TrasformImage"/>
-    <owl:disjointWith rdf:resource="#ExtractEdges"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CalibrateImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#BlobAnalysis"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Unify">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Create a superset from subsets.
-The size of source and target sets does not necessarily have to be defined.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Divide"/>
-    <owl:disjointWith rdf:resource="#Merge"/>
-    <rdfs:subClassOf rdf:resource="#ModifyAmount"/>
-    <owl:disjointWith rdf:resource="#Branch"/>
-    <owl:disjointWith rdf:resource="#Assign"/>
-    <owl:disjointWith rdf:resource="#Part"/>
-  </owl:Class>
-  <owl:Class rdf:about="#PowerConsumption">
-    <rdfs:subClassOf rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
-    <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
-    <owl:disjointWith rdf:resource="#PhysicalInterface"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MountedDevicePosition"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-  </owl:Class>
-  <owl:Class rdf:ID="ElasticFingerGripper">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="JointFingerGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#FingerGripper"/>
-  </owl:Class>
-  <owl:Class rdf:about="#NumberOfJoints">
-    <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
-    <rdfs:subClassOf rdf:resource="#Physical_Properties_Robot"/>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#Communicational"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith rdf:resource="#DriveSystem"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Quality_Criteria"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#ElectricallySupported"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith rdf:resource="#Precision"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ElectrolyticSegregate">
-    <owl:disjointWith rdf:resource="#Cast"/>
-    <owl:disjointWith rdf:resource="#Sinter"/>
-    <rdfs:subClassOf rdf:resource="#Mold"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Move">
-    <owl:disjointWith rdf:resource="#Secure"/>
-    <rdfs:subClassOf rdf:resource="#ManipulationAndHandlingFunction"/>
-    <owl:disjointWith rdf:resource="#ModifyAmount"/>
-    <owl:disjointWith rdf:resource="#NotClassified"/>
-    <owl:disjointWith rdf:resource="#Store"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MinAmbientTemperature">
-    <owl:disjointWith rdf:resource="#PhysicalInterface"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
-    <owl:disjointWith rdf:resource="#MountedDevicePosition"/>
-    <owl:disjointWith rdf:resource="#PowerConsumption"/>
-    <rdfs:subClassOf rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Physical_Properties">
-    <rdfs:subClassOf rdf:resource="#Property"/>
-    <owl:disjointWith rdf:resource="#Quality_Criteria"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Feed">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part from one to another positition along a given trajectory. The part's orientation is given at each point of the trajectory.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Pass"/>
-    <rdfs:subClassOf rdf:resource="#Move"/>
-    <owl:disjointWith rdf:resource="#Pan"/>
-    <owl:disjointWith rdf:resource="#Displace"/>
-    <owl:disjointWith rdf:resource="#Orient"/>
-    <owl:disjointWith rdf:resource="#Position"/>
-    <owl:disjointWith rdf:resource="#Convey"/>
-    <owl:disjointWith rdf:resource="#Arrange"/>
-    <owl:disjointWith rdf:resource="#Turn"/>
-  </owl:Class>
-  <owl:Class rdf:about="#InductiveProximitySwitch">
-    <owl:disjointWith rdf:resource="#OpticThroughBeanSwitches"/>
-    <owl:disjointWith rdf:resource="#OpticReflexSwitch"/>
-    <rdfs:subClassOf rdf:resource="#InductiveSensor"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 2</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Scan">
-    <owl:disjointWith rdf:resource="#Read"/>
-    <owl:disjointWith rdf:resource="#Detect"/>
-    <owl:disjointWith rdf:resource="#Check"/>
-    <owl:disjointWith rdf:resource="#Sort"/>
-    <owl:disjointWith rdf:resource="#ImageAnalysis"/>
-    <rdfs:subClassOf rdf:resource="#SensorFunction"/>
-    <owl:disjointWith rdf:resource="#Determine"/>
-    <owl:disjointWith rdf:resource="#Classify"/>
-    <owl:disjointWith rdf:resource="#Measure"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#ScanningDistance">
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith rdf:resource="#Quality_Criteria"/>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <owl:disjointWith rdf:resource="#Communicational"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
-    <owl:disjointWith rdf:resource="#Precision"/>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#DriveSystem"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#NumberOfJoints"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#ElectricallySupported"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <rdfs:subClassOf rdf:resource="#Physical_Properties_Sensor"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-  </owl:Class>
-  <owl:Class rdf:ID="Manufacturing">
-    <rdfs:subClassOf rdf:resource="#Device"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Release">
-    <owl:disjointWith rdf:resource="#Grasp"/>
-    <rdfs:subClassOf rdf:resource="#Secure"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-Invert the grasping.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#JointFingerGripper">
-    <rdfs:subClassOf rdf:resource="#FingerGripper"/>
-    <owl:disjointWith rdf:resource="#ElasticFingerGripper"/>
-  </owl:Class>
-  <owl:Class rdf:about="#EnclosureRatingIP">
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#PhysicalInterface"/>
-    <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
-    <owl:disjointWith rdf:resource="#MountedDevicePosition"/>
-    <owl:disjointWith rdf:resource="#PowerConsumption"/>
-    <rdfs:subClassOf rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-  </owl:Class>
-  <owl:Class rdf:about="#TactileSensor">
-    <rdfs:subClassOf rdf:resource="#Sensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CalibrateImage">
-    <owl:disjointWith rdf:resource="#TrasformImage"/>
-    <owl:disjointWith rdf:resource="#ExtractEdges"/>
-    <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith rdf:resource="#CompressDecompressImageData"/>
-    <owl:disjointWith rdf:resource="#FilterImage"/>
-    <owl:disjointWith rdf:resource="#SegmentImage"/>
-    <owl:disjointWith rdf:resource="#BlobAnalysis"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ID">
-    <owl:disjointWith rdf:resource="#Cost"/>
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith rdf:resource="#Mass"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Plane">
-    <rdfs:subClassOf rdf:resource="#Separate"/>
-    <owl:disjointWith rdf:resource="#Lathe"/>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith rdf:resource="#Hone"/>
-    <owl:disjointWith rdf:resource="#Drill"/>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith rdf:resource="#Broach"/>
-    <owl:disjointWith rdf:resource="#Thrust"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is mainly used for wooden workpieces to remove chipping from the workpiece.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#File"/>
-    <owl:disjointWith rdf:resource="#Electro-discharge-machine"/>
-    <owl:disjointWith rdf:resource="#Cut"/>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticDistanceSensorReflector">
-    <rdfs:subClassOf rdf:resource="#OpticSensor"/>
-    <owl:disjointWith rdf:resource="#UltrasonicDistanceSensor"/>
-    <owl:disjointWith rdf:resource="#EncoderLinearDistanceSensor"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >distanceMeasurements.pdf
-SICK
-pag 4</rdfs:comment>
-    <owl:disjointWith rdf:resource="#EncoderWireDrawDistanceSensor"/>
-    <owl:disjointWith rdf:resource="#OpticDistanceSensorScanner"/>
-  </owl:Class>
-  <owl:Class rdf:about="#WorkCoordinates">
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#Communicational"/>
-    <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#MaximumForce"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith rdf:resource="#ElectricallySupported"/>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#Quality_Criteria"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#ScanningDistance"/>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
-    <owl:disjointWith rdf:resource="#Precision"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#DriveSystem"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith rdf:resource="#NumberOfJoints"/>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MechanicalConnector">
-    <rdfs:subClassOf rdf:resource="#ToolInterface"/>
-    <owl:disjointWith rdf:resource="#ElectricalConnector"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >How to connect a tool mechanically.
-This includes the size and is dependent on the Payload.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:ID="CapacitveSensor">
-    <rdfs:subClassOf rdf:resource="#Sensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#AdjustCurrentToGrip">
-    <rdfs:subClassOf rdf:resource="#Grasp"/>
-    <owl:disjointWith rdf:resource="#CloseFingers"/>
-    <owl:disjointWith rdf:resource="#AdjustVacuumToGrip"/>
-    <owl:disjointWith rdf:resource="#CloseClaws"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#MagnetGripper"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:ObjectProperty rdf:ID="canBePerformedBy">
-    <rdfs:domain rdf:resource="#Task"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasSkill">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-(Breakdown of Skills)</rdfs:comment>
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:about="#isSkillOf"/>
-    </owl:inverseOf>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasProperty">
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:ID="isPropertyOf"/>
-    </owl:inverseOf>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#isSkillOf">
-    <owl:inverseOf rdf:resource="#hasSkill"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#isPropertyOf">
-    <owl:inverseOf rdf:resource="#hasProperty"/>
-  </owl:ObjectProperty>
-  <owl:DatatypeProperty rdf:ID="value">
-    <rdfs:domain rdf:resource="#Property"/>
-  </owl:DatatypeProperty>
-  <owl:AllDifferent/>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:rest rdf:parseType="Resource">
-          <rdf:rest rdf:parseType="Resource">
-            <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-            >5.0</rdf:first>
-            <rdf:rest rdf:parseType="Resource">
-              <rdf:rest rdf:parseType="Resource">
-                <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                >7.0</rdf:first>
-                <rdf:rest rdf:parseType="Resource">
-                  <rdf:rest rdf:parseType="Resource">
-                    <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                    >5.5</rdf:first>
-                    <rdf:rest rdf:parseType="Resource">
-                      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                      >6.5</rdf:first>
-                      <rdf:rest rdf:parseType="Resource">
-                        <rdf:rest rdf:parseType="Resource">
-                          <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-                          <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                          >2.0</rdf:first>
-                        </rdf:rest>
-                        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                        >2.5</rdf:first>
-                      </rdf:rest>
-                    </rdf:rest>
-                  </rdf:rest>
-                  <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                  >4.5</rdf:first>
-                </rdf:rest>
-              </rdf:rest>
-              <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-              >6.0</rdf:first>
-            </rdf:rest>
-          </rdf:rest>
-          <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-          >4.0</rdf:first>
-        </rdf:rest>
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-        >3.5</rdf:first>
-      </rdf:rest>
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-      >3.0</rdf:first>
-    </owl:oneOf>
-  </owl:DataRange>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >cylindrical</rdf:first>
-        <rdf:rest rdf:parseType="Resource">
-          <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-          >spherical</rdf:first>
-          <rdf:rest rdf:parseType="Resource">
-            <rdf:rest rdf:parseType="Resource">
-              <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-              >scara</rdf:first>
-              <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-            </rdf:rest>
-            <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-            >articulated</rdf:first>
-          </rdf:rest>
-        </rdf:rest>
-      </rdf:rest>
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >carthesian</rdf:first>
-    </owl:oneOf>
-  </owl:DataRange>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:rest rdf:parseType="Resource">
-          <rdf:rest rdf:parseType="Resource">
-            <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-            >gears</rdf:first>
-            <rdf:rest rdf:parseType="Resource">
-              <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-              >harmonic</rdf:first>
-              <rdf:rest rdf:parseType="Resource">
-                <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                >ball-screw</rdf:first>
-                <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-              </rdf:rest>
-            </rdf:rest>
-          </rdf:rest>
-          <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-          >chains</rdf:first>
-        </rdf:rest>
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >belts</rdf:first>
-      </rdf:rest>
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >torque</rdf:first>
-    </owl:oneOf>
-  </owl:DataRange>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >multiple joints</rdf:first>
-      </rdf:rest>
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >elastic</rdf:first>
-    </owl:oneOf>
-  </owl:DataRange>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >venturi nozzle</rdf:first>
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:rest rdf:parseType="Resource">
-          <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-          <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-          >blower</rdf:first>
-        </rdf:rest>
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >vacuum pump</rdf:first>
-      </rdf:rest>
-    </owl:oneOf>
-  </owl:DataRange>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >joint</rdf:first>
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:rest rdf:parseType="Resource">
-          <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-          >world</rdf:first>
-          <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-        </rdf:rest>
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >tool</rdf:first>
-      </rdf:rest>
-    </owl:oneOf>
-  </owl:DataRange>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >inside</rdf:first>
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >outside</rdf:first>
-        <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-      </rdf:rest>
-    </owl:oneOf>
-  </owl:DataRange>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-      >2</rdf:first>
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:rest rdf:parseType="Resource">
-          <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-          >4</rdf:first>
-          <rdf:rest rdf:parseType="Resource">
-            <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-            <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-            >5</rdf:first>
-          </rdf:rest>
-        </rdf:rest>
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >3</rdf:first>
-      </rdf:rest>
-    </owl:oneOf>
-  </owl:DataRange>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >inside</rdf:first>
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >outside</rdf:first>
-        <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-      </rdf:rest>
-    </owl:oneOf>
-  </owl:DataRange>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:rest rdf:parseType="Resource">
-          <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-          <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-          >electric</rdf:first>
-        </rdf:rest>
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >pneumatic</rdf:first>
-      </rdf:rest>
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >hydraulic</rdf:first>
-    </owl:oneOf>
-  </owl:DataRange>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:rest rdf:parseType="Resource">
-          <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-          >electric</rdf:first>
-          <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-        </rdf:rest>
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >hydraulic</rdf:first>
-      </rdf:rest>
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >pneumatic</rdf:first>
-    </owl:oneOf>
-  </owl:DataRange>
-  <owl:AllDifferent/>
-<!--   <DiagnosticFunction rdf:ID="DiagnosticFunction_5">
 -->
-<!--     <isSkillOf>
 -->
-<!--       <Gripper rdf:ID="Gripper_4">
 -->
-<!--         <hasSkill rdf:resource="#DiagnosticFunction_5"/>
 -->
-<!--       </Gripper>
 -->
-<!--     </isSkillOf>
 -->
-<!--   </DiagnosticFunction>
 -->
-<!--   <owl:AllDifferent/>
 -->
-<!--   <AdjustVacuumToRelease rdf:ID="AdjustVacuumToRelease_1">
 -->
-<!--     <isSkillOf>
 -->
-<!--       <VacuumGripper rdf:ID="VacuumGripper_1">
 -->
-<!--         <hasSkill>
 -->
-<!--           <AdjustVacuumToGrip rdf:ID="AdjustVacuumToGrip_1">
 -->
-<!--             <isSkillOf>
 -->
-<!--               <Gripper rdf:ID="Gripper_1">
 -->
-<!--                 <hasSkill>
 -->
-<!--                   <OpenFingers rdf:ID="OpenFingers_1">
 -->
-<!--                     <isSkillOf rdf:resource="#Gripper_1"/>
 -->
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diff --git a/testontologies/ontologyV07.owl b/testontologies/ontologyV07.owl
deleted file mode 100644
index 81cfbcc0b9a3059d649ec541e29fc33dcc45efa2..0000000000000000000000000000000000000000
--- a/testontologies/ontologyV07.owl
+++ /dev/null
@@ -1,6604 +0,0 @@
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-      <owl:Class rdf:ID="ScaraRobot"/>
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-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
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-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Task and Skills of Optical Sensors v1.1
-part:7</rdfs:comment>
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-        </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>
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-<!--               <VacuumGripper rdf:ID="Schmalz_FSGPL_200_NBR-55_G1-2-IG">
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-<!--                 <hasProperty>
 -->
-<!--                   <DiameterOfGripper rdf:ID="DiameterOfGripper_200">
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-<!--                     <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
 -->
-<!--                     >0.0</value>
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-<!--                     <isPropertyOf rdf:resource="#Schmalz_FSGPL_200_NBR-55_G1-2-IG"/>
 -->
-<!--                   </DiameterOfGripper>
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-<!--                 </hasProperty>
 -->
-<!--                 <hasSkill rdf:resource="#AdjustVacuumToGrip_16"/>
 -->
-<!--                 <hasProperty>
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-<!--                   <Material rdf:ID="Material_Perbunan">
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-<!--                     <isPropertyOf rdf:resource="#Schmalz_FSGPL_200_NBR-55_G1-2-IG"/>
 -->
-<!--                     <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
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-<!--                     >Perbunan NBR 55+-5</value>
 -->
-<!--                   </Material>
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-<!--                 </hasProperty>
 -->
-<!--                 <hasProperty>
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-<!--                   <MaximumForce rdf:ID="MaximumForce_850">
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-<!--                     <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
 -->
-<!--                     >0.0</value>
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-<!--                     <isPropertyOf rdf:resource="#Schmalz_FSGPL_200_NBR-55_G1-2-IG"/>
 -->
-<!--                   </MaximumForce>
 -->
-<!--                 </hasProperty>
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-<!--                 <hasProperty>
 -->
-<!--                   <Worm rdf:ID="Worm_22">
 -->
-<!--                     <isPropertyOf rdf:resource="#Schmalz_FSGPL_200_NBR-55_G1-2-IG"/>
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-<!--                     <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
 -->
-<!--                     >Inside</value>
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-<!--                   </Worm>
 -->
-<!--                 </hasProperty>
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-<!--                 <hasProperty>
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-<!--                   <WormDiameter rdf:ID="WormDiameter_G1-2">
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-<!--                     <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>
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-<!--             </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"
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-<!--             >M5</value>
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-<!--             <isPropertyOf rdf:resource="#Schmalz_FSGA_20_SI-55_M5-AG"/>
 -->
-<!--           </WormDiameter>
 -->
-<!--         </hasProperty>
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 -->
-<!--           <DiameterOfGripper rdf:ID="DiameterOfGripper_20">
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-<!--             <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>
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-<!--         <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 -->
diff --git a/testontologies/ontologyV07_instances.owl b/testontologies/ontologyV07_instances.owl
deleted file mode 100644
index af3de8dbc15d8887d7ea2f17dc90ff3c3b2c7d71..0000000000000000000000000000000000000000
--- a/testontologies/ontologyV07_instances.owl
+++ /dev/null
@@ -1,1040 +0,0 @@
-  <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>
diff --git a/testontologies/phony_instances.owl b/testontologies/phony_instances.owl
deleted file mode 100644
index ffa1a86f9946ce556a2a9da09700d2566dc9423e..0000000000000000000000000000000000000000
--- a/testontologies/phony_instances.owl
+++ /dev/null
@@ -1,4 +0,0 @@
-<VacuumGripper>
-Hej Världen
-</VacuumGripper>
-
diff --git a/testontologies/small_v06.owl b/testontologies/small_v06.owl
deleted file mode 100644
index 869040d73570e91161eb26a37b358d5e7a8b7412..0000000000000000000000000000000000000000
--- a/testontologies/small_v06.owl
+++ /dev/null
@@ -1,716 +0,0 @@
-<?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="Displace">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Position"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Pass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Pan"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Arrange"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Convey"/>
-    </owl:disjointWith>
-    <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:ID="Turn"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Orient"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Feed"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Move"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Turn">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part from one to another orientation by turning it around an axis which intersects with the part.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Position"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Orient"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Feed"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pan"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrange"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Convey"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Displace"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Move">
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="ManipulationAndHandlingFunction"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Store"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="MagnetGripper">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="FingerGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Gripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="VacuumGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="PincerGripper"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Orient">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Feed"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Turn"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pan"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Convey"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Displace"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Position"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrange"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Move"/>
-    <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:ID="ParallelGripper">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PincerGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="AngleGripper"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Arrange">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Feed"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pan"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Move"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Convey"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Position"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Displace"/>
-    <owl:disjointWith rdf:resource="#Orient"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part from an undefined to a well-defined orientation and position.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Turn"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Feed">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part from one to another positition along a given trajectory. The part's orientation is given at each point of the trajectory.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pass"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Move"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pan"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Displace"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Position"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Orient"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Convey"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Arrange"/>
-    <owl:disjointWith rdf:resource="#Turn"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Gripper">
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="ManipulationAndHandling"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="StorePartlyOrdered">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Store"/>
-    </rdfs:subClassOf>
-    <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="#ManipulationAndHandlingFunction">
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="MainFunction"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="Manufacturing">
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Device"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Store">
-    <rdfs:subClassOf rdf:resource="#ManipulationAndHandlingFunction"/>
-    <owl:disjointWith rdf:resource="#Move"/>
-  </owl:Class>
-  <owl:Class rdf:ID="Task">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Property"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Device"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Skill"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MainFunction">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="AdditionalFunction"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Skill"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-(Breakdown of Skills)</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:ID="JointFingerGripper">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#FingerGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ElasticFingerGripper"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="LineParallelGripper">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CircularParallelGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="GeneralParallelGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#ParallelGripper"/>
-  </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>
-      <owl:Class rdf:about="#Convey"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Feed"/>
-    <owl:disjointWith rdf:resource="#Orient"/>
-    <owl:disjointWith rdf:resource="#Displace"/>
-    <owl:disjointWith rdf:resource="#Turn"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Position"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pan"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Move"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Pan">
-    <rdfs:subClassOf rdf:resource="#Move"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Position"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Pass"/>
-    <owl:disjointWith rdf:resource="#Displace"/>
-    <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 rdf:resource="#Turn"/>
-    <owl:disjointWith rdf:resource="#Feed"/>
-    <owl:disjointWith rdf:resource="#Orient"/>
-  </owl:Class>
-  <owl:Class rdf:about="#PincerGripper">
-    <rdfs:subClassOf rdf:resource="#Gripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FingerGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MagnetGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#VacuumGripper"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="ID">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Cost"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Property"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#CircularParallelGripper">
-    <owl:disjointWith rdf:resource="#LineParallelGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#GeneralParallelGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#ParallelGripper"/>
-  </owl:Class>
-  <owl:Class rdf:ID="Assembly">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Device"/>
-    </rdfs:subClassOf>
-  </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="#AdditionalFunction">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-(Breakdown of Skills)</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Skill"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MainFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Convey">
-    <owl:disjointWith rdf:resource="#Turn"/>
-    <owl:disjointWith rdf:resource="#Orient"/>
-    <owl:disjointWith rdf:resource="#Feed"/>
-    <owl:disjointWith rdf:resource="#Displace"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part (or transported material) from one undefined to another undefined position. The trajectory and the orientation of the parts while moved are not necessarily defined.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Pass"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Position"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Pan"/>
-    <rdfs:subClassOf rdf:resource="#Move"/>
-    <owl:disjointWith rdf:resource="#Arrange"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Device">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:8</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Task"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:allValuesFrom>
-          <owl:Class rdf:about="#Property"/>
-        </owl:allValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasSkill"/>
-        </owl:onProperty>
-        <owl:allValuesFrom>
-          <owl:Class rdf:about="#Skill"/>
-        </owl:allValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Property"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Skill"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#MainFunction"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="http://www.w3.org/2002/07/owl#Thing"/>
-  </owl:Class>
-  <owl:Class rdf:about="#FingerGripper">
-    <owl:disjointWith rdf:resource="#PincerGripper"/>
-    <rdfs:subClassOf rdf:resource="#Gripper"/>
-    <owl:disjointWith rdf:resource="#MagnetGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#VacuumGripper"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#StoreInOrder">
-    <owl:disjointWith rdf:resource="#StorePartlyOrdered"/>
-    <owl:disjointWith rdf:resource="#StoreUnOrdered"/>
-    <rdfs:subClassOf rdf:resource="#Store"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Save workpieces which are geometrically defined in a well-defined position and/or orientation.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#GeneralParallelGripper">
-    <owl:disjointWith rdf:resource="#LineParallelGripper"/>
-    <owl:disjointWith rdf:resource="#CircularParallelGripper"/>
-    <rdfs:subClassOf rdf:resource="#ParallelGripper"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Property">
-    <owl:disjointWith rdf:resource="#Device"/>
-    <owl:disjointWith rdf:resource="#Task"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Skill"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#AngleGripper">
-    <owl:disjointWith rdf:resource="#ParallelGripper"/>
-    <rdfs:subClassOf rdf:resource="#PincerGripper"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ManipulationAndHandling">
-    <rdfs:subClassOf rdf:resource="#Device"/>
-  </owl:Class>
-  <owl:Class rdf:about="#VacuumGripper">
-    <owl:disjointWith rdf:resource="#MagnetGripper"/>
-    <owl:disjointWith rdf:resource="#PincerGripper"/>
-    <owl:disjointWith rdf:resource="#FingerGripper"/>
-    <rdfs:subClassOf rdf:resource="#Gripper"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Cost">
-    <owl:disjointWith rdf:resource="#ID"/>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-  </owl:Class>
-  <owl:Class rdf:ID="IntelligentRobot">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Introdution to Robotics
-(Analysis, System, Applications)
-Saeed B. Niku</rdfs:comment>
-    <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#DeprecatedClass"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ElasticFingerGripper">
-    <owl:disjointWith rdf:resource="#JointFingerGripper"/>
-    <rdfs:subClassOf rdf:resource="#FingerGripper"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Position">
-    <owl:disjointWith rdf:resource="#Turn"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part from an undefined to a well-defined position. The part's orientation is not important here.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Orient"/>
-    <owl:disjointWith rdf:resource="#Pan"/>
-    <rdfs:subClassOf rdf:resource="#Move"/>
-    <owl:disjointWith rdf:resource="#Convey"/>
-    <owl:disjointWith rdf:resource="#Arrange"/>
-    <owl:disjointWith rdf:resource="#Pass"/>
-    <owl:disjointWith rdf:resource="#Displace"/>
-    <owl:disjointWith rdf:resource="#Feed"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Skill">
-    <owl:disjointWith rdf:resource="#Device"/>
-    <rdfs:subClassOf rdf:resource="http://www.w3.org/2002/07/owl#Thing"/>
-    <owl:disjointWith rdf:resource="#Property"/>
-    <owl:disjointWith rdf:resource="#Task"/>
-    <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>
-      <owl:Restriction>
-        <owl:allValuesFrom rdf:resource="#Device"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="isSkillOf"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:ObjectProperty rdf:ID="canBePerformedBy">
-    <rdfs:domain rdf:resource="#Task"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasSkill">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-(Breakdown of Skills)</rdfs:comment>
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:about="#isSkillOf"/>
-    </owl:inverseOf>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasProperty">
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:ID="isPropertyOf"/>
-    </owl:inverseOf>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#isSkillOf">
-    <owl:inverseOf rdf:resource="#hasSkill"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#isPropertyOf">
-    <owl:inverseOf rdf:resource="#hasProperty"/>
-  </owl:ObjectProperty>
-  <owl:DatatypeProperty rdf:ID="value">
-    <rdfs:domain rdf:resource="#Property"/>
-  </owl:DatatypeProperty>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:rest rdf:parseType="Resource">
-          <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-          >electric</rdf:first>
-          <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-        </rdf:rest>
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >hydraulic</rdf:first>
-      </rdf:rest>
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >pneumatic</rdf:first>
-    </owl:oneOf>
-  </owl:DataRange>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:rest 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"
-              >scara</rdf:first>
-            </rdf:rest>
-            <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-            >articulated</rdf:first>
-          </rdf:rest>
-          <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-          >spherical</rdf:first>
-        </rdf:rest>
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >cylindrical</rdf:first>
-      </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:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >joint</rdf:first>
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:rest rdf:parseType="Resource">
-          <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-          <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-          >world</rdf:first>
-        </rdf:rest>
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >tool</rdf:first>
-      </rdf:rest>
-    </owl:oneOf>
-  </owl:DataRange>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >inside</rdf:first>
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >outside</rdf:first>
-        <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-      </rdf:rest>
-    </owl:oneOf>
-  </owl:DataRange>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >venturi nozzle</rdf:first>
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >vacuum pump</rdf:first>
-        <rdf:rest rdf:parseType="Resource">
-          <rdf: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:rest>
-    </owl:oneOf>
-  </owl:DataRange>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >multiple joints</rdf:first>
-      </rdf:rest>
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >elastic</rdf:first>
-    </owl:oneOf>
-  </owl:DataRange>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >torque</rdf:first>
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >belts</rdf:first>
-        <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"
-              >harmonic</rdf:first>
-              <rdf:rest rdf:parseType="Resource">
-                <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                >ball-screw</rdf:first>
-                <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-              </rdf:rest>
-            </rdf:rest>
-            <rdf: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: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#float"
-        >3.5</rdf:first>
-        <rdf:rest rdf:parseType="Resource">
-          <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-          >4.0</rdf:first>
-          <rdf:rest rdf:parseType="Resource">
-            <rdf:rest rdf:parseType="Resource">
-              <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-              >6.0</rdf:first>
-              <rdf:rest rdf:parseType="Resource">
-                <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                >7.0</rdf:first>
-                <rdf:rest rdf:parseType="Resource">
-                  <rdf:rest rdf:parseType="Resource">
-                    <rdf:rest rdf:parseType="Resource">
-                      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                      >6.5</rdf:first>
-                      <rdf:rest rdf:parseType="Resource">
-                        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                        >2.5</rdf:first>
-                        <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:rest>
-                    </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:rest>
-            <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-            >5.0</rdf:first>
-          </rdf:rest>
-        </rdf:rest>
-      </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"
-        >outside</rdf:first>
-        <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-      </rdf:rest>
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >inside</rdf:first>
-    </owl:oneOf>
-  </owl:DataRange>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:rest rdf:parseType="Resource">
-          <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-          <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-          >electric</rdf:first>
-        </rdf:rest>
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >pneumatic</rdf:first>
-      </rdf:rest>
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >hydraulic</rdf:first>
-    </owl:oneOf>
-  </owl:DataRange>
-  <owl: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:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >3</rdf:first>
-        <rdf:rest rdf:parseType="Resource">
-          <rdf:rest rdf:parseType="Resource">
-            <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-            >5</rdf:first>
-            <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-          </rdf:rest>
-          <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-          >4</rdf:first>
-        </rdf:rest>
-      </rdf:rest>
-    </owl:oneOf>
-  </owl:DataRange>
-  <owl:AllDifferent/>
-</rdf:RDF>
-
-<!-- Created with Protege (with OWL Plugin 2.2, Build 331)  http://protege.stanford.edu -->
diff --git a/testontologies/small_v08.owl b/testontologies/small_v08.owl
deleted file mode 100644
index 7daeae4d987f2c829917e9b2cd9aa7d4d08f4c9d..0000000000000000000000000000000000000000
--- a/testontologies/small_v08.owl
+++ /dev/null
@@ -1,91 +0,0 @@
-  <VacuumGripper rdf:ID="Schmalz_FSGPL_200_NBR-55_G1-2-IG">
-    <hasProperty>
-      <DiameterOfGripper rdf:ID="DiameterOfGripper_200">
-        <isPropertyOf rdf:resource="#Schmalz_FSGPL_200_NBR-55_G1-2-IG"/>
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-        >200.0</value>
-      </DiameterOfGripper>
-    </hasProperty>
-    <hasProperty>
-      <Worm rdf:ID="Worm_Inside">
-        <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>
-    <hasSkill>
-      <AdjustVacuumToGrip rdf:ID="AdjustVacuumToGrip_16">
-        <isSkillOf rdf:resource="#Schmalz_FSGPL_200_NBR-55_G1-2-IG"/>
-        <isSkillOf>
-          <VacuumGripper rdf:ID="Schmalz_FSGA_20_SI-55_M5-AG">
-            <hasSkill rdf:resource="#AdjustVacuumToGrip_16"/>
-            <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>
-              <Worm rdf:ID="Worm_Outside">
-                <isPropertyOf rdf:resource="#Schmalz_FSGA_20_SI-55_M5-AG"/>
-                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                >Outside</value>
-              </Worm>
-            </hasProperty>
-            <hasProperty>
-              <DiameterOfGripper rdf:ID="DiameterOfGripper_20">
-                <isPropertyOf rdf:resource="#Schmalz_FSGA_20_SI-55_M5-AG"/>
-                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                >20.0</value>
-              </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>
-            <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>
-            <hasProperty>
-              <MaxForce 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"
-                >4.7</value>
-              </MaxForce>
-            </hasProperty>
-          </VacuumGripper>
-        </isSkillOf>
-      </AdjustVacuumToGrip>
-    </hasSkill>
-    <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>
-      <MaxForce rdf:ID="MaximumForce_850">
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-        >850.0</value>
-        <isPropertyOf rdf:resource="#Schmalz_FSGPL_200_NBR-55_G1-2-IG"/>
-      </MaxForce>
-    </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 rdf:resource="#AdjustVacuumToRelease_1"/>
-  </VacuumGripper>
-
-<!-- Created with Protege (with OWL Plugin 2.2, Build 311)  http://protege.stanford.edu -->
diff --git a/testontologies/small_v09.owl b/testontologies/small_v09.owl
deleted file mode 100644
index 3a6aed586b450ea947c908eaea5983afc8e8de29..0000000000000000000000000000000000000000
--- a/testontologies/small_v09.owl
+++ /dev/null
@@ -1,6666 +0,0 @@
-<?xml version="1.0"?>
-<rdf:RDF
-    xmlns="http://www.owl-ontologies.com/siaras.owl#"
-    xmlns:protege="http://protege.stanford.edu/plugins/owl/protege#"
-    xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
-    xmlns:xsd="http://www.w3.org/2001/XMLSchema#"
-    xmlns:rdfs="http://www.w3.org/2000/01/rdf-schema#"
-    xmlns:owl="http://www.w3.org/2002/07/owl#"
-    xmlns:daml="http://www.daml.org/2001/03/daml+oil#"
-    xmlns:p1="http://www.owl-ontologies.com/assert.owl#"
-    xmlns:dc="http://purl.org/dc/elements/1.1/"
-  xml:base="http://www.owl-ontologies.com/siaras.owl">
-  <owl:Ontology rdf:about=""/>
-  <owl:Class rdf:ID="ReadOpticalCharacters">
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Read"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Task and Skills of Optical Sensors v1.1
-part:7</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Read2DMatrixCode"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ReadBarCode"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="DetectObject">
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Detect"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="DetectCollision"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="DetectColor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="DetectContrast"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="DetectLuminescence"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 2</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:ID="Geometry">
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="DeviceProperty"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="PhysicalProperties"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Cost"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Arrangement"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Timing"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="QualityCriteria"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Identifier"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Communication"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="PhysicalPropertiesSensor">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaxCurrentConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Diameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaxVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MechanicalResistance"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Width"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MinVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Length"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaxForce"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#DetectLuminescence">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 5</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DetectColor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DetectContrast"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DetectCollision"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DetectObject"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Detect"/>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:ID="OpticLuminescenceScanner"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="isSkillOf"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="AngleGripper">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ParallelGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="PincerGripper"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="Rivet">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Assemble"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Bolt"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Solder"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Glue"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Clinch"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Fill"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Connect workpieces with the help of a deformed, cylindrical connection element.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Weld"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Join"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="ShapeOfClaws">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="NumberOfFingers"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="TypeOfVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaxLiftWeight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaxLiftWay"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaximumVacuum"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="ClassifyObject">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SortObjects"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Classify"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Read">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Detect"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Scan"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Classify"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Measure"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ImageAnalysis"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Check"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="SensorFunction"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Task and Skills of Optical Sensors v1.1
-part:7</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:ID="Orient">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Feed"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Move"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Turn"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Displace"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Position"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Pass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Arrange"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Pan"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part from an undefined to a well-defined orientation. The part's position is not important here.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Convey"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Convey">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pan"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part (or transported material) from one undefined to another undefined position. The trajectory and the orientation of the parts while moved are not necessarily defined.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Orient"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Turn"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Position"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Displace"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Feed"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrange"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="MeasureDistance">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureMotionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureVolume"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureTorque"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureDiameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureArea"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureSpeed"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Measure"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxAmbientTemperature">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Width"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxCurrentConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Diameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Length"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in degrees celsius</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="Object">
-    <rdfs:subClassOf rdf:resource="http://www.w3.org/2002/07/owl#Thing"/>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Skill"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#List"/>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Operation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ObjectBase"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Task"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Property"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is basically the world.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasAssembly"/>
-        </owl:onProperty>
-        <owl:maxCardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:maxCardinality>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="CheckSurfaceForIrregularities">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Check"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Task and Skills of Optical Sensors v1.1
-part:7</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CheckPresence"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Count"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CheckPosition"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Glue">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Connect workpieces with the help of a glue. This is done by physical interaction of the glue at the workpieces' interfaces.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Solder"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Rivet"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Assemble"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weld"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bolt"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Join"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Fill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Clinch"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#TypeOfVacuum">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWay"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWeight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#EnclosureRatingIP">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Length"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxCurrentConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Width"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Diameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Pass">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Convey"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Turn"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Feed"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pan"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Orient"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrange"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part from one to another positition along an undefined trajectory. The part's orientation remains unchanged.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Position"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Displace"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureTorque">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Measure"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureArea"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureVolume"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureMotionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureSpeed"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="CompoundSkills">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="DiagnosticFunction"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MainFunction"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="AdditionalFunction"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:maxCardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:maxCardinality>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasSubskill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasSkill"/>
-        </owl:onProperty>
-        <owl:maxCardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:maxCardinality>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Skill"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="Branch">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Divide a material flow into subflows.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="ModifyAmount"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Partition"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Assign"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Merge"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Unify"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Divide"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="Thermal-Separate">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Mill"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Cut"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Thrust"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Lathe"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Cut a contour with the help of a laser, a plasma cutter or a cutting torch.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Lap"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Broach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Hone"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Rub"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="File"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Grind"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Saw"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxLiftWeight">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in kg</rdfs:comment>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWay"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="TactileSensor">
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Sensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="EncoderSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="InductiveSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="OpticSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="UltrasonicSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MagneticSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CapacitveSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="TorqueForceSensor"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="LoadParameterSet">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SaveParameterSet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Calibrate"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SetParameterValue"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Reset"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#AdditionalFunction"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Communication">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrangement"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Geometry"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Timing"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Identifier"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#DeviceProperty"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cost"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#SizeOfGripper">
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWay"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="Bend">
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Form"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Stretch-Form"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Roll"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Deep-Draw"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Forge"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Extrude"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Bead"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="True"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Fold"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Flang"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Put a bending moment to the material which causes a malleable, i.e. permanent deformation.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Crush"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticSensor">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Sensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EncoderSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#UltrasonicSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MagneticSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TorqueForceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InductiveSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CapacitveSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TactileSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureAngle">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureSpeed"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureVolume"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Measure"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureMotionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureArea"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="WheelEncoder">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="WireDrawEncoder"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="LinearEncoder"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#EncoderSensor"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#ModifyAmount">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Secure"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Move"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Store"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="ManipulationAndHandlingFunction"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Payload">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxCurrentConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in kg</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Width"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Diameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Length"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-  </owl:Class>
-  <owl:Class rdf:ID="NumberOfJoints">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="TypeOfActuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Reachability"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="StoreUnOrdered">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="StorePartlyOrdered"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="StoreInOrder"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Store"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Save workpieces which are geometrically defined in an undefined position and orientation.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Measure">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-Gather a value as a multiple of a reference value.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#SensorFunction"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ImageAnalysis"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Scan"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Read"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Classify"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Check"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Detect"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="OpticContrastScanner">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticLuminescenceScanner"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="OpticDistanceSensor"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#OpticSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="OpticColorSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SmartCamera"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="LightGrid"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="OpticSwitch"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="LaserScanner2D"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="VisionSensor"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 3</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#DetectColor">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DetectCollision"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DetectObject"/>
-    <owl:disjointWith rdf:resource="#DetectLuminescence"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DetectContrast"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#OpticColorSensor"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Detect"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 4</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#PhysicalProperties">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Identifier"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Communication"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cost"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrangement"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Geometry"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#DeviceProperty"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Timing"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="SwitchingFrequency">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Timing"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in Kilohertz</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CycleTime"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ResponseTime"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="WorkCoordinates">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MountedDeviceOrientation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CoordinateReferenceSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MountedDevicePosition"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Arrangement"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="isEditable">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DeviceProperty"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SkillProperty"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This attribute indicates whether the property is supposed to be provided each time a skill is invoked or just once.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Property"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#WireDrawEncoder">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LinearEncoder"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#WheelEncoder"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#EncoderSensor"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >distanceMeasurements.pdf
-SICK
-pag 4</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Reachability">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfActuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfJoints"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Bolt">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Solder"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Assemble"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Join"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Fill"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Glue"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weld"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Rivet"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Bolts are removable elements to create a connection between two or more workpieces.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Clinch"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Lap">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Saw"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Rub"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cut"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Grind"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lathe"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Flatten surfaces while keeping very low tolerances. Moveable, rolling grains are used between the lapping plate and the workpiece.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Mill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#File"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#DeviceProperty">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Identifier"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SkillProperty"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#isEditable"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Property"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Fold">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Buckle, squeeze or crop thin, malleable and/or flexible materials like sheet metals and plates.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Roll"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Forge"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#True"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Form"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Deep-Draw"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Crush"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Stretch-Form"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Extrude"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#InsideOrOutsidePicking">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWay"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-  </owl:Class>
-  <owl:Class rdf:ID="ElasticFingerGripper">
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="FingerGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="JointFingerGripper"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="ManipulationAndHandling">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Manufacturing"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Sensor"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#ManipulationAndHandlingFunction"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Device"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="AdjustCurrentToGrip">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CloseClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="AdjustVacuumToGrip"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CloseFingers"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:ID="MagnetGripper"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Grasp"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticLuminescenceScanner">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 5</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticColorSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightGrid"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserScanner2D"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticSwitch"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#VisionSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SmartCamera"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticDistanceSensor"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#OpticSensor"/>
-  </owl:Class>
-  <owl:Class rdf:ID="Workpiece">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Device"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Object"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:cardinality>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasIdentifier"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasProperty"/>
-        </owl:onProperty>
-        <owl:allValuesFrom>
-          <owl:Class rdf:about="#Property"/>
-        </owl:allValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="LightType">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="FieldOfView"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaxScanAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MinMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="LightSpotSize"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaxMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="LaserClass"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Merge">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Combine subflows of material to a superflow.</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="#ModifyAmount"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Partition"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Assign"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Divide"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Branch"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Unify"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Manufacturing">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Sensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ManipulationAndHandling"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:ID="ManufacturingFunction"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Device"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Saw">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lathe"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >A steel plate with teeth attached to it removes thin chippings by moving into the material. This is widely used for wood, stone, metal, plastics and other solid materials.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Grind"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cut"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#File"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Rub"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Mill"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Feed">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Turn"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part from one to another position along a given trajectory. The part's orientation is given at each point of the trajectory.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrange"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Pass"/>
-    <owl:disjointWith rdf:resource="#Orient"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Displace"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Convey"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Position"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pan"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="Temper">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Anneal"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Age"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Influence the mechanical stresses of the workpiece. The material is given a regular structure.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="ModifyWorkpieceProperties"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Calibrate">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#AdditionalFunction"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#LoadParameterSet"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reset"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SaveParameterSet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SetParameterValue"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#AdditionalFunction">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiagnosticFunction"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MainFunction"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CompoundSkills"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Skill"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-(Breakdown of Skills)</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:ID="CompressImageData">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="BlobAnalysis"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="DecompressImageData"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="TransformImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="FilterImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SegmentImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ExtractEdges"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CalibrateImage"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ImageAnalysis"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#MaximumVacuum">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWay"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Mill">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lathe"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Rub"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#File"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cut"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >The tool moves over the workpiece to remove chipping. The tool is fed in a linear motion over the workpiece while the tool is rotating.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Grind"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="CompoundManipulationAndHandlingFunction">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CompountSensorFunction"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CompoundManufacturingFunction"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#CompoundSkills"/>
-  </owl:Class>
-  <owl:Class rdf:ID="MechanicalConnector">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ElectricalConnector"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >How to connect a tool mechanically.
-This includes the size and is dependent on the Payload.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:ID="PerformSelfTest">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#DiagnosticFunction"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CollectStatisticalData"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#DetectContrast">
-    <owl:disjointWith rdf:resource="#DetectColor"/>
-    <owl:disjointWith rdf:resource="#DetectLuminescence"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DetectCollision"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DetectObject"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Detect"/>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#OpticContrastScanner"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:11
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 3</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:ID="OpenFingers">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#FingerGripper"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Release"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="AdjustCurrentToRelease"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="OpenClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="AdjustVacuumToRelease"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#AdjustVacuumToGrip">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:ID="VacuumGripper"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Grasp"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#AdjustCurrentToGrip"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CloseClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CloseFingers"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="Circular">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Karthesian"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="AsFastAsPossible"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Feed"/>
-  </owl:Class>
-  <owl:Class rdf:ID="Mold">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Form"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Join"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Coat"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ModifyWorkpieceProperties"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >From a formless material a workpiece is created. The original material can be in either form like gaseous, vaporous, fluid, solid (powderous, grainy), papescent, paste-like, ...</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ManufacturingFunction"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureMotionOfObject">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureTemperature"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureSpeed"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureVolume"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureArea"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureAngle"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Unify">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Partition"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Assign"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Branch"/>
-    <owl:disjointWith rdf:resource="#Merge"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Divide"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Create a superset from subsets.
-The size of source and target sets does not necessarily have to be defined.</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="#ModifyAmount"/>
-  </owl:Class>
-  <owl:Class rdf:ID="OpticThroughBeamSwitch">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#OpticSwitch"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 2</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="OpticProximitySwitch"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="OpticReflexSwitch"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxMeasurementRange">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >In mm.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxScanAngle"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FieldOfView"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightSpotSize"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="Accuracy">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Resolution"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Repeatability"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Precision"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureArea">
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureVolume"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureSpeed"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureAngle"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureTemperature"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MagneticSensor">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Sensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#OpticSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TorqueForceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EncoderSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#UltrasonicSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TactileSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InductiveSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CapacitveSensor"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="Gripper">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#ControlSystem"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#Release"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#Grasp"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#Arrangement"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#Communication"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#Cost"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Robot"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#ManipulationAndHandling"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Count">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CheckPresence"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CheckPosition"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CheckSurfaceForIrregularities"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Check"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Clinch">
-    <owl:disjointWith rdf:resource="#Rivet"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Solder"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Glue"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weld"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Fill"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is a connection of metal sheets without any additional material. The workpieces are deformed between a stamp and a template to generate a pushbutton-like shape.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Assemble"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Bolt"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Join"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Fill">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Solder"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Rivet"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weld"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Bolt"/>
-    <owl:disjointWith rdf:resource="#Clinch"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Join"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Fill a workpiece with a cubic capacity.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Glue"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Assemble"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="Parallel">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Sequence"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Atomic"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >2</owl:cardinality>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasOperation"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Operation"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#NumberOfMovableClaws">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWay"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#OpenClaws">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Release"/>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#PincerGripper"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#AdjustVacuumToRelease"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpenFingers"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#AdjustCurrentToRelease"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="GeneralParallelGripper">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CircularParallelGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="LineParallelGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ParallelGripper"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Check">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-Check if a part fulfils given conditions.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Measure"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Detect"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Classify"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ImageAnalysis"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Read"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Scan"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#SensorFunction"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxForce">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Length"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Diameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxCurrentConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in Newton</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Width"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="Electroplate">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Varnish"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Hot-galvanise"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Powder-coat"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Coat"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Put the material to the surface with the help of some electrochemical processes.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:ID="HexapodRobot">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ScaraRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CartesianRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ParallelKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SimpleKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SpecialKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ArticulatedRobot"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Very precise kinematic, but small working area. This is used for special applications.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Robot"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#ControlSystem">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrangement"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#DeviceProperty"/>
-    <owl:disjointWith rdf:resource="#Communication"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Timing"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#Geometry"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Identifier"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cost"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#True">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Crush"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Roll"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Extrude"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Form"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Machine finishing after e.g. folding</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Stretch-Form"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Deep-Draw"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Forge"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#SetParameterValue">
-    <owl:disjointWith rdf:resource="#Calibrate"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SaveParameterSet"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LoadParameterSet"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reset"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#AdditionalFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MaterialOfGripper">
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWay"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Lathe">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#File"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Grind"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >The workpiece turns on a lathe. The cutting movement is performed by its turning movement. The tool is fixed and removes chips from the workpiece. Usually only rotation-symmetric workpieces are handled here.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cut"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Rub"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="UltrasonicDistanceSensor">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#UltrasonicSensor"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >distanceMeasurements.pdf
-SICK
-pag 4</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Width">
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Length"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Diameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxCurrentConsumption"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureVolume">
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureSpeed"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureAngle"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureSpeed">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureAngle"/>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#PathVelocityFluctuation">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Resolution"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Repeatability"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#ExtractEdges">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ImageAnalysis"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#BlobAnalysis"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DecompressImageData"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FilterImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CompressImageData"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TransformImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SegmentImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CalibrateImage"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticProximitySwitch">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#OpticSwitch"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#OpticThroughBeamSwitch"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticReflexSwitch"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Drill">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lathe"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Grind"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cut"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Create a circular whole in the workpiece.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#File"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Rub"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#ModifyWorkpieceProperties">
-    <owl:disjointWith rdf:resource="#Mold"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Join"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Form"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Coat"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Modify some physical properties of the workpiece.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ManufacturingFunction"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Reach">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWay"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Device">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:8</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Workpiece"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:allValuesFrom>
-          <owl:Class rdf:about="#Skill"/>
-        </owl:allValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:minCardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >0</owl:minCardinality>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasReference"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#PhysicalProperties"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:cardinality>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasIdentifier"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:allValuesFrom>
-          <owl:Class rdf:about="#Property"/>
-        </owl:allValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="#Object"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#MainFunction"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Partition">
-    <owl:disjointWith rdf:resource="#Branch"/>
-    <owl:disjointWith rdf:resource="#Unify"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Divide"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Assign"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Merge"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Create a subset of a defined size from a superset.
-Separating is a special case of parting with size 1.</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="#ModifyAmount"/>
-  </owl:Class>
-  <owl:Class rdf:about="#StorePartlyOrdered">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Store"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StoreInOrder"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#StoreUnOrdered"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Save workpieces which are geometrically defined in a well-defined position and/or orientation. This means position and orientation are only defined in some of their degrees of freedom.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#ManipulationAndHandlingFunction">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#MainFunction"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SensorFunction"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ManufacturingFunction"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxVoltageSupply">
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Length"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in volts</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Diameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxCurrentConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Solder">
-    <owl:disjointWith rdf:resource="#Clinch"/>
-    <owl:disjointWith rdf:resource="#Glue"/>
-    <owl:disjointWith rdf:resource="#Rivet"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weld"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Fill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Assemble"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Join"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Bolt"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is a thermic procedure to connect workpieces. Then, a fluid phase is created by melting solder (additional material).</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Precision">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Repeatability"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Resolution"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Repeatability">
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Resolution"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
-    <owl:disjointWith rdf:resource="#Precision"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#MinMeasurementRange">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FieldOfView"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxScanAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightSpotSize"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >In mm.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-  </owl:Class>
-  <owl:Class rdf:ID="Sinter">
-    <rdfs:subClassOf rdf:resource="#Mold"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >By using powder material, a workpiece is formed. By heating the workpiece is hardened by avoiding a fluid phase.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ElectrolyticSegregate"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Cast"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Reset">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SaveParameterSet"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Calibrate"/>
-    <owl:disjointWith rdf:resource="#LoadParameterSet"/>
-    <owl:disjointWith rdf:resource="#SetParameterValue"/>
-    <rdfs:subClassOf rdf:resource="#AdditionalFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#AsFastAsPossible">
-    <rdfs:subClassOf rdf:resource="#Feed"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Karthesian"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Circular"/>
-  </owl:Class>
-  <owl:Class rdf:about="#SkillProperty">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Identifier"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DeviceProperty"/>
-    <owl:disjointWith rdf:resource="#isEditable"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Property"/>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasEditable"/>
-        </owl:onProperty>
-        <owl:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:cardinality>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticColorSensor">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserScanner2D"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#OpticSensor"/>
-    <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 4</rdfs:comment>
-    <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SmartCamera"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#VisionSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightGrid"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticDistanceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticSwitch"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureDiameter">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureSpeed"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-    <owl:disjointWith rdf:resource="#MeasureAngle"/>
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-  </owl:Class>
-  <owl:Class rdf:ID="SimpleControl">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="PlaybackCtrl"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="IntelligentCtrl"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="NumericalCtrl"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#ControlSystem"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ToolInterface">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >How to connect a tool to a robot.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Timing"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cost"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Communication"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Identifier"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Geometry"/>
-    <rdfs:subClassOf rdf:resource="#DeviceProperty"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrangement"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#FilterImage">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ImageAnalysis"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CalibrateImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TransformImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ExtractEdges"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DecompressImageData"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SegmentImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CompressImageData"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#BlobAnalysis"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Cut">
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Divide a workpiece into two parts.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Grind"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Rub"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lathe"/>
-    <owl:disjointWith rdf:resource="#Drill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#File"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#CompountSensorFunction">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CompoundManufacturingFunction"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CompoundManipulationAndHandlingFunction"/>
-    <rdfs:subClassOf rdf:resource="#CompoundSkills"/>
-  </owl:Class>
-  <owl:Class rdf:about="#BlobAnalysis">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ImageAnalysis"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#FilterImage"/>
-    <owl:disjointWith rdf:resource="#CompressImageData"/>
-    <owl:disjointWith rdf:resource="#ExtractEdges"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CalibrateImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TransformImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DecompressImageData"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SegmentImage"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Turn">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Displace"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Pass"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Position"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Orient"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pan"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrange"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part from one to another orientation by turning it around an axis which intersects with the part.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Feed"/>
-    <owl:disjointWith rdf:resource="#Convey"/>
-  </owl:Class>
-  <owl:Class rdf:about="#LinearEncoder">
-    <owl:disjointWith rdf:resource="#WheelEncoder"/>
-    <owl:disjointWith rdf:resource="#WireDrawEncoder"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >distanceMeasurements.pdf
-SICK
-pag 4</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#EncoderSensor"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Position">
-    <owl:disjointWith rdf:resource="#Feed"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pan"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part from an undefined to a well-defined position. The part's orientation is not important here.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Convey"/>
-    <owl:disjointWith rdf:resource="#Orient"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Turn"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Displace"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Pass"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrange"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Arrange">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pan"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Displace"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Pass"/>
-    <owl:disjointWith rdf:resource="#Feed"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part from an undefined to a well-defined orientation and position.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Position"/>
-    <owl:disjointWith rdf:resource="#Convey"/>
-    <owl:disjointWith rdf:resource="#Orient"/>
-    <owl:disjointWith rdf:resource="#Turn"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#DetectCollision">
-    <owl:disjointWith rdf:resource="#DetectContrast"/>
-    <owl:disjointWith rdf:resource="#DetectObject"/>
-    <owl:disjointWith rdf:resource="#DetectLuminescence"/>
-    <owl:disjointWith rdf:resource="#DetectColor"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Detect"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#DiameterOfGripper">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWay"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Skill">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Property"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Task"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Object"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-(Breakdown of Skills)</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="http://www.w3.org/2002/07/owl#Thing"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:allValuesFrom rdf:resource="#Device"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#List"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Operation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ObjectBase"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="WormDiameter">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Worm"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="#MechanicalConnector"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxCurrentConsumption">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Diameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in amperes</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Length"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MagnetGripper">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#AdjustCurrentToRelease"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="#Gripper"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#AdjustCurrentToGrip"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PincerGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#VacuumGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FingerGripper"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#DecompressImageData">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ImageAnalysis"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#CompressImageData"/>
-    <owl:disjointWith rdf:resource="#ExtractEdges"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TransformImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SegmentImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#FilterImage"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CalibrateImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#BlobAnalysis"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MinVoltageSupply">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in volts</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Length"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Diameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#CompoundManufacturingFunction">
-    <rdfs:subClassOf rdf:resource="#CompoundSkills"/>
-    <owl:disjointWith rdf:resource="#CompountSensorFunction"/>
-    <owl:disjointWith rdf:resource="#CompoundManipulationAndHandlingFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Broach">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >The workpiece is given the tool's contour. This is used where contours are necessary which cannot be created by milling or lathing.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Cut"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#File"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Rub"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Grind"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Drill"/>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lathe"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Assemble">
-    <owl:disjointWith rdf:resource="#Solder"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weld"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Join"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Putting together two workpieces.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Fill"/>
-    <owl:disjointWith rdf:resource="#Clinch"/>
-    <owl:disjointWith rdf:resource="#Bolt"/>
-    <owl:disjointWith rdf:resource="#Rivet"/>
-    <owl:disjointWith rdf:resource="#Glue"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Worm">
-    <rdfs:subClassOf rdf:resource="#MechanicalConnector"/>
-    <owl:disjointWith rdf:resource="#WormDiameter"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Can be inside or outside.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Rub">
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith rdf:resource="#Broach"/>
-    <owl:disjointWith rdf:resource="#Lathe"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Drill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Create wholes and increase the fitting quality.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#File"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Grind"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Cut"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MechanicalResistance">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Length"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Diameter"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Hot-galvanise">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Coat"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Varnish"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Electroplate"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Powder-coat"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >A metallic layer is put onto the workpieces by putting them into a smelter. This is mainly done to reduce corrosion.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticReflexSwitch">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#OpticSwitch"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 2</rdfs:comment>
-    <owl:disjointWith rdf:resource="#OpticProximitySwitch"/>
-    <owl:disjointWith rdf:resource="#OpticThroughBeamSwitch"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Pan">
-    <owl:disjointWith rdf:resource="#Turn"/>
-    <owl:disjointWith rdf:resource="#Orient"/>
-    <owl:disjointWith rdf:resource="#Convey"/>
-    <owl:disjointWith rdf:resource="#Arrange"/>
-    <owl:disjointWith rdf:resource="#Feed"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part from one to another orientation and position by rotation around an axis which does not intersect with the part.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Position"/>
-    <owl:disjointWith rdf:resource="#Pass"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Displace"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#NumberOfFingers">
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWay"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Cost">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Identifier"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrangement"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Geometry"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Timing"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith rdf:resource="#Communication"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in euros</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#DeviceProperty"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-  </owl:Class>
-  <owl:Class rdf:about="#PlaybackCtrl">
-    <rdfs:subClassOf rdf:resource="#ControlSystem"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Capability of replaying preteached sequences and commands.
-This includes as well very simple controllers like Pick-and-Placers. They are capable of replaying a pick sequence.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#SimpleControl"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#IntelligentCtrl"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumericalCtrl"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Release">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Secure"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Grasp"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-Invert the grasping.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#ScanningDistance">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxScanAngle"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FieldOfView"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightSpotSize"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#QualityCriteria">
-    <owl:disjointWith rdf:resource="#Communication"/>
-    <owl:disjointWith rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith rdf:resource="#Cost"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrangement"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#DeviceProperty"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Identifier"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Timing"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Geometry"/>
-  </owl:Class>
-  <owl:Class rdf:about="#SensorFunction">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:6-7
-(breakdown of properties)</rdfs:comment>
-    <owl:disjointWith rdf:resource="#ManipulationAndHandlingFunction"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ManufacturingFunction"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:allValuesFrom>
-          <owl:Class rdf:about="#Sensor"/>
-        </owl:allValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#MainFunction"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#MountedDeviceOrientation">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MountedDevicePosition"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CoordinateReferenceSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#WorkCoordinates"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Arrangement"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Roll">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Stretch-Form"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Extrude"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is a malleable procedure. The material is feed between at least two rotating rolls. There are various types of rollling.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#True"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Form"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Crush"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Forge"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Deep-Draw"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Stretch-Form">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <owl:disjointWith rdf:resource="#True"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Form"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Forge"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Deep-Draw"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Extrude"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Crush"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#ManufacturingFunction">
-    <owl:disjointWith rdf:resource="#ManipulationAndHandlingFunction"/>
-    <owl:disjointWith rdf:resource="#SensorFunction"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#MainFunction"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#CheckPresence">
-    <owl:disjointWith rdf:resource="#CheckSurfaceForIrregularities"/>
-    <owl:disjointWith rdf:resource="#Count"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CheckPosition"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Check"/>
-  </owl:Class>
-  <owl:Class rdf:ID="BusInterface">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ElectricalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CommunicationProtocol"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Communication"/>
-  </owl:Class>
-  <owl:Class rdf:about="#LightSpotSize">
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Diameter in mm.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxScanAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FieldOfView"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ScanningDistance"/>
-  </owl:Class>
-  <owl:Class rdf:ID="Part">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ObjectBase"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Assembly"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Diameter">
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Length"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Grasp">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-Keep a workpiece temporarily in a given position and orientation.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Release"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Secure"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureTemperature">
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith rdf:resource="#MeasureSpeed"/>
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith rdf:resource="#MeasureAngle"/>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureDiameter"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Height">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Length"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MinAmbientTemperature">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in degrees celsius</rdfs:comment>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Length"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Displace">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Orient"/>
-    <owl:disjointWith rdf:resource="#Turn"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move translationally a part along a straight line. The part's orientiation remains unchanged.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Position"/>
-    <owl:disjointWith rdf:resource="#Arrange"/>
-    <owl:disjointWith rdf:resource="#Convey"/>
-    <owl:disjointWith rdf:resource="#Feed"/>
-    <owl:disjointWith rdf:resource="#Pan"/>
-    <owl:disjointWith rdf:resource="#Pass"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CloseFingers">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#FingerGripper"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="#Grasp"/>
-    <owl:disjointWith rdf:resource="#AdjustCurrentToGrip"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CloseClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#AdjustVacuumToGrip"/>
-  </owl:Class>
-  <owl:Class rdf:about="#AdjustVacuumToRelease">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#VacuumGripper"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="#Release"/>
-    <owl:disjointWith rdf:resource="#OpenFingers"/>
-    <owl:disjointWith rdf:resource="#OpenClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#AdjustCurrentToRelease"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Deep-Draw">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Change the shape of a sheet metal or plate by pressing into a hollow piece. 
-This is one of the most important procedures in mass production and small series production.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Forge"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Crush"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Form"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#True"/>
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Extrude"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#TypeOfMagnet">
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWay"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Length">
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Grind">
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Increase the surface performance, flatten the surface.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Broach"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lathe"/>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith rdf:resource="#Drill"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Cut"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#File"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Rub"/>
-  </owl:Class>
-  <owl:Class rdf:about="#TypeOfActuation">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#NumberOfJoints"/>
-    <owl:disjointWith rdf:resource="#Reachability"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Hone">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Smooth finishing of metallic surfaces, mostly wholes to increase size, shape or surface performance.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Broach"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith rdf:resource="#Lathe"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Drill"/>
-    <owl:disjointWith rdf:resource="#Cut"/>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#File"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Secure">
-    <rdfs:subClassOf rdf:resource="#ManipulationAndHandlingFunction"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Store"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ModifyAmount"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Move"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#CheckPosition">
-    <owl:disjointWith rdf:resource="#CheckSurfaceForIrregularities"/>
-    <owl:disjointWith rdf:resource="#Count"/>
-    <owl:disjointWith rdf:resource="#CheckPresence"/>
-    <rdfs:subClassOf rdf:resource="#Check"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureForce">
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith rdf:resource="#MeasureTemperature"/>
-    <owl:disjointWith rdf:resource="#MeasureDiameter"/>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-    <owl:disjointWith rdf:resource="#MeasureAngle"/>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureSpeed"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ParallelKinematicRobot">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Robot"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SimpleKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CartesianRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#HexapodRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScaraRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ArticulatedRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SpecialKinematicRobot"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Special kinematic arrangement like the one built in SMErobot.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Form">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Create workpieces from solid raw pieces. The shape is permanently modified. The volumina remains the same.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Coat"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Mold"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Join"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ModifyWorkpieceProperties"/>
-    <rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticDistanceSensor">
-    <owl:disjointWith rdf:resource="#OpticColorSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticSwitch"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SmartCamera"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightGrid"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#OpticSensor"/>
-    <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserScanner2D"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#VisionSensor"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Forge">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Extrude"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#True"/>
-    <owl:disjointWith rdf:resource="#Deep-Draw"/>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >The workpiece is heated, the whole profile is plasticised. In doing so the crystal structure of the workpiece changes and the workpiece becomes softer.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Crush"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Form"/>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#ReadBarCode">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Task and Skills of Optical Sensors v1.1
-part:7</rdfs:comment>
-    <owl:disjointWith rdf:resource="#ReadOpticalCharacters"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Read2DMatrixCode"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Read"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Weight">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in kg</rdfs:comment>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-  </owl:Class>
-  <owl:Class rdf:about="#JointFingerGripper">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#FingerGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#ElasticFingerGripper"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ElectricalConnector">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >How to connect a tool electrically.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#MechanicalConnector"/>
-    <rdfs:subClassOf rdf:resource="#ToolInterface"/>
-  </owl:Class>
-  <owl:Class rdf:about="#EncoderSensor">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#UltrasonicSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InductiveSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MagneticSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TorqueForceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpticSensor"/>
-    <owl:disjointWith rdf:resource="#TactileSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CapacitveSensor"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Sensor"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#ImageAnalysis">
-    <rdfs:subClassOf rdf:resource="#SensorFunction"/>
-    <owl:disjointWith rdf:resource="#Read"/>
-    <owl:disjointWith rdf:resource="#Check"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Scan"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Classify"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Measure"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Detect"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#ScaraRobot">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Robot"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Industrial type, but special kinematic arrangement. Well-known manufacturer: Bosch-Rexrodt.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#ParallelKinematicRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SimpleKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#HexapodRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CartesianRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SpecialKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ArticulatedRobot"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasurePositionOfObject">
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith rdf:resource="#MeasureForce"/>
-    <owl:disjointWith rdf:resource="#MeasureTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureDiameter"/>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith rdf:resource="#MeasureAngle"/>
-    <owl:disjointWith rdf:resource="#MeasureSpeed"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-  </owl:Class>
-  <owl:Class rdf:about="#DegreesOfFreedom">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith rdf:resource="#Weight"/>
-  </owl:Class>
-  <owl:Class rdf:about="#PowerConsumption">
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in kVA</rdfs:comment>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Identifier">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrangement"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >For the identifier there are two applications in the later implementation:
-1. Identifier of either a device or a workpiece.
-2. Reference to device identifier or a workpiece identifier as a link, e.g. a URI.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#SkillProperty"/>
-    <owl:disjointWith rdf:resource="#Geometry"/>
-    <owl:disjointWith rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#DeviceProperty"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Timing"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Cost"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith rdf:resource="#QualityCriteria"/>
-    <owl:disjointWith rdf:resource="#Communication"/>
-    <rdfs:subClassOf rdf:resource="#DeviceProperty"/>
-  </owl:Class>
-  <owl:Class rdf:about="#DiagnosticFunction">
-    <rdfs:subClassOf rdf:resource="#Skill"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-(Breakdown of Skills)</rdfs:comment>
-    <owl:disjointWith rdf:resource="#CompoundSkills"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MainFunction"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#AdditionalFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Varnish">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Put colour or any other material onto the surface, either by spraying or painting.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Coat"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Hot-galvanise"/>
-    <owl:disjointWith rdf:resource="#Electroplate"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Powder-coat"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#ObjectBase">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Operation"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#List"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Property"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Task"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Skill"/>
-    <owl:disjointWith rdf:resource="#Object"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:cardinality>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasGeometry"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="http://www.w3.org/2002/07/owl#Thing"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CapacitveSensor">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InductiveSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#UltrasonicSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpticSensor"/>
-    <owl:disjointWith rdf:resource="#EncoderSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TorqueForceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TactileSensor"/>
-    <owl:disjointWith rdf:resource="#MagneticSensor"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Sensor"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#ArticulatedRobot">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SpecialKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#HexapodRobot"/>
-    <owl:disjointWith rdf:resource="#ParallelKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#ScaraRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CartesianRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SimpleKinematicRobot"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is the standard industrial robot-type with usually 5 to 7 joints.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Robot"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#VisionSensor">
-    <rdfs:subClassOf rdf:resource="#OpticSensor"/>
-    <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticSwitch"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightGrid"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpticColorSensor"/>
-    <owl:disjointWith rdf:resource="#OpticDistanceSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SmartCamera"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserScanner2D"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MainFunction">
-    <rdfs:subClassOf rdf:resource="#Skill"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-(Breakdown of Skills)</rdfs:comment>
-    <owl:disjointWith rdf:resource="#DiagnosticFunction"/>
-    <owl:disjointWith rdf:resource="#CompoundSkills"/>
-    <owl:disjointWith rdf:resource="#AdditionalFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticSwitch">
-    <owl:disjointWith rdf:resource="#OpticDistanceSensor"/>
-    <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
-    <owl:disjointWith rdf:resource="#VisionSensor"/>
-    <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightGrid"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SmartCamera"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserScanner2D"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpticColorSensor"/>
-    <rdfs:subClassOf rdf:resource="#OpticSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Arrangement">
-    <owl:disjointWith rdf:resource="#Communication"/>
-    <owl:disjointWith rdf:resource="#Identifier"/>
-    <owl:disjointWith rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#Cost"/>
-    <owl:disjointWith rdf:resource="#Geometry"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Timing"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#QualityCriteria"/>
-    <rdfs:subClassOf rdf:resource="#DeviceProperty"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxLiftWay">
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Plane">
-    <owl:disjointWith rdf:resource="#Cut"/>
-    <owl:disjointWith rdf:resource="#Drill"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Hone"/>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith rdf:resource="#Broach"/>
-    <owl:disjointWith rdf:resource="#Lathe"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is mainly used for wooden workpieces to remove chipping from the workpiece.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#File"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#SegmentImage">
-    <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith rdf:resource="#DecompressImageData"/>
-    <owl:disjointWith rdf:resource="#BlobAnalysis"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CalibrateImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ExtractEdges"/>
-    <owl:disjointWith rdf:resource="#FilterImage"/>
-    <owl:disjointWith rdf:resource="#CompressImageData"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TransformImage"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Weld">
-    <owl:disjointWith rdf:resource="#Clinch"/>
-    <owl:disjointWith rdf:resource="#Glue"/>
-    <owl:disjointWith rdf:resource="#Bolt"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Join"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is a permanent connection of workpieces by using heat and/or pressure. The material keeps its properties when welded.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Rivet"/>
-    <owl:disjointWith rdf:resource="#Fill"/>
-    <owl:disjointWith rdf:resource="#Assemble"/>
-    <owl:disjointWith rdf:resource="#Solder"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Anneal">
-    <owl:disjointWith rdf:resource="#Temper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Age"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#ModifyWorkpieceProperties"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Set specific material properties by heating, holding the heat for a specific time and cooling down.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#CartesianRobot">
-    <owl:disjointWith rdf:resource="#ScaraRobot"/>
-    <owl:disjointWith rdf:resource="#HexapodRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SimpleKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SpecialKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ParallelKinematicRobot"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Robot"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >These machines move along the cartesian axes, i.e. they don't have revolute joints. Sometimes, there is a kind of portal where they move in. They are usually used for packing, palletizing and so on where they move heavy loads.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Atomic">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:maxCardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:maxCardinality>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasWorkpiece"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasDevice"/>
-        </owl:onProperty>
-        <owl:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:cardinality>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:cardinality>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Operation"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Sequence"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Parallel"/>
-  </owl:Class>
-  <owl:Class rdf:about="#NumberOfClaws">
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWay"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Operation">
-    <owl:disjointWith rdf:resource="#Object"/>
-    <owl:disjointWith rdf:resource="#ObjectBase"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Task"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Skill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Property"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#List"/>
-  </owl:Class>
-  <owl:Class rdf:about="#UltrasonicSensor">
-    <owl:disjointWith rdf:resource="#OpticSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TorqueForceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InductiveSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CapacitveSensor"/>
-    <owl:disjointWith rdf:resource="#TactileSensor"/>
-    <owl:disjointWith rdf:resource="#MagneticSensor"/>
-    <owl:disjointWith rdf:resource="#EncoderSensor"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Sensor"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#ParallelGripper">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PincerGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#AngleGripper"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Cast">
-    <rdfs:subClassOf rdf:resource="#Mold"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >From fluid metallic material a solid workpiece is created.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ElectrolyticSegregate"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Sinter"/>
-  </owl:Class>
-  <owl:Class rdf:about="#StiffnessOfGripper">
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWay"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureAcceleration">
-    <owl:disjointWith rdf:resource="#MeasurePositionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureTemperature"/>
-    <owl:disjointWith rdf:resource="#MeasureAngle"/>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith rdf:resource="#MeasureSpeed"/>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-    <owl:disjointWith rdf:resource="#MeasureForce"/>
-    <owl:disjointWith rdf:resource="#MeasureDiameter"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Assign">
-    <rdfs:subClassOf rdf:resource="#ModifyAmount"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Divide"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Branch"/>
-    <owl:disjointWith rdf:resource="#Unify"/>
-    <owl:disjointWith rdf:resource="#Partition"/>
-    <owl:disjointWith rdf:resource="#Merge"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Create subsets of defined size or amount and move these subsets to a defined location.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#TypeOfFingers">
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWay"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-  </owl:Class>
-  <owl:Class rdf:about="#SimpleKinematicRobot">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Simple, sometimes small machines with reduced capabilities, e.g. with only 1 DOF. These can be devices which are arranged to more complex machines.
-Sometimes, the tool is already included in the robot, e.g. a gripper is already connected.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#ParallelKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
-    <owl:disjointWith rdf:resource="#HexapodRobot"/>
-    <owl:disjointWith rdf:resource="#CartesianRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SpecialKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ScaraRobot"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Robot"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#CollectStatisticalData">
-    <owl:disjointWith rdf:resource="#PerformSelfTest"/>
-    <rdfs:subClassOf rdf:resource="#DiagnosticFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Material">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#PowerConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ElectricalInterface">
-    <rdfs:subClassOf rdf:resource="#Communication"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CommunicationProtocol"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#BusInterface"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ElectrolyticSegregate">
-    <rdfs:subClassOf rdf:resource="#Mold"/>
-    <owl:disjointWith rdf:resource="#Sinter"/>
-    <owl:disjointWith rdf:resource="#Cast"/>
-  </owl:Class>
-  <owl:Class rdf:ID="TactileProximitySwitch">
-    <rdfs:subClassOf rdf:resource="#TactileSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Flang">
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Extrude"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#True"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Crush"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Forge"/>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Orthogonal bending up of the border of metal sheets. This is used for creating pipe connections and is widely used in the manufacturing of air channels.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <rdfs:subClassOf rdf:resource="#Form"/>
-    <owl:disjointWith rdf:resource="#Deep-Draw"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CoordinateReferenceSystem">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MountedDevicePosition"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#WorkCoordinates"/>
-    <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
-    <rdfs:subClassOf rdf:resource="#Arrangement"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CycleTime">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in seconds</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Timing"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ResponseTime"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#FieldOfView">
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxScanAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#ScanningDistance"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-  </owl:Class>
-  <owl:Class rdf:about="#LaserScanner2D">
-    <owl:disjointWith rdf:resource="#OpticDistanceSensor"/>
-    <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
-    <owl:disjointWith rdf:resource="#OpticColorSensor"/>
-    <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
-    <owl:disjointWith rdf:resource="#OpticSwitch"/>
-    <owl:disjointWith rdf:resource="#VisionSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SmartCamera"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightGrid"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#OpticSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Move">
-    <rdfs:subClassOf rdf:resource="#ManipulationAndHandlingFunction"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Store"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ModifyAmount"/>
-    <owl:disjointWith rdf:resource="#Secure"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Divide">
-    <owl:disjointWith rdf:resource="#Branch"/>
-    <owl:disjointWith rdf:resource="#Partition"/>
-    <owl:disjointWith rdf:resource="#Unify"/>
-    <owl:disjointWith rdf:resource="#Assign"/>
-    <owl:disjointWith rdf:resource="#Merge"/>
-    <rdfs:subClassOf rdf:resource="#ModifyAmount"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Create a subset from a superset. 
-The size of source and target sets does not necessarily have to be defined.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#File">
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith rdf:resource="#Hone"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >The workpiece is fixed while a metal plate performs a cutting movement and a feed motion. This is done manually very often.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Plane"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Drill"/>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <owl:disjointWith rdf:resource="#Cut"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith rdf:resource="#Lathe"/>
-    <owl:disjointWith rdf:resource="#Broach"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Thrust">
-    <owl:disjointWith rdf:resource="#Hone"/>
-    <owl:disjointWith rdf:resource="#Lathe"/>
-    <owl:disjointWith rdf:resource="#Drill"/>
-    <owl:disjointWith rdf:resource="#Cut"/>
-    <owl:disjointWith rdf:resource="#File"/>
-    <owl:disjointWith rdf:resource="#Plane"/>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >The tool performs a cutting movement and a reverse movement.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Broach"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Electro-discharge-machine">
-    <owl:disjointWith rdf:resource="#Drill"/>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Thrust"/>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith rdf:resource="#Cut"/>
-    <owl:disjointWith rdf:resource="#Plane"/>
-    <owl:disjointWith rdf:resource="#Hone"/>
-    <owl:disjointWith rdf:resource="#Lathe"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >A spark removes material from the workpiece.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith rdf:resource="#Broach"/>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith rdf:resource="#File"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CircularParallelGripper">
-    <owl:disjointWith rdf:resource="#GeneralParallelGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LineParallelGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#ParallelGripper"/>
-  </owl:Class>
-  <owl:Class rdf:about="#SmartCamera">
-    <owl:disjointWith rdf:resource="#OpticSwitch"/>
-    <owl:disjointWith rdf:resource="#VisionSensor"/>
-    <owl:disjointWith rdf:resource="#LaserScanner2D"/>
-    <owl:disjointWith rdf:resource="#OpticColorSensor"/>
-    <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 7</rdfs:comment>
-    <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
-    <owl:disjointWith rdf:resource="#OpticDistanceSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightGrid"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#OpticSensor"/>
-  </owl:Class>
-  <owl:Class rdf:ID="BarcodeReader">
-    <rdfs:subClassOf rdf:resource="#VisionSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CloseClaws">
-    <rdfs:subClassOf rdf:resource="#Grasp"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#PincerGripper"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#CloseFingers"/>
-    <owl:disjointWith rdf:resource="#AdjustCurrentToGrip"/>
-    <owl:disjointWith rdf:resource="#AdjustVacuumToGrip"/>
-  </owl:Class>
-  <owl:Class rdf:about="#InductiveSensor">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Sensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#CapacitveSensor"/>
-    <owl:disjointWith rdf:resource="#MagneticSensor"/>
-    <owl:disjointWith rdf:resource="#TactileSensor"/>
-    <owl:disjointWith rdf:resource="#UltrasonicSensor"/>
-    <owl:disjointWith rdf:resource="#EncoderSensor"/>
-    <owl:disjointWith rdf:resource="#OpticSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TorqueForceSensor"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Sensor">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#SensorFunction"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Manufacturing"/>
-    <owl:disjointWith rdf:resource="#ManipulationAndHandling"/>
-    <rdfs:subClassOf rdf:resource="#Device"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#Arrangement"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#Timing"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#Communication"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#PhysicalPropertiesSensor"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#Cost"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#QualityCriteria"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#PhysicalPropertiesGripper">
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#PowerConsumption"/>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxScanAngle">
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#FieldOfView"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ScanningDistance"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#SpecialKinematicRobot">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Everything else which cannot be sorted in one of the other categories.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Robot"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#ParallelKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#SimpleKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#ScaraRobot"/>
-    <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
-    <owl:disjointWith rdf:resource="#CartesianRobot"/>
-    <owl:disjointWith rdf:resource="#HexapodRobot"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Crush">
-    <owl:disjointWith rdf:resource="#Deep-Draw"/>
-    <owl:disjointWith rdf:resource="#Forge"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Extrude"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <rdfs:subClassOf rdf:resource="#Form"/>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith rdf:resource="#True"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <owl:disjointWith rdf:resource="#Flang"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Relative change of length by pressure force.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Shape">
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#PowerConsumption"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Timing">
-    <owl:disjointWith rdf:resource="#QualityCriteria"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#Identifier"/>
-    <owl:disjointWith rdf:resource="#Geometry"/>
-    <owl:disjointWith rdf:resource="#Communication"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith rdf:resource="#Cost"/>
-    <rdfs:subClassOf rdf:resource="#DeviceProperty"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-  </owl:Class>
-  <owl:Class rdf:about="#TransformImage">
-    <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith rdf:resource="#CompressImageData"/>
-    <owl:disjointWith rdf:resource="#FilterImage"/>
-    <owl:disjointWith rdf:resource="#ExtractEdges"/>
-    <owl:disjointWith rdf:resource="#BlobAnalysis"/>
-    <owl:disjointWith rdf:resource="#SegmentImage"/>
-    <owl:disjointWith rdf:resource="#DecompressImageData"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CalibrateImage"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Karthesian">
-    <owl:disjointWith rdf:resource="#Circular"/>
-    <owl:disjointWith rdf:resource="#AsFastAsPossible"/>
-    <rdfs:subClassOf rdf:resource="#Feed"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Classify">
-    <rdfs:subClassOf rdf:resource="#SensorFunction"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Check"/>
-    <owl:disjointWith rdf:resource="#Measure"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Scan"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Read"/>
-    <owl:disjointWith rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Detect"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#LightGrid">
-    <rdfs:subClassOf rdf:resource="#OpticSensor"/>
-    <owl:disjointWith rdf:resource="#OpticDistanceSensor"/>
-    <owl:disjointWith rdf:resource="#SmartCamera"/>
-    <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
-    <owl:disjointWith rdf:resource="#VisionSensor"/>
-    <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
-    <owl:disjointWith rdf:resource="#OpticColorSensor"/>
-    <owl:disjointWith rdf:resource="#LaserScanner2D"/>
-    <owl:disjointWith rdf:resource="#OpticSwitch"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Robot">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#WorkCoordinates"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#Cost"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="#ManipulationAndHandling"/>
-    <owl:disjointWith rdf:resource="#Gripper"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#Arrangement"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#Communication"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Introdution to Robotics
-(Analysis, System, Applications)
-Saeed B. Niku</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#ControlSystem"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#QualityCriteria"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#WorkFrame"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#ToolInterface"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#LineParallelGripper">
-    <owl:disjointWith rdf:resource="#GeneralParallelGripper"/>
-    <owl:disjointWith rdf:resource="#CircularParallelGripper"/>
-    <rdfs:subClassOf rdf:resource="#ParallelGripper"/>
-  </owl:Class>
-  <owl:Class rdf:about="#StoreInOrder">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Save workpieces which are geometrically defined in a well-defined position and/or orientation.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#StoreUnOrdered"/>
-    <owl:disjointWith rdf:resource="#StorePartlyOrdered"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Store"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#ResponseTime">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in seconds</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="#Timing"/>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
-  </owl:Class>
-  <owl:Class rdf:about="#TorqueForceSensor">
-    <rdfs:subClassOf rdf:resource="#Sensor"/>
-    <owl:disjointWith rdf:resource="#TactileSensor"/>
-    <owl:disjointWith rdf:resource="#MagneticSensor"/>
-    <owl:disjointWith rdf:resource="#EncoderSensor"/>
-    <owl:disjointWith rdf:resource="#InductiveSensor"/>
-    <owl:disjointWith rdf:resource="#OpticSensor"/>
-    <owl:disjointWith rdf:resource="#CapacitveSensor"/>
-    <owl:disjointWith rdf:resource="#UltrasonicSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Detect">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 2-5</rdfs:comment>
-    <owl:disjointWith rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith rdf:resource="#Check"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Scan"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Measure"/>
-    <owl:disjointWith rdf:resource="#Classify"/>
-    <owl:disjointWith rdf:resource="#Read"/>
-    <rdfs:subClassOf rdf:resource="#SensorFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Task">
-    <owl:disjointWith rdf:resource="#ObjectBase"/>
-    <owl:disjointWith rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#List"/>
-    <owl:disjointWith rdf:resource="#Operation"/>
-    <owl:disjointWith rdf:resource="#Skill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Property"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Object"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasOperation"/>
-        </owl:onProperty>
-        <owl:maxCardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:maxCardinality>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="http://www.w3.org/2002/07/owl#Thing"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Sequence">
-    <owl:disjointWith rdf:resource="#Atomic"/>
-    <owl:disjointWith rdf:resource="#Parallel"/>
-    <rdfs:subClassOf rdf:resource="#Operation"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasOperation"/>
-        </owl:onProperty>
-        <owl:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:cardinality>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasAtomicOperation"/>
-        </owl:onProperty>
-        <owl:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:cardinality>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Powder-coat">
-    <owl:disjointWith rdf:resource="#Hot-galvanise"/>
-    <owl:disjointWith rdf:resource="#Electroplate"/>
-    <owl:disjointWith rdf:resource="#Varnish"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Coat"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >The powder becomes electrostatically charged and sprayed to the workpiece. Then it is burned into the workpiece.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Join">
-    <owl:disjointWith rdf:resource="#Mold"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Coat"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Form"/>
-    <owl:disjointWith rdf:resource="#ModifyWorkpieceProperties"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is the creation of a long-term connection of workpieces with a geometrically defined, fixed shape or with formless-parts.</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#AdjustCurrentToRelease">
-    <owl:disjointWith rdf:resource="#OpenClaws"/>
-    <owl:disjointWith rdf:resource="#OpenFingers"/>
-    <owl:disjointWith rdf:resource="#AdjustVacuumToRelease"/>
-    <rdfs:subClassOf rdf:resource="#Release"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:allValuesFrom rdf:resource="#MagnetGripper"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#NumericalCtrl">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#IntelligentCtrl"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SimpleControl"/>
-    <owl:disjointWith rdf:resource="#PlaybackCtrl"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Capability of setting up movements via numerical positions instead of functions.</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="#ControlSystem"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Extrude">
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <rdfs:subClassOf rdf:resource="#Form"/>
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is mainly used to create profiles, tubes and wires.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith rdf:resource="#Crush"/>
-    <owl:disjointWith rdf:resource="#True"/>
-    <owl:disjointWith rdf:resource="#Flang"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Forge"/>
-    <owl:disjointWith rdf:resource="#Deep-Draw"/>
-    <owl:disjointWith rdf:resource="#Fold"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Age">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Improve the mechanical resistivity by modifying the crystal structure. This is done by heating and fast cooling down.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Temper"/>
-    <owl:disjointWith rdf:resource="#Anneal"/>
-    <rdfs:subClassOf rdf:resource="#ModifyWorkpieceProperties"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CalibrateImage">
-    <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith rdf:resource="#BlobAnalysis"/>
-    <owl:disjointWith rdf:resource="#SegmentImage"/>
-    <owl:disjointWith rdf:resource="#FilterImage"/>
-    <owl:disjointWith rdf:resource="#DecompressImageData"/>
-    <owl:disjointWith rdf:resource="#TransformImage"/>
-    <owl:disjointWith rdf:resource="#CompressImageData"/>
-    <owl:disjointWith rdf:resource="#ExtractEdges"/>
-  </owl:Class>
-  <owl:Class rdf:about="#SortObjects">
-    <owl:disjointWith rdf:resource="#ClassifyObject"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Task and Skills of Optical Sensors v1.1
-part:7</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="#Classify"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Scan">
-    <owl:disjointWith rdf:resource="#Measure"/>
-    <owl:disjointWith rdf:resource="#Classify"/>
-    <owl:disjointWith rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith rdf:resource="#Detect"/>
-    <owl:disjointWith rdf:resource="#Check"/>
-    <owl:disjointWith rdf:resource="#Read"/>
-    <rdfs:subClassOf rdf:resource="#SensorFunction"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#LaserClass">
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#MaxScanAngle"/>
-    <owl:disjointWith rdf:resource="#ScanningDistance"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#FieldOfView"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Read2DMatrixCode">
-    <owl:disjointWith rdf:resource="#ReadOpticalCharacters"/>
-    <owl:disjointWith rdf:resource="#ReadBarCode"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Task and Skills of Optical Sensors v1.1
-part:7</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="#Read"/>
-  </owl:Class>
-  <owl:Class rdf:about="#VacuumGripper">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FingerGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PincerGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MagnetGripper"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#AdjustVacuumToGrip"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="#Gripper"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#AdjustVacuumToRelease"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureOrientationOfObject">
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith rdf:resource="#MeasureForce"/>
-    <owl:disjointWith rdf:resource="#MeasureSpeed"/>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith rdf:resource="#MeasurePositionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureAcceleration"/>
-    <owl:disjointWith rdf:resource="#MeasureTemperature"/>
-    <owl:disjointWith rdf:resource="#MeasureDiameter"/>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith rdf:resource="#MeasureAngle"/>
-  </owl:Class>
-  <owl:Class rdf:about="#FingerGripper">
-    <owl:disjointWith rdf:resource="#VacuumGripper"/>
-    <owl:disjointWith rdf:resource="#MagnetGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PincerGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#CloseFingers"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#OpenFingers"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="#Gripper"/>
-  </owl:Class>
-  <owl:Class rdf:about="#PincerGripper">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#OpenClaws"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#CloseClaws"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="#Gripper"/>
-    <owl:disjointWith rdf:resource="#MagnetGripper"/>
-    <owl:disjointWith rdf:resource="#VacuumGripper"/>
-    <owl:disjointWith rdf:resource="#FingerGripper"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CommunicationProtocol">
-    <owl:disjointWith rdf:resource="#ElectricalInterface"/>
-    <owl:disjointWith rdf:resource="#BusInterface"/>
-    <rdfs:subClassOf rdf:resource="#Communication"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Bead">
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Form"/>
-    <owl:disjointWith rdf:resource="#Extrude"/>
-    <owl:disjointWith rdf:resource="#Flang"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Create channel-shaped deepenings which are meant to increase the stiffness.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith rdf:resource="#Forge"/>
-    <owl:disjointWith rdf:resource="#True"/>
-    <owl:disjointWith rdf:resource="#Deep-Draw"/>
-    <owl:disjointWith rdf:resource="#Crush"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Resolution">
-    <rdfs:subClassOf rdf:resource="#QualityCriteria"/>
-    <owl:disjointWith rdf:resource="#Precision"/>
-    <owl:disjointWith rdf:resource="#Repeatability"/>
-    <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Assembly">
-    <owl:disjointWith rdf:resource="#Part"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:minCardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:minCardinality>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasObjectBase"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="#ObjectBase"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MountedDevicePosition">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#WorkCoordinates"/>
-    <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
-    <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
-    <rdfs:subClassOf rdf:resource="#Arrangement"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Store">
-    <owl:disjointWith rdf:resource="#ModifyAmount"/>
-    <owl:disjointWith rdf:resource="#Move"/>
-    <owl:disjointWith rdf:resource="#Secure"/>
-    <rdfs:subClassOf rdf:resource="#ManipulationAndHandlingFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Coat">
-    <owl:disjointWith rdf:resource="#ModifyWorkpieceProperties"/>
-    <owl:disjointWith rdf:resource="#Mold"/>
-    <owl:disjointWith rdf:resource="#Join"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Form"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Put a permanent layer of formless material onto the workpiece.</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#PhysicalInterface">
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith rdf:resource="#PowerConsumption"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-  </owl:Class>
-  <owl:Class rdf:about="#SaveParameterSet">
-    <rdfs:subClassOf rdf:resource="#AdditionalFunction"/>
-    <owl:disjointWith rdf:resource="#Calibrate"/>
-    <owl:disjointWith rdf:resource="#LoadParameterSet"/>
-    <owl:disjointWith rdf:resource="#Reset"/>
-    <owl:disjointWith rdf:resource="#SetParameterValue"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Separate">
-    <owl:disjointWith rdf:resource="#Mold"/>
-    <owl:disjointWith rdf:resource="#Join"/>
-    <owl:disjointWith rdf:resource="#ModifyWorkpieceProperties"/>
-    <owl:disjointWith rdf:resource="#Coat"/>
-    <owl:disjointWith rdf:resource="#Form"/>
-    <rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Modify the workpiece by breaking the coherence at some location.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:ID="InductiveProximitySwitch">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 2</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="#InductiveSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#IntelligentCtrl">
-    <rdfs:subClassOf rdf:resource="#ControlSystem"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This includes calculating up functions for setting positions and trajectories.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#SimpleControl"/>
-    <owl:disjointWith rdf:resource="#PlaybackCtrl"/>
-    <owl:disjointWith rdf:resource="#NumericalCtrl"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Property">
-    <owl:disjointWith rdf:resource="#Skill"/>
-    <owl:disjointWith rdf:resource="#Operation"/>
-    <owl:disjointWith rdf:resource="#ObjectBase"/>
-    <owl:disjointWith rdf:resource="#Task"/>
-    <owl:disjointWith rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#List"/>
-    <owl:disjointWith rdf:resource="#Object"/>
-  </owl:Class>
-  <owl:Class rdf:about="#WorkFrame">
-    <rdfs:subClassOf rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#WorkCoordinates"/>
-    <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
-    <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
-    <owl:disjointWith rdf:resource="#MountedDevicePosition"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Press">
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <owl:disjointWith rdf:resource="#Flang"/>
-    <owl:disjointWith rdf:resource="#True"/>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <rdfs:subClassOf rdf:resource="#Form"/>
-    <owl:disjointWith rdf:resource="#Bead"/>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith rdf:resource="#Deep-Draw"/>
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <owl:disjointWith rdf:resource="#Forge"/>
-    <owl:disjointWith rdf:resource="#Crush"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Modify the surface of a solid body with the help of a stamp. The feed rate is very slow, although the pressure is very high.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Extrude"/>
-  </owl:Class>
-  <owl:Class rdf:about="#PhysicalPropertiesRobot">
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith rdf:resource="#PowerConsumption"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#PhysicalInterface"/>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-  </owl:Class>
-  <owl:ObjectProperty rdf:about="#hasIdentifier">
-    <rdfs:range rdf:resource="#Identifier"/>
-    <rdfs:domain>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Device"/>
-          <owl:Class rdf:about="#Workpiece"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:domain>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:ID="isAtomicOperationOf">
-    <rdfs:domain rdf:resource="#Atomic"/>
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:about="#hasAtomicOperation"/>
-    </owl:inverseOf>
-    <rdfs:range rdf:resource="#Operation"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasProperty">
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:ID="isPropertyOf"/>
-    </owl:inverseOf>
-    <rdfs:range rdf:resource="#Property"/>
-    <rdfs:domain rdf:resource="#Skill"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:ID="canBePerformedBy">
-    <rdfs:domain rdf:resource="#Task"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:ID="isWorkpieceOf">
-    <rdfs:domain rdf:resource="#Workpiece"/>
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:about="#hasWorkpiece"/>
-    </owl:inverseOf>
-    <rdfs:range rdf:resource="#Operation"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasWorkpiece">
-    <rdfs:range rdf:resource="#Workpiece"/>
-    <rdfs:domain rdf:resource="#Operation"/>
-    <owl:inverseOf rdf:resource="#isWorkpieceOf"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasAssembly">
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:ID="isAssemblyOf"/>
-    </owl:inverseOf>
-    <rdfs:range rdf:resource="#Assembly"/>
-    <rdfs:domain>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Object"/>
-          <owl:Class rdf:about="#ObjectBase"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:domain>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasSubskill">
-    <rdfs:domain rdf:resource="#CompoundSkills"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >To use an ordered list, according to the FAQ, rdf:List has to be added in Range (cf. http://protege.stanford.edu/doc/owl-faq.html#ordered). But it does not work so far.</rdfs:comment>
-    <rdfs:range rdf:resource="#CompoundSkills"/>
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:ID="isSubskillOf"/>
-    </owl:inverseOf>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:ID="isObjectBaseOf">
-    <rdfs:domain rdf:resource="#ObjectBase"/>
-    <rdfs:range>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Assembly"/>
-          <owl:Class rdf:about="#Workpiece"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:range>
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:about="#hasObjectBase"/>
-    </owl:inverseOf>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasGeometry">
-    <rdfs:domain rdf:resource="#Object"/>
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:ID="isGeometryOf"/>
-    </owl:inverseOf>
-    <rdfs:range rdf:resource="#Geometry"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasSkill">
-    <rdfs:domain>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Device"/>
-          <owl:Class rdf:about="#Skill"/>
-          <owl:Class rdf:about="#Atomic"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:domain>
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:about="#isSkillOf"/>
-    </owl:inverseOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-(Breakdown of Skills)</rdfs:comment>
-    <rdfs:range rdf:resource="#Skill"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasReference">
-    <rdfs:domain>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Workpiece"/>
-          <owl:Class rdf:about="#Device"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:domain>
-    <rdfs:range rdf:resource="#Identifier"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This will be used für referencing devices in the later implementation, e.g. as a URI.</rdfs:comment>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasOperation">
-    <rdfs:domain rdf:resource="#Task"/>
-    <rdfs:range rdf:resource="#Task"/>
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:ID="isOperationOf"/>
-    </owl:inverseOf>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#isPropertyOf">
-    <rdfs:domain rdf:resource="#Property"/>
-    <rdfs:range rdf:resource="#Skill"/>
-    <owl:inverseOf rdf:resource="#hasProperty"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:ID="isDeviceOf">
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:about="#hasDevice"/>
-    </owl:inverseOf>
-    <rdfs:range rdf:resource="#Atomic"/>
-    <rdfs:domain rdf:resource="#Device"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#isAssemblyOf">
-    <owl:inverseOf rdf:resource="#hasAssembly"/>
-    <rdfs:range>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Object"/>
-          <owl:Class rdf:about="#ObjectBase"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:range>
-    <rdfs:domain rdf:resource="#Assembly"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#isSkillOf">
-    <rdfs:range>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Atomic"/>
-          <owl:Class rdf:about="#Device"/>
-          <owl:Class rdf:about="#Skill"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:range>
-    <rdfs:domain rdf:resource="#Skill"/>
-    <owl:inverseOf rdf:resource="#hasSkill"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasObjectBase">
-    <rdfs:domain>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Assembly"/>
-          <owl:Class rdf:about="#Workpiece"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:domain>
-    <owl:inverseOf rdf:resource="#isObjectBaseOf"/>
-    <rdfs:range rdf:resource="#ObjectBase"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasAtomicOperation">
-    <owl:inverseOf rdf:resource="#isAtomicOperationOf"/>
-    <rdfs:range rdf:resource="#Atomic"/>
-    <rdfs:domain rdf:resource="#Operation"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasDevice">
-    <rdfs:range rdf:resource="#Device"/>
-    <rdfs:domain rdf:resource="#Atomic"/>
-    <owl:inverseOf rdf:resource="#isDeviceOf"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#isSubskillOf">
-    <rdfs:domain rdf:resource="#CompoundSkills"/>
-    <rdfs:range rdf:resource="#CompoundSkills"/>
-    <owl:inverseOf rdf:resource="#hasSubskill"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasEditable">
-    <rdfs:range rdf:resource="#isEditable"/>
-    <rdfs:domain rdf:resource="#Property"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#isGeometryOf">
-    <rdfs:range rdf:resource="#Object"/>
-    <owl:inverseOf rdf:resource="#hasGeometry"/>
-    <rdfs:domain rdf:resource="#Geometry"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#isOperationOf">
-    <rdfs:domain rdf:resource="#Task"/>
-    <rdfs:range rdf:resource="#Task"/>
-    <owl:inverseOf rdf:resource="#hasOperation"/>
-  </owl:ObjectProperty>
-  <owl:DatatypeProperty rdf:ID="value">
-    <rdfs:domain rdf:resource="#Property"/>
-  </owl:DatatypeProperty>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >hydraulic</rdf:first>
-        <rdf:rest rdf:parseType="Resource">
-          <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-          <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-          >electric</rdf:first>
-        </rdf:rest>
-      </rdf:rest>
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >pneumatic</rdf:first>
-    </owl:oneOf>
-  </owl:DataRange>
-</rdf:RDF>
-
-<!-- Created with Protege (with OWL Plugin 3.2.1, Build 365)  http://protege.stanford.edu -->
diff --git a/testontologies/v08a.owl b/testontologies/v08a.owl
deleted file mode 100644
index 56f45770555460bd45615410fa1f3a60b194a18e..0000000000000000000000000000000000000000
--- a/testontologies/v08a.owl
+++ /dev/null
@@ -1,8340 +0,0 @@
-<?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>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaxScanAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="FieldOfView"/>
-    </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:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:ID="OpticContrastScanner"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:11
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 3</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="DetectObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="DetectCollision"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Detect"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="DetectLuminescence"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="DetectColor"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="Arrangement">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Timing"/>
-    </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>
-    <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>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Measure"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureMotionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureTorque"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureSpeed"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureVolume"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureDiameter"/>
-    </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="#FieldOfView"/>
-    </owl:disjointWith>
-    <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>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxScanAngle"/>
-    </owl:disjointWith>
-    <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>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Lap"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Rub"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Saw"/>
-    </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="#MeasureTemperature">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDistance"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Measure"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureMotionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureSpeed"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureTorque"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureVolume"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAngle"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#DetectColor">
-    <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>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:ID="OpticColorSensor"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DetectCollision"/>
-    </owl:disjointWith>
-  </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:about="#MeasureOrientationOfObject">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureVolume"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureTorque"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureMotionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Measure"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MeasureTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureSpeed"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="ManufacturingFunction">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SensorFunction"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="MainFunction"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ManipulationAndHandlingFunction"/>
-    </owl:disjointWith>
-  </owl: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>
-      <owl:Class rdf:about="#DetectCollision"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DetectContrast"/>
-    <owl:disjointWith rdf:resource="#DetectColor"/>
-    <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>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Detect"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Read">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Check"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ImageAnalysis"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Measure"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Task and Skills of Optical Sensors v1.1
-part:7</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Classify"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Scan"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Detect"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#SensorFunction"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="VacuumGripper">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MagnetGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:ID="AdjustVacuumToGrip"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="PincerGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#AdjustVacuumToRelease"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="FingerGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Gripper"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticLuminescenceScanner">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="VisionSensor"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#OpticSensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="LightGrid"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="OpticSwitch"/>
-    </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="LaserScanner2D"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="OpticDistanceSensor"/>
-    </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:ID="CheckPresence">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CheckPosition"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Count"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Check"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CheckSurfaceForIrregularities"/>
-    </owl:disjointWith>
-  </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>
-    <rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Mold"/>
-    </owl:disjointWith>
-  </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:about="#SmartCamera">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#VisionSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticSwitch"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightGrid"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserScanner2D"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticContrastScanner"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticDistanceSensor"/>
-    </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">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureVolume"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureOrientationOfObject"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureMotionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureTorque"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Measure"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureSpeed"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith rdf:resource="#MeasureTemperature"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Extrude">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is mainly used to create profiles, tubes and wires.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Deep-Draw"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Forge"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Stretch-Form"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#True"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Fold"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bend"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Form"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Crush"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="CoordinateReferenceSystem">
-    <rdfs:subClassOf rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MountedDeviceOrientation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MountedDevicePosition"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="WorkFrame"/>
-    </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="SegmentImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="DecompressImageData"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="TransformImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="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="CompressImageData"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="FilterImage"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#LaserScanner2D">
-    <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticContrastScanner"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticSwitch"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticColorSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticDistanceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#VisionSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SmartCamera"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightGrid"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#OpticSensor"/>
-    </rdfs:subClassOf>
-  </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>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpenFingers"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Release"/>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#VacuumGripper"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </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>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Form"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Fold"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Stretch-Form"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#SensorFunction">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:allValuesFrom>
-          <owl:Class rdf:about="#Sensor"/>
-        </owl:allValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs: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="#MeasureSpeed">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Measure"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MeasureOrientationOfObject"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureMotionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureAngle"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureTorque"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureVolume"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </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>
-    <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 rdf:resource="#Arrange"/>
-    <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:disjointWith>
-      <owl:Class rdf:ID="SortObjects"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureTorque">
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureVolume"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureSpeed"/>
-    <owl:disjointWith rdf:resource="#MeasureTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureAngle"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Measure"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureMotionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureOrientationOfObject"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDistance"/>
-    </owl:disjointWith>
-  </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:ID="CloseFingers"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MagnetGripper"/>
-    </owl:disjointWith>
-    <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 rdf:resource="#VacuumGripper"/>
-  </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="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MountedDevicePosition"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="ResponseTime">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Timing"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CycleTime"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in seconds</rdfs:comment>
-  </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:about="#Count">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CheckSurfaceForIrregularities"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CheckPosition"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Check"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#CheckPresence"/>
-  </owl:Class>
-  <owl:Class rdf:about="#DetectObject">
-    <owl:disjointWith rdf:resource="#DetectLuminescence"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Detect"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#DetectContrast"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 2</rdfs:comment>
-    <owl:disjointWith rdf:resource="#DetectColor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DetectCollision"/>
-    </owl:disjointWith>
-  </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">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:allValuesFrom>
-          <owl:Class rdf:about="#Device"/>
-        </owl:allValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Device"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="http://www.w3.org/2002/07/owl#Thing"/>
-    <owl:disjointWith rdf:resource="#Property"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Task"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-(Breakdown of Skills)</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#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>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <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>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-  </owl:Class>
-  <owl:Class rdf:ID="WheelEncoder">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#EncoderSensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="LinearEncoder"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="WireDrawEncoder"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#CycleTime">
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Timing"/>
-    </rdfs:subClassOf>
-    <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:Class>
-  <owl:Class rdf:about="#Weld">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bolt"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Clinch"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Fill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Assemble"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Join"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Glue"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Solder"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Rivet"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is a permanent connection of workpieces by using heat and/or pressure. The material keeps its properties when welded.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf: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="#DetectCollision">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Detect"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#DetectColor"/>
-    <owl:disjointWith rdf:resource="#DetectLuminescence"/>
-    <owl:disjointWith rdf:resource="#DetectObject"/>
-    <owl:disjointWith rdf:resource="#DetectContrast"/>
-  </owl:Class>
-  <owl:Class rdf:ID="Accuracy">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Precision"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Repeatability"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Resolution"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="PathVelocityFluctuation"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="MinVoltageSupply">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Diameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaxCurrentConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaxVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Height"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in volts</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Length"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Width"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-  </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>
-    <rdfs:subClassOf rdf:resource="#ModifyWorkpieceProperties"/>
-    <owl:disjointWith rdf:resource="#Age"/>
-    <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="#Cut"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Grind"/>
-    </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="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#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="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </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="#MaxVoltageSupply"/>
-    </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="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <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="#MinVoltageSupply"/>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticSwitch">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#OpticSensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticColorSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
-    <owl:disjointWith rdf:resource="#LaserScanner2D"/>
-    <owl:disjointWith rdf:resource="#SmartCamera"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticDistanceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticContrastScanner"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#VisionSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightGrid"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#AdjustVacuumToGrip">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CloseFingers"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Grasp"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#CloseClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#AdjustCurrentToGrip"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#VacuumGripper"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-      </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="#PhysicalInterface"/>
-    </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="#MaxAmbientTemperature"/>
-    </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="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxCurrentConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </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>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </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:someValuesFrom>
-          <owl:Class rdf:about="#Timing"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="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:someValuesFrom rdf:resource="#SensorFunction"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#Cost"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <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:Class rdf:about="#Device"/>
-    </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>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ManipulationAndHandling"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#Arrangement"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Manufacturing"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticColorSensor">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#VisionSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SmartCamera"/>
-    <owl:disjointWith rdf:resource="#LaserScanner2D"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#OpticSensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticDistanceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightGrid"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticContrastScanner"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpticSwitch"/>
-    <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 4</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#AdditionalFunction">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-(Breakdown of Skills)</rdfs:comment>
-    <owl:disjointWith rdf:resource="#MainFunction"/>
-    <rdfs:subClassOf rdf:resource="#Skill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiagnosticFunction"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="BarcodeReader">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#VisionSensor"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#DiagnosticFunction">
-    <owl:disjointWith rdf:resource="#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: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:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#FingerGripper"/>
-      </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>
-    <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="#AdjustVacuumToRelease"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpenClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#AdjustCurrentToRelease"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Broach">
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >The workpiece is given the tool's contour. This is used where contours are necessary which cannot be created by milling or lathing.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Grind"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cut"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Mill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thermal-Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Hone"/>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lathe"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#File"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Coat">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Form"/>
-    </owl:disjointWith>
-    <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="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </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="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </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="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxCurrentConsumption"/>
-    </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"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Form"/>
-    </rdfs:subClassOf>
-    <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="#MeasureAcceleration">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureMotionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureOrientationOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureSpeed"/>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Measure"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureAngle"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureVolume"/>
-    </owl:disjointWith>
-  </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="#MaxCurrentConsumption"/>
-    </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="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </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>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </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="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Width"/>
-  </owl:Class>
-  <owl:Class rdf:about="#WorkFrame">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MountedDevicePosition"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
-    <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
-    <rdfs:subClassOf rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </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:ID="CollectStatisticalData">
-    <rdfs:subClassOf rdf:resource="#DiagnosticFunction"/>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="PerformSelfTest"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureMotionOfObject">
-    <owl:disjointWith rdf:resource="#MeasureOrientationOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureSpeed"/>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureVolume"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureAcceleration"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Measure"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith rdf:resource="#MeasureAngle"/>
-    <owl:disjointWith rdf:resource="#MeasureTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="OpticProximitySwitch">
-    <rdfs:subClassOf rdf:resource="#OpticSwitch"/>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="OpticReflexSwitch"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="OpticThroughBeamSwitch"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#SwitchingFrequency">
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in Kilohertz</rdfs:comment>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Timing"/>
-    </rdfs:subClassOf>
-  </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>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxCurrentConsumption"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxVoltageSupply"/>
-    </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="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Diameter"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticDistanceSensor">
-    <owl:disjointWith rdf:resource="#SmartCamera"/>
-    <owl:disjointWith rdf:resource="#LaserScanner2D"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightGrid"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#VisionSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#OpticSensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#OpticColorSensor"/>
-    <owl:disjointWith rdf:resource="#OpticSwitch"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticContrastScanner"/>
-    </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:ID="Calibrate">
-    <rdfs:subClassOf rdf:resource="#AdditionalFunction"/>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SetParameterValue"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SaveParameterSet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Reset"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="LoadParameterSet"/>
-    </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:someValuesFrom rdf:resource="#CloseClaws"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </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>
-          <owl:Class rdf:about="#OpenClaws"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Repeatability">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </rdfs:subClassOf>
-    <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="#Accuracy"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Detect">
-    <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>
-      <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:about="#Convey">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Turn"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Orient"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Displace"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Feed"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part (or transported material) from one undefined to another undefined position. The trajectory and the orientation of the parts while moved are not necessarily defined.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Position"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pass"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Pan"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Arrange"/>
-  </owl:Class>
-  <owl:Class rdf:ID="Circular">
-    <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="#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">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxCurrentConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Diameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <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="#Width"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-  </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>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxCurrentConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Diameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#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="#Classify"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#ClassifyObject"/>
-  </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="#Grind">
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lathe"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Increase the surface performance, flatten the surface.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Hone"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thermal-Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Broach"/>
-    <owl:disjointWith rdf:resource="#File"/>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Separate"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Mill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cut"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Drill"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Classify">
-    <rdfs:subClassOf rdf:resource="#SensorFunction"/>
-    <owl:disjointWith rdf:resource="#Detect"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ImageAnalysis"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Read"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Scan"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Measure"/>
-    </owl:disjointWith>
-    <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="#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="#Identifier"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Timing"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communication"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in euros</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-  </owl:Class>
-  <owl:Class rdf:about="#SetParameterValue">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reset"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#AdditionalFunction"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LoadParameterSet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SaveParameterSet"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Calibrate"/>
-  </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="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </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>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <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="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxCurrentConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <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>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxVoltageSupply"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#PhysicalProperties">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Timing"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#Cost"/>
-    <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>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Material">
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxCurrentConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <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="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Diameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-  </owl:Class>
-  <owl:Class rdf:about="#LoadParameterSet">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reset"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SetParameterValue"/>
-    <owl:disjointWith rdf:resource="#Calibrate"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SaveParameterSet"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#AdditionalFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureDistance">
-    <owl:disjointWith rdf:resource="#MeasureTemperature"/>
-    <owl:disjointWith rdf:resource="#MeasureOrientationOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureSpeed"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Measure"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureAngle"/>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureVolume"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureAcceleration"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MagnetGripper">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#AdjustCurrentToGrip"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#AdjustCurrentToRelease"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Gripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#FingerGripper"/>
-    <owl:disjointWith rdf:resource="#VacuumGripper"/>
-    <owl:disjointWith rdf:resource="#PincerGripper"/>
-  </owl:Class>
-  <owl:Class rdf:about="#True">
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Deep-Draw"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Crush"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <owl:disjointWith rdf:resource="#Extrude"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Machine finishing after e.g. folding</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Form"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Forge"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Fold"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf: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="#Timing">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Communication"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalProperties"/>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-    <owl:disjointWith rdf:resource="#Cost"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Identifier"/>
-    </owl:disjointWith>
-  </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>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Form"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <owl:disjointWith rdf:resource="#True"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Crush"/>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith rdf:resource="#Extrude"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ReadOpticalCharacters">
-    <owl:disjointWith rdf:resource="#ReadBarCode"/>
-    <owl:disjointWith rdf:resource="#Read2DMatrixCode"/>
-    <rdfs:subClassOf rdf:resource="#Read"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Task and Skills of Optical Sensors v1.1
-part:7</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Diameter">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <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="#MaxVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxCurrentConsumption"/>
-    </owl:disjointWith>
-    <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 rdf:resource="#ManipulationAndHandling"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#PhysicalPropertiesGripper"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <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="#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:someValuesFrom rdf:resource="#Arrangement"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#ControlSystem"/>
-        </owl:someValuesFrom>
-        <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="#PhysicalInterface">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxCurrentConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-  </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: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>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Form"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Fold"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <owl:disjointWith rdf:resource="#Forge"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Extrude"/>
-    <owl:disjointWith rdf:resource="#True"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Glue">
-    <owl:disjointWith rdf:resource="#Bolt"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Clinch"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Join"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Fill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Assemble"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Weld"/>
-    <owl:disjointWith rdf:resource="#Solder"/>
-    <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="#ManipulationAndHandlingFunction">
-    <owl:disjointWith rdf:resource="#ManufacturingFunction"/>
-    <rdfs:subClassOf rdf:resource="#MainFunction"/>
-    <owl:disjointWith rdf:resource="#SensorFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#OpenClaws">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#PincerGripper"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#AdjustCurrentToRelease"/>
-    <owl:disjointWith rdf:resource="#OpenFingers"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Release"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#AdjustVacuumToRelease"/>
-  </owl:Class>
-  <owl:Class rdf:about="#VisionSensor">
-    <owl:disjointWith rdf:resource="#OpticDistanceSensor"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#OpticSensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#OpticSwitch"/>
-    <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticContrastScanner"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightGrid"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SmartCamera"/>
-    <owl:disjointWith rdf:resource="#OpticColorSensor"/>
-    <owl:disjointWith rdf:resource="#LaserScanner2D"/>
-  </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: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"/>
-    <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="#Form"/>
-    <rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
-    <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="#Accuracy"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Repeatability"/>
-    <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="#MeasureForce">
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith rdf:resource="#MeasureSpeed"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Measure"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureVolume"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureOrientationOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureAcceleration"/>
-    <owl:disjointWith rdf:resource="#MeasureTemperature"/>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureAngle"/>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasurePositionOfObject"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticContrastScanner">
-    <owl:disjointWith rdf:resource="#LaserScanner2D"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightGrid"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#VisionSensor"/>
-    <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 rdf:resource="#OpticDistanceSensor"/>
-    <owl:disjointWith rdf:resource="#OpticSwitch"/>
-    <owl:disjointWith rdf:resource="#OpticColorSensor"/>
-  </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>
-      <owl:Class rdf:about="#CheckPosition"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Count"/>
-    <owl:disjointWith rdf:resource="#CheckPresence"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Check"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Powder-coat">
-    <owl:disjointWith rdf:resource="#Varnish"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >The powder becomes electrostatically charged and sprayed to the workpiece. Then it is burned into the workpiece.</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="#Coat"/>
-    <owl:disjointWith rdf:resource="#Electroplate"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hot-galvanise"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#LightSpotSize">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FieldOfView"/>
-    </owl:disjointWith>
-    <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>
-      <owl:Class rdf:about="#MaxScanAngle"/>
-    </owl:disjointWith>
-    <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:about="#MeasurePositionOfObject">
-    <owl:disjointWith rdf:resource="#MeasureOrientationOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureTemperature"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Measure"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MeasureAcceleration"/>
-    <owl:disjointWith rdf:resource="#MeasureForce"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureAngle"/>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith rdf:resource="#MeasureSpeed"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureVolume"/>
-    </owl:disjointWith>
-  </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>
-      <owl:Class rdf:about="#MaxScanAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >In mm.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FieldOfView"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxCurrentConsumption">
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#PhysicalInterface"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in amperes</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MountedDevicePosition">
-    <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
-    <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-  </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"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <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="#ToolInterface">
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#Timing"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Identifier"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </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="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Cost"/>
-    <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="#LaserClass">
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FieldOfView"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxScanAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-  </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"/>
-    <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:disjointWith rdf:resource="#Join"/>
-    <owl:disjointWith rdf:resource="#Form"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Weight">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in kg</rdfs:comment>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxVoltageSupply"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith rdf:resource="#PhysicalInterface"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </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="#Identifier">
-    <owl:disjointWith rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#Timing"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-    <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="#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>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Fill"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is a connection of metal sheets without any additional material. The workpieces are deformed between a stamp and a template to generate a pushbutton-like shape.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#ImageAnalysis">
-    <owl:disjointWith rdf:resource="#Detect"/>
-    <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>
-    <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:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Fill a workpiece with a cubic capacity.</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="#Join"/>
-  </owl:Class>
-  <owl:Class rdf:ID="TactileProximitySwitch">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#TactileSensor"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#WireDrawEncoder">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#EncoderSensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#WheelEncoder"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LinearEncoder"/>
-    </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="#Precision">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <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 rdf:resource="#Timing"/>
-    <owl:disjointWith rdf:resource="#Identifier"/>
-    <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="#Lathe"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </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="#SaveParameterSet">
-    <owl:disjointWith rdf:resource="#SetParameterValue"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reset"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#AdditionalFunction"/>
-    <owl:disjointWith rdf:resource="#LoadParameterSet"/>
-    <owl:disjointWith rdf:resource="#Calibrate"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxForce">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in Newton</rdfs:comment>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalInterface"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-  </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="#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="#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="#OpticReflexSwitch">
-    <rdfs:subClassOf rdf:resource="#OpticSwitch"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticThroughBeamSwitch"/>
-    </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="#OpticProximitySwitch"/>
-  </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="#PerformSelfTest">
-    <rdfs:subClassOf rdf:resource="#DiagnosticFunction"/>
-    <owl:disjointWith rdf:resource="#CollectStatisticalData"/>
-  </owl:Class>
-  <owl:Class rdf:about="#LightGrid">
-    <owl:disjointWith rdf:resource="#OpticDistanceSensor"/>
-    <owl:disjointWith rdf:resource="#OpticColorSensor"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#OpticSensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#LaserScanner2D"/>
-    <owl:disjointWith rdf:resource="#VisionSensor"/>
-    <owl:disjointWith rdf:resource="#SmartCamera"/>
-    <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
-    <owl:disjointWith rdf:resource="#OpticSwitch"/>
-    <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
-  </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"/>
-    <owl:disjointWith rdf:resource="#Deep-Draw"/>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <rdfs:subClassOf rdf:resource="#Form"/>
-    <owl:disjointWith rdf:resource="#True"/>
-    <owl:disjointWith rdf:resource="#Crush"/>
-    <owl:disjointWith rdf:resource="#Extrude"/>
-  </owl:Class>
-  <owl:Class rdf:about="#DecompressImageData">
-    <owl:disjointWith rdf:resource="#BlobAnalysis"/>
-    <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CalibrateImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FilterImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SegmentImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TransformImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ExtractEdges"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CompressImageData"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#CompressImageData">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CalibrateImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ExtractEdges"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SegmentImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FilterImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TransformImage"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith rdf:resource="#DecompressImageData"/>
-    <owl:disjointWith rdf:resource="#BlobAnalysis"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Hot-galvanise">
-    <owl:disjointWith rdf:resource="#Powder-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>
-    <rdfs:subClassOf rdf:resource="#Coat"/>
-    <owl:disjointWith rdf:resource="#Electroplate"/>
-    <owl:disjointWith rdf:resource="#Varnish"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Position">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part from an undefined to a well-defined position. The part's orientation is not important here.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Turn"/>
-    </owl:disjointWith>
-    <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="#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="#OpticThroughBeamSwitch">
-    <owl:disjointWith rdf:resource="#OpticReflexSwitch"/>
-    <rdfs:subClassOf rdf:resource="#OpticSwitch"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 2</rdfs:comment>
-    <owl:disjointWith rdf:resource="#OpticProximitySwitch"/>
-  </owl:Class>
-  <owl:Class rdf:about="#LinearEncoder">
-    <owl:disjointWith rdf:resource="#WireDrawEncoder"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >distanceMeasurements.pdf
-SICK
-pag 4</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#EncoderSensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#WheelEncoder"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Displace">
-    <owl:disjointWith rdf:resource="#Pass"/>
-    <owl:disjointWith rdf:resource="#Position"/>
-    <owl:disjointWith rdf:resource="#Pan"/>
-    <owl:disjointWith rdf:resource="#Arrange"/>
-    <owl:disjointWith rdf:resource="#Convey"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move translationally a part along a straight line. The part's orientiation remains unchanged.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Turn"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Orient"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Feed"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#ArticulatedRobot">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Robot"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SimpleKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CartesianRobot"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is the standard industrial robot-type with usually 5 to 7 joints.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScaraRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ParallelKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#HexapodRobot"/>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Turn">
-    <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="#ImageAnalysis"/>
-    <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>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <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 rdf:resource="#Weight"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#PhysicalInterface"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-  </owl:Class>
-  <owl:Class rdf:about="#TransformImage">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CalibrateImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DecompressImageData"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SegmentImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#BlobAnalysis"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ExtractEdges"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FilterImage"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith rdf:resource="#CompressImageData"/>
-  </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="#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 rdf:resource="#Broach"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <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>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in volts</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <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="#Material"/>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#PhysicalInterface"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ControlSystem">
-    <owl:disjointWith rdf:resource="#Identifier"/>
-    <owl:disjointWith rdf:resource="#Communication"/>
-    <owl:disjointWith rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith rdf:resource="#Cost"/>
-    <owl:disjointWith rdf:resource="#Timing"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Assign">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Create subsets of defined size or amount and move these subsets to a defined location.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Merge"/>
-    <owl:disjointWith rdf:resource="#Part"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Unify"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Branch"/>
-    <rdfs:subClassOf rdf:resource="#ModifyAmount"/>
-    <owl:disjointWith rdf:resource="#Divide"/>
-  </owl:Class>
-  <owl:Class rdf:about="#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">
-    <owl:disjointWith rdf:resource="#Gripper"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Introdution to Robotics
-(Analysis, System, Applications)
-Saeed B. Niku</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="#ManipulationAndHandling"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#Cost"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl: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: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>
-          <owl:Class rdf:about="#QualityCriteria"/>
-        </owl:someValuesFrom>
-      </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:someValuesFrom rdf:resource="#ControlSystem"/>
-        <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:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#Communication"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#WorkFrame"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#PathVelocityFluctuation">
-    <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="#Resolution"/>
-  </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="#MaxScanAngle">
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FieldOfView"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-  </owl:Class>
-  <owl:Class rdf:ID="UltrasonicDistanceSensor">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#UltrasonicSensor"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >distanceMeasurements.pdf
-SICK
-pag 4</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#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>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#PhysicalInterface"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-  </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: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="#PhysicalProperties"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Property"/>
-    <owl:disjointWith rdf:resource="#Skill"/>
-    <rdfs:subClassOf rdf:resource="http://www.w3.org/2002/07/owl#Thing"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:allValuesFrom rdf:resource="#Skill"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#MainFunction"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:allValuesFrom rdf:resource="#Property"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </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="#SimpleKinematicRobot">
-    <rdfs:subClassOf rdf:resource="#Robot"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Simple, sometimes small machines with reduced capabilities, e.g. with only 1 DOF. These can be devices which are arranged to more complex machines.
-Sometimes, the tool is already included in the robot, e.g. a gripper is already connected.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#ScaraRobot"/>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#CartesianRobot"/>
-    <owl:disjointWith rdf:resource="#HexapodRobot"/>
-    <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ParallelKinematicRobot"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#StoreInOrder">
-    <owl:disjointWith rdf:resource="#StorePartlyOrdered"/>
-    <owl:disjointWith rdf:resource="#StoreUnOrdered"/>
-    <rdfs:subClassOf rdf:resource="#Store"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Save workpieces which are geometrically defined in a well-defined position and/or orientation.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Cut">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Divide a workpiece into two parts.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Separate"/>
-    <owl:disjointWith rdf:resource="#Hone"/>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <owl:disjointWith rdf:resource="#Electro-discharge-machine"/>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <owl:disjointWith rdf:resource="#File"/>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith rdf:resource="#Drill"/>
-    <owl:disjointWith rdf:resource="#Thrust"/>
-    <owl:disjointWith rdf:resource="#Lathe"/>
-    <owl:disjointWith rdf:resource="#Broach"/>
-    <owl:disjointWith rdf:resource="#Saw"/>
-  </owl:Class>
-  <owl:Class rdf:about="#UltrasonicSensor">
-    <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="#TransformImage"/>
-    <owl:disjointWith rdf:resource="#CompressImageData"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FilterImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DecompressImageData"/>
-    <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="#CheckPosition">
-    <owl:disjointWith rdf:resource="#CheckPresence"/>
-    <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"/>
-    <rdfs:subClassOf rdf:resource="#Sensor"/>
-    <owl:disjointWith rdf:resource="#TorqueForceSensor"/>
-    <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="#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 rdf:resource="#CompressImageData"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SegmentImage"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith rdf:resource="#DecompressImageData"/>
-    <owl:disjointWith rdf:resource="#ExtractEdges"/>
-    <owl:disjointWith rdf:resource="#TransformImage"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CalibrateImage"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#SegmentImage">
-    <owl:disjointWith rdf:resource="#TransformImage"/>
-    <owl:disjointWith rdf:resource="#CompressImageData"/>
-    <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith rdf:resource="#FilterImage"/>
-    <owl:disjointWith rdf:resource="#ExtractEdges"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CalibrateImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#BlobAnalysis"/>
-    <owl:disjointWith rdf:resource="#DecompressImageData"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Unify">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Create a superset from subsets.
-The size of source and target sets does not necessarily have to be defined.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Divide"/>
-    <owl:disjointWith rdf:resource="#Merge"/>
-    <rdfs:subClassOf rdf:resource="#ModifyAmount"/>
-    <owl:disjointWith rdf:resource="#Branch"/>
-    <owl:disjointWith rdf:resource="#Assign"/>
-    <owl:disjointWith rdf:resource="#Part"/>
-  </owl:Class>
-  <owl:Class rdf:about="#PowerConsumption">
-    <owl:disjointWith rdf:resource="#Width"/>
-    <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 rdf:resource="#Shape"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#PhysicalInterface"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-  </owl:Class>
-  <owl:Class rdf:ID="ElasticFingerGripper">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="JointFingerGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#FingerGripper"/>
-  </owl:Class>
-  <owl:Class rdf:about="#NumberOfJoints">
-    <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="#MeasureDiameter">
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureTemperature"/>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith rdf:resource="#MeasureForce"/>
-    <owl:disjointWith rdf:resource="#MeasureAcceleration"/>
-    <owl:disjointWith rdf:resource="#MeasurePositionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureAngle"/>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith rdf:resource="#MeasureOrientationOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureSpeed"/>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureVolume"/>
-    </owl:disjointWith>
-  </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="#Timing"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith rdf:resource="#Cost"/>
-    <owl:disjointWith rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MinAmbientTemperature">
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#PhysicalInterface"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in degrees celsius</rdfs:comment>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#PowerConsumption"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-  </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:ID="InductiveProximitySwitch">
-    <rdfs:subClassOf rdf:resource="#InductiveSensor"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 2</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Scan">
-    <owl:disjointWith rdf:resource="#Read"/>
-    <owl:disjointWith rdf:resource="#Check"/>
-    <owl:disjointWith rdf:resource="#Detect"/>
-    <owl:disjointWith rdf:resource="#ImageAnalysis"/>
-    <rdfs:subClassOf rdf:resource="#SensorFunction"/>
-    <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>
-      <owl:Class rdf:about="#FieldOfView"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith rdf:resource="#MaxScanAngle"/>
-    <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"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#ManufacturingFunction"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Sensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Reset">
-    <rdfs:subClassOf rdf:resource="#AdditionalFunction"/>
-    <owl:disjointWith rdf:resource="#SetParameterValue"/>
-    <owl:disjointWith rdf:resource="#LoadParameterSet"/>
-    <owl:disjointWith rdf:resource="#Calibrate"/>
-    <owl:disjointWith rdf:resource="#SaveParameterSet"/>
-  </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="#PhysicalInterface"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith rdf:resource="#PowerConsumption"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Height"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureVolume">
-    <owl:disjointWith rdf:resource="#MeasureForce"/>
-    <owl:disjointWith rdf:resource="#MeasurePositionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureOrientationOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureSpeed"/>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith rdf:resource="#MeasureAcceleration"/>
-    <owl:disjointWith rdf:resource="#MeasureAngle"/>
-    <owl:disjointWith rdf:resource="#MeasureDiameter"/>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith rdf:resource="#MeasureTemperature"/>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-  </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"/>
-    <owl:disjointWith rdf:resource="#CompressImageData"/>
-    <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith rdf:resource="#TransformImage"/>
-    <owl:disjointWith rdf:resource="#DecompressImageData"/>
-    <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="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <owl:disjointWith rdf:resource="#PhysicalInterface"/>
-    <owl:disjointWith rdf:resource="#PowerConsumption"/>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#FieldOfView">
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#ScanningDistance"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#MaxScanAngle"/>
-  </owl:Class>
-  <owl:Class rdf:about="#WorkCoordinates">
-    <owl:disjointWith rdf:resource="#MountedDevicePosition"/>
-    <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
-    <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-    <rdfs:subClassOf rdf:resource="#Arrangement"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MechanicalConnector">
-    <rdfs:subClassOf rdf:resource="#ToolInterface"/>
-    <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:disjointWith rdf:resource="#ElectricalConnector"/>
-  </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"/>
-    <owl:disjointWith rdf:resource="#AdjustVacuumToGrip"/>
-    <owl:disjointWith rdf:resource="#CloseClaws"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#MagnetGripper"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </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">
-    <rdfs:range rdf:resource="#Property"/>
-    <rdfs:domain>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Device"/>
-          <owl:Class rdf:about="#Skill"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:domain>
-    <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"/>
-    <rdfs:domain rdf:resource="#Property"/>
-    <rdfs:range>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Skill"/>
-          <owl:Class rdf:about="#Device"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:range>
-  </owl:ObjectProperty>
-  <owl:DatatypeProperty rdf:ID="value">
-    <rdfs:domain rdf:resource="#Property"/>
-  </owl:DatatypeProperty>
-  <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.2">
-    <isPropertyOf>
-      <LightGrid rdf:ID="Sick_MLG2-0280F511">
-        <hasProperty>
-          <EnclosureRatingIP rdf:ID="EnclosureRatingIP_65">
-            <isPropertyOf>
-              <OpticDistanceSensor rdf:ID="Sick_DME5000-112">
-                <hasProperty>
-                  <BusInterface rdf:ID="BusInterface_Profibus">
-                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                    >Profibus</value>
-                    <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                  </BusInterface>
-                </hasProperty>
-                <hasProperty>
-                  <Accuracy rdf:ID="Accuracy_0.002">
-                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                    >0.0020</value>
-                    <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                  </Accuracy>
-                </hasProperty>
-                <hasProperty>
-                  <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.3">
-                    <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">
-                                    <isPropertyOf>
-                                      <OpticProximitySwitch rdf:ID="Sick_WT18-3P430">
-                                        <hasProperty>
-                                          <MaxVoltageSupply rdf:ID="MaxVoltageSupply_30.0">
-                                            <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                                            <isPropertyOf>
-                                              <OpticReflexSwitch rdf:ID="Sick_WL18-3P430">
-                                                <hasProperty>
-                                                  <LightSpotSize rdf:ID="LightSpotSize_0.040">
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >0.04</value>
-                                                    <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                                  </LightSpotSize>
-                                                </hasProperty>
-                                                <hasProperty>
-                                                  <ElectricalInterface rdf:ID="ElectricalInterface_OpenCollectorPNP">
-                                                    <isPropertyOf>
-                                                      <OpticContrastScanner rdf:ID="Sick_KT10-2P1115">
-                                                        <hasProperty>
-                                                          <Weight rdf:ID="Weight_0.4">
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#float"
-                                                            >0.4</value>
-                                                            <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                                                            <isPropertyOf>
-                                                              <OpticLuminescenceScanner rdf:ID="Sick_LUT3-610">
-    <hasSkill>
-      <DetectLuminescence rdf:ID="DetectLuminescence_1">
-        <isSkillOf rdf:resource="#Sick_LUT3-610"/>
-      </DetectLuminescence>
-    </hasSkill>
-    <hasProperty>
-      <LightSpotSize rdf:ID="LightSpotSize_0.002x0.006">
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >0.002x0.006</value>
-        <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-      </LightSpotSize>
-    </hasProperty>
-    <hasProperty>
-      <ElectricalInterface rdf:ID="ElectricalInterface_OpenCollectorNPN">
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >open collector NPN</value>
-        <isPropertyOf>
-          <OpticColorSensor rdf:ID="Sick_CSM1-N1114">
-            <hasProperty>
-              <LightType rdf:ID="LightType_LEDgreen">
-                <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-                <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                <isPropertyOf>
-                  <OpticColorSensor rdf:ID="Sick_CS81-P1112">
-                    <hasProperty>
-                      <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_55">
-                        <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                        >55.0</value>
-                        <isPropertyOf>
-                          <OpticContrastScanner rdf:ID="Sick_KT5W_2P1116D">
-                            <hasProperty>
-                              <ScanningDistance rdf:ID="ScanningDistance_0.01">
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                >0.01</value>
-                                <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-                                <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                                <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                              </ScanningDistance>
-                            </hasProperty>
-                            <hasProperty>
-                              <EnclosureRatingIP rdf:ID="EnclosureRatingIP_67">
-                                <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                                <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                >67</value>
-                                <isPropertyOf>
-                                  <GeneralParallelGripper rdf:ID="Schunk_MPG_20">
-                                    <hasProperty>
-                                      <MaxLiftWeight rdf:ID="MaxLiftWeight_0.14">
-                                        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >0.14</value>
-                                      </MaxLiftWeight>
-                                    </hasProperty>
-                                    <hasProperty rdf:resource="#Weight_0.4"/>
-                                    <hasProperty>
-                                      <MaxForce rdf:ID="MaximumForce_24">
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >24.0</value>
-                                        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                      </MaxForce>
-                                    </hasProperty>
-                                    <hasProperty>
-                                      <Repeatability rdf:ID="Repeatability_0.02">
-                                        <isPropertyOf>
-                                          <GeneralParallelGripper rdf:ID="Schunk_MPG_64">
-                                            <hasProperty rdf:resource="#Repeatability_0.02"/>
-                                            <hasProperty>
-                                              <Repeatability rdf:ID="Repeatability_0.1">
-                                                <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                                <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                                                <isPropertyOf>
-                                                  <ArticulatedRobot rdf:ID="ArticulatedRobot_ABB_IRB-4400">
-                                                    <hasProperty>
-                                                      <MaxVoltageSupply rdf:ID="MaxVoltageSupply_600">
-                                                        <value
-                                                         rdf:datatype=
-                                                        "http://www.w3.org/2001/XMLSchema#float"
-                                                        >600.0</value>
-                                                        <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 rdf:resource="#Schunk_MPG_20"/>
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-            >40.5</value>
-          </Weight>
-        </hasProperty>
-        <hasProperty>
-          <Payload rdf:ID="Payload_2.0">
-            <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>
-                      <VisionSensor rdf:ID="Sick_CVS2-P112">
-                        <hasProperty>
-                          <MinAmbientTemperature rdf:ID="MinAmbientTemperature_0">
-                            <isPropertyOf>
-                              <SmartCamera rdf:ID="Sick_IVC-2DM1111">
-                                <hasProperty>
-                                  <Weight rdf:ID="Weight_0.5">
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                    >0.5</value>
-                                    <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                    <isPropertyOf>
-                                      <SmartCamera rdf:ID="Sick_IVC-2DM1122">
-                                        <hasSkill>
-                                          <MeasureAngle rdf:ID="MeasureAngle_1">
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                          </MeasureAngle>
-                                        </hasSkill>
-                                        <hasProperty rdf:resource="#MinAmbientTemperature_0"/>
-                                        <hasProperty>
-                                          <Length rdf:ID="Length_161">
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >161.0</value>
-                                          </Length>
-                                        </hasProperty>
-                                        <hasSkill>
-                                          <ClassifyObject rdf:ID="ClassifyObject_1">
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                          </ClassifyObject>
-                                        </hasSkill>
-                                        <hasProperty rdf:resource="#Weight_0.5"/>
-                                        <hasProperty>
-                                          <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_50">
-                                            <rdfs:comment rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#string"
-                                            >in degrees celsius</rdfs:comment>
-                                            <isPropertyOf>
-                                              <OpticDistanceSensor rdf:ID="Sick_DT10-P10B5">
-                                                <hasProperty>
-                                                  <ElectricalInterface rdf:ID="ElectricalInterface_ConnectorM12-5Pins">
-                                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                                    <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
-                                                    <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#string"
-                                                    >Connector M12, 5 Pins</value>
-                                                    <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                                                    <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                                                  </ElectricalInterface>
-                                                </hasProperty>
-                                                <hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
-                                                <hasProperty>
-                                                  <Repeatability rdf:ID="Repeatability_0.003">
-                                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >0.0030</value>
-                                                  </Repeatability>
-                                                </hasProperty>
-                                                <hasProperty>
-                                                  <Accuracy rdf:ID="Accuracy_0.003">
-                                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >0.0030</value>
-                                                  </Accuracy>
-                                                </hasProperty>
-                                                <hasProperty>
-                                                  <SwitchingFrequency rdf:ID="SwitchingFrequency_1000">
-                                                    <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                                                    <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >1000.0</value>
-                                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                                    <isPropertyOf>
-                                                      <OpticThroughBeamSwitch rdf:ID="Sick_WSWE18-3P430">
-                                                        <hasProperty>
-                                                          <Weight rdf:ID="Weight_0.04">
-                                                            <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                                                            <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                                            <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                                            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#float"
-                                                            >0.04</value>
-                                                          </Weight>
-                                                        </hasProperty>
-                                                        <hasProperty>
-                                                          <MaxMeasurementRange rdf:ID="MaxMeasurementRange_20">
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#float"
-                                                            >20.0</value>
-                                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                                          </MaxMeasurementRange>
-                                                        </hasProperty>
-                                                        <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
-                                                        <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-                                                        <hasProperty>
-                                                          <MinMeasurementRange rdf:ID="MinMeasurementRange_0">
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#float"
-                                                            >0.0</value>
-                                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                                            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                                          </MinMeasurementRange>
-                                                        </hasProperty>
-                                                        <hasProperty rdf:resource="#SwitchingFrequency_1000"/>
-                                                        <hasProperty>
-                                                          <ElectricalInterface rdf:ID="ElectricalInterface_ConnectorM12-4Pins">
-                                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                                            <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                                                            <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-                                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                                            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                                            <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-                                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#string"
-                                                            >Connector M12, 4 Pins</value>
-                                                          </ElectricalInterface>
-                                                        </hasProperty>
-                                                        <hasProperty>
-                                                          <LightSpotSize rdf:ID="LightSpotSize_0.450">
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#float"
-                                                            >0.45</value>
-                                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                                          </LightSpotSize>
-                                                        </hasProperty>
-                                                        <hasProperty>
-                                                          <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.055">
-                                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#float"
-                                                            >0.055</value>
-                                                          </MaxCurrentConsumption>
-                                                        </hasProperty>
-                                                        <hasProperty>
-                                                          <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_60">
-                                                            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#float"
-                                                            >60.0</value>
-                                                            <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                                          </MaxAmbientTemperature>
-                                                        </hasProperty>
-                                                        <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
-                                                        <hasSkill>
-                                                          <DetectObject rdf:ID="DetectObject_1">
-                                                            <isSkillOf rdf:resource="#Sick_WL18-3P430"/>
-                                                            <isSkillOf rdf:resource="#Sick_WT18-3P430"/>
-                                                            <isSkillOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                                          </DetectObject>
-                                                        </hasSkill>
-                                                        <hasProperty>
-                                                          <ResponseTime rdf:ID="ResponseTime_0.0005">
-                                                            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#float"
-                                                            >5.0E-4</value>
-                                                            <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-                                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                                          </ResponseTime>
-                                                        </hasProperty>
-                                                        <hasProperty>
-                                                          <MinAmbientTemperature rdf:ID="MinAmbientTemperature_-40">
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#float"
-                                                            >-40.0</value>
-                                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                                            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                                            <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                                                          </MinAmbientTemperature>
-                                                        </hasProperty>
-                                                        <hasProperty>
-                                                          <LightType rdf:ID="LightType_LEDred">
-                                                            <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                                                            <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-                                                            <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                                            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                                            <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#string"
-                                                            >LEDred</value>
-                                                            <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                                          </LightType>
-                                                        </hasProperty>
-                                                        <hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
-                                                      </OpticThroughBeamSwitch>
-                                                    </isPropertyOf>
-                                                  </SwitchingFrequency>
-                                                </hasProperty>
-                                                <hasProperty>
-                                                  <ElectricalInterface rdf:ID="ElectricalInterface_AnalogueOutput4-20mA">
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#string"
-                                                    >4...20 mA</value>
-                                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                                  </ElectricalInterface>
-                                                </hasProperty>
-                                                <hasProperty>
-                                                  <MinMeasurementRange rdf:ID="MinMeasurementRange_0.05">
-                                                    <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >0.05</value>
-                                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                                  </MinMeasurementRange>
-                                                </hasProperty>
-                                                <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
-                                                <hasProperty>
-                                                  <ResponseTime rdf:ID="ResponseTime_0.02">
-                                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >0.02</value>
-                                                  </ResponseTime>
-                                                </hasProperty>
-                                                <hasProperty rdf:resource="#Weight_0.04"/>
-                                                <hasSkill>
-                                                  <MeasureDistance rdf:ID="MeasureDistance_1">
-                                                    <isSkillOf rdf:resource="#Sick_DME5000-112"/>
-                                                    <isSkillOf rdf:resource="#Sick_DT10-P10B5"/>
-                                                  </MeasureDistance>
-                                                </hasSkill>
-                                                <hasProperty>
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-                                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >0.02</value>
-                                                  </LightSpotSize>
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-                                                <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-                                                <hasProperty>
-                                                  <PowerConsumption rdf:ID="PowerConsumption_1.2">
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >1.2</value>
-                                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                                  </PowerConsumption>
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-                                                <hasProperty rdf:resource="#MaxAmbientTemperature_50"/>
-                                                <hasProperty rdf:resource="#LightType_LEDred"/>
-                                                <hasProperty>
-                                                  <MaxMeasurementRange rdf:ID="MaxMeasurementRange_0.4">
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >0.4</value>
-                                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                                  </MaxMeasurementRange>
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-                                                <hasProperty>
-                                                  <MinAmbientTemperature rdf:ID="MinAmbientTemperature_-25">
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >-25.0</value>
-                                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                                    <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
-                                                  </MinAmbientTemperature>
-                                                </hasProperty>
-                                              </OpticDistanceSensor>
-                                            </isPropertyOf>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >50.0</value>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                            <isPropertyOf>
-                                              <LaserScanner2D rdf:ID="Sick_LMS200-30106">
-                                                <hasProperty>
-                                                  <ResponseTime rdf:ID="ResponseTime_0.026">
-                                                    <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >0.026</value>
-                                                  </ResponseTime>
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-                                                <hasSkill>
-                                                  <ClassifyObject rdf:ID="ClassifyObject_2">
-                                                    <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                                  </ClassifyObject>
-                                                </hasSkill>
-                                                <hasProperty rdf:resource="#MinAmbientTemperature_0"/>
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-                                                  <Resolution rdf:ID="AngleResolution_0.5">
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >0.5</value>
-                                                    <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                                  </Resolution>
-                                                </hasProperty>
-                                                <hasProperty>
-                                                  <Weight rdf:ID="Weight_4.5">
-                                                    <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >4.5</value>
-                                                  </Weight>
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-                                                <hasSkill>
-                                                  <Scan rdf:ID="Scan_2D">
-                                                    <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                                  </Scan>
-                                                </hasSkill>
-                                                <hasSkill>
-                                                  <MeasurePositionOfObject rdf:ID="DeterminePositionOfObject_1">
-                                                    <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                                    <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                                    <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                                  </MeasurePositionOfObject>
-                                                </hasSkill>
-                                                <hasSkill>
-                                                  <Count rdf:ID="Count_1">
-                                                    <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                                    <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                                    <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                                  </Count>
-                                                </hasSkill>
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-                                                  <PowerConsumption rdf:ID="PowerConsumption_20">
-                                                    <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >20.0</value>
-                                                  </PowerConsumption>
-                                                </hasProperty>
-                                                <hasProperty>
-                                                  <MaxScanAngle rdf:ID="MaxScanAngle_180">
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >180.0</value>
-                                                    <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                                  </MaxScanAngle>
-                                                </hasProperty>
-                                                <hasProperty>
-                                                  <MinVoltageSupply rdf:ID="MinVoltageSupply_20.4">
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >20.4</value>
-                                                    <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                                  </MinVoltageSupply>
-                                                </hasProperty>
-                                                <hasSkill>
-                                                  <MeasureVolume rdf:ID="MeasureVolume_1">
-                                                    <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                                  </MeasureVolume>
-                                                </hasSkill>
-                                                <hasProperty>
-                                                  <MaxMeasurementRange rdf:ID="MaxMeasurementRange_80">
-                                                    <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >80.0</value>
-                                                  </MaxMeasurementRange>
-                                                </hasProperty>
-                                                <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
-                                                <hasProperty>
-                                                  <LaserClass rdf:ID="LaserClass_1">
-                                                    <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#string"
-                                                    >1</value>
-                                                  </LaserClass>
-                                                </hasProperty>
-                                                <hasSkill>
-                                                  <DetectCollision rdf:ID="DetectCollision_1">
-                                                    <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                                  </DetectCollision>
-                                                </hasSkill>
-                                                <hasProperty>
-                                                  <Resolution rdf:ID="DepthResolution_0.01">
-                                                    <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >0.01</value>
-                                                  </Resolution>
-                                                </hasProperty>
-                                                <hasProperty>
-                                                  <MaxVoltageSupply rdf:ID="MaxVoltageSupply_27.6">
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >27.6</value>
-                                                    <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                                  </MaxVoltageSupply>
-                                                </hasProperty>
-                                                <hasProperty rdf:resource="#MaxAmbientTemperature_50"/>
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-                                                  <MeasureDistance rdf:ID="MeasureDistance_2">
-                                                    <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                                  </MeasureDistance>
-                                                </hasSkill>
-                                              </LaserScanner2D>
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-                                          </MaxAmbientTemperature>
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-                                        <hasProperty>
-                                          <BusInterface rdf:ID="BusInterface_RS485">
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#string"
-                                            >RS485</value>
-                                          </BusInterface>
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-                                        <hasProperty>
-                                          <Height rdf:ID="Height_55">
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >55.0</value>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
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-                                        <hasSkill>
-                                          <MeasureOrientationOfObject rdf:ID="MeasureOrientationOfObject_1">
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >1.0</value>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
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-                                        <hasProperty>
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-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#string"
-                                            >yes</value>
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-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                        <hasProperty>
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-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >19.2</value>
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-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                            <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                        <hasSkill>
-                                          <ReadOpticalCharacters rdf:ID="ReadOpticalCharacters_1">
-                                            <isSkillOf rdf:resource="#VisionComponents-VC4465"/>
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                        </hasSkill>
-                                        <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
-                                        <hasProperty>
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-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#string"
-                                            >Connector M12, 8 Pins</value>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                          <CheckPresence rdf:ID="CheckPresence_1">
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >0.1</value>
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-                                        <hasProperty>
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-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >60.0</value>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                        <hasSkill rdf:resource="#Count_1"/>
-                                        <hasSkill rdf:resource="#DeterminePositionOfObject_1"/>
-                                        <hasSkill>
-                                          <MeasureArea rdf:ID="MeasureArea_1">
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
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-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >28.8</value>
-                                            <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-                                            <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
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-                                            "http://www.w3.org/2001/XMLSchema#string"
-                                            >1024x768</value>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >0.4</value>
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-                                            >30.0</value>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                        <hasSkill>
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-                                            <isSkillOf rdf:resource="#VisionComponents-VC4465"/>
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                        </hasSkill>
-                                        <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
-                                        <hasSkill>
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-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                            >Fast Ethernet</value>
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-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
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-                                      </SmartCamera>
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-                                <hasSkill rdf:resource="#MeasureOrientationOfObject_1"/>
-                                <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
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-                                <hasSkill rdf:resource="#MeasureDiameter_1"/>
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-                                <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
-                                <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-8Pins"/>
-                                <hasProperty rdf:resource="#MaxAmbientTemperature_50"/>
-                                <hasProperty rdf:resource="#Length_161"/>
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-                            <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                            >in degrees celsius</rdfs:comment>
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-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
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-                            >12.0</value>
-                            <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-                            <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
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-                            >0.24</value>
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-                            >0.0050</value>
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-                            >208x238</value>
-                            <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
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-                            >24.0</value>
-                            <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
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-                        <hasProperty>
-                          <LightType rdf:ID="LightType_LEDwhite">
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-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                            >LEDwhite</value>
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-                        <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
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-                          <Weight rdf:ID="Weight_0.18">
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >0.18</value>
-                            <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-                          </Weight>
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-                    </isPropertyOf>
-                    <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
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-                  <Karthesian rdf:ID="Karthesian_30">
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-                    <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
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-                    >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 rdf:resource="#Payload_2.0"/>
-                <hasProperty>
-                  <MinAmbientTemperature rdf:ID="MinAmbientTemperature_5">
-                    <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                    <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 rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                    >5.0</value>
-                  </MinAmbientTemperature>
-                </hasProperty>
-                <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"
-            >2.0</value>
-            <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-            <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-          </Payload>
-        </hasProperty>
-        <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">
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-            >400</value>
-            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-            <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>
-    <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-    >4</value>                                                </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>
-                                                              <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="#IntelligentCtrl_1"/>
-                                                            <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>
-                                                              <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_45">
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-    >45.0</value>
-    <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-    <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                                                              </MaxAmbientTemperature>
-                                                            </hasProperty>
-                                                            <hasProperty rdf:resource="#Reachability_400"/>
-                                                            <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>
-                                                            <hasSkill rdf:resource="#Karthesian_30"/>
-                                                            <hasProperty rdf:resource="#NumberOfJoints_4"/>
-                                                            <hasProperty>
-                                                              <MinVoltageSupply rdf:ID="MinVoltageSupply_200">
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-    >200.0</value>
-    <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-    <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                                                              </MinVoltageSupply>
-                                                            </hasProperty>
-                                                            <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="#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>
-                                                      <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 rdf:resource="#NumberOfJoints_4"/>
-                                                    <hasProperty rdf:resource="#Reachability_800"/>
-                                                    <hasProperty rdf:resource="#MinVoltageSupply_200"/>
-                                                    <hasProperty rdf:resource="#EnclosureRatingIP_54"/>
-                                                    <hasProperty rdf:resource="#DegreesOfFreedom_4"/>
-                                                    <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>
-                                                      <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 rdf:resource="#IntelligentCtrl_1"/>
-                                                    <hasProperty rdf:resource="#DegreesOfFreedom_6"/>
-                                                  </ArticulatedRobot>
-                                                </isPropertyOf>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >0.1</value>
-                                              </Repeatability>
-                                            </hasProperty>
-                                            <hasProperty>
-                                              <Weight rdf:ID="Weight_0.6">
-                                                <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >0.6</value>
-                                              </Weight>
-                                            </hasProperty>
-                                            <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-                                            <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
-                                            <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 rdf:resource="#Repeatability_0.03"/>
-                                            <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"
-                                                >0.01</value>
-                                                <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                                              </CycleTime>
-                                            </hasProperty>
-                                            <hasSkill>
-                                              <OpenFingers rdf:ID="OpenFingers_1">
-                                                <isSkillOf rdf:resource="#Schunk_MPG_20"/>
-                                                <isSkillOf rdf:resource="#Schunk_MPG_64"/>
-                                              </OpenFingers>
-                                            </hasSkill>
-                                            <hasProperty rdf:resource="#Repeatability_0.01"/>
-                                            <hasProperty>
-                                              <MaxLiftWay rdf:ID="MaxLiftWay_2.0">
-                                                <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >2.0</value>
-                                                <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                              </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 rdf:resource="#EnclosureRatingIP_65"/>
-                                          </GeneralParallelGripper>
-                                        </isPropertyOf>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >0.02</value>
-                                        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                      </Repeatability>
-                                    </hasProperty>
-                                    <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 rdf:resource="#Weight_0.04"/>
-                                    <hasProperty rdf:resource="#MaxLiftWay_2.0"/>
-                                    <hasSkill rdf:resource="#OpenFingers_1"/>
-                                    <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-                                    <hasProperty rdf:resource="#EnclosureRatingIP_30"/>
-                                    <hasProperty>
-                                      <Weight rdf:ID="Weight_0.038">
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >0.038</value>
-                                        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                      </Weight>
-                                    </hasProperty>
-                                    <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 rdf:resource="#Payload_45.0"/>
-                                    <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 rdf:resource="#Weight_985"/>
-                                    <hasProperty rdf:resource="#Payload_5.0"/>
-                                    <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">
-                                        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >0.03</value>
-                                      </CycleTime>
-                                    </hasProperty>
-                                  </GeneralParallelGripper>
-                                </isPropertyOf>
-                                <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                                <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-                                <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                                <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                                <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-                                <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-                                <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                              </EnclosureRatingIP>
-                            </hasProperty>
-                            <hasSkill>
-                              <DetectContrast rdf:ID="DetectContrast_1">
-                                <isSkillOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                                <isSkillOf rdf:resource="#Sick_KT10-2P1115"/>
-                              </DetectContrast>
-                            </hasSkill>
-                            <hasProperty>
-                              <MinAmbientTemperature rdf:ID="MinAmbientTemperature_-10">
-                                <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                                <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-                                <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                >-10.0</value>
-                                <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                                <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                                <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                              </MinAmbientTemperature>
-                            </hasProperty>
-                            <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-5Pins"/>
-                            <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
-                            <hasProperty>
-                              <LightSpotSize rdf:ID="LightSpotSize_0.0012x0.0042">
-                                <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                >0.0012x0.0042</value>
-                              </LightSpotSize>
-                            </hasProperty>
-                            <hasProperty>
-                              <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.13">
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                >0.13</value>
-                                <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                              </MaxCurrentConsumption>
-                            </hasProperty>
-                            <hasProperty rdf:resource="#Weight_0.4"/>
-                            <hasProperty>
-                              <ResponseTime rdf:ID="ResponseTime_0.00005">
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                >5.0E-5</value>
-                                <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                              </ResponseTime>
-                            </hasProperty>
-                            <hasProperty>
-                              <SwitchingFrequency rdf:ID="SwitchingFrequency_10000">
-                                <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                >10000.0</value>
-                              </SwitchingFrequency>
-                            </hasProperty>
-                            <hasProperty rdf:resource="#MaxAmbientTemperature_55"/>
-                          </OpticContrastScanner>
-                        </isPropertyOf>
-                        <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-                        <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-                        <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                        <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                        <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
-                        <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                      </MaxAmbientTemperature>
-                    </hasProperty>
-                    <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
-                    <hasProperty>
-                      <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.08">
-                        <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                        <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                        >0.08</value>
-                        <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-                        <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                      </MaxCurrentConsumption>
-                    </hasProperty>
-                    <hasSkill>
-                      <DetectColor rdf:ID="DetectColor_1">
-                        <isSkillOf rdf:resource="#Sick_CS81-P1112"/>
-                        <isSkillOf rdf:resource="#Sick_CSM1-N1114"/>
-                      </DetectColor>
-                    </hasSkill>
-                    <hasProperty>
-                      <LightType rdf:ID="LightType_LEDblue">
-                        <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-                        <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                        <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                        >LEDblue</value>
-                      </LightType>
-                    </hasProperty>
-                    <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-5Pins"/>
-                    <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
-                    <hasProperty rdf:resource="#Weight_0.4"/>
-                    <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-                    <hasProperty>
-                      <LightSpotSize rdf:ID="LightSpotSize_0.004x0.002">
-                        <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                        >0.004x0.002</value>
-                      </LightSpotSize>
-                    </hasProperty>
-                    <hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
-                    <hasProperty rdf:resource="#LightType_LEDred"/>
-                    <hasProperty rdf:resource="#LightType_LEDgreen"/>
-                    <hasProperty>
-                      <ScanningDistance rdf:ID="ScanningDistance_0.0125">
-                        <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                        >0.0125</value>
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-            <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorNPN"/>
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-    <hasProperty rdf:resource="#ScanningDistance_0.01"/>      </OpticLuminescenceScanner>
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-                                                            <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                                            <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                                                            <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
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-                                                        <hasProperty rdf:resource="#LightType_LEDgreen"/>
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-                                                        <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-5Pins"/>
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-                                                        <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
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-                                                          <ResponseTime rdf:ID="ResponseTime_0.00001">
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-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#float"
-                                                            >1.0E-5</value>
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-                                                        <hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
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-                                                            <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
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-                                                            "http://www.w3.org/2001/XMLSchema#float"
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-                                                        <hasSkill rdf:resource="#DetectContrast_1"/>
-                                                        <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-                                                        <hasProperty rdf:resource="#MaxCurrentConsumption_0.08"/>
-                                                        <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
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-                                                            <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
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-                                                        <hasProperty rdf:resource="#ScanningDistance_0.01"/>
-                                                        <hasProperty rdf:resource="#LightType_LEDred"/>
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-                                                    <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                                    <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
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-                                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                                    <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                                                    <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
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-                                                    "http://www.w3.org/2001/XMLSchema#float"
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-                                                    "http://www.w3.org/2001/XMLSchema#float"
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-                                                    <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
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-                                            <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                                            <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-                                            <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
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-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >7.0E-4</value>
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-                                            "http://www.w3.org/2001/XMLSchema#float"
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-                                            <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
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-                                    <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
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-                                    >26.4</value>
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-                                    >9.0E-4</value>
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diff --git a/testontologies/v09.owl b/testontologies/v09.owl
deleted file mode 100644
index 4e3b1fc61597bc4488c2574a22aa1b1ab2b3f8df..0000000000000000000000000000000000000000
--- a/testontologies/v09.owl
+++ /dev/null
@@ -1,9276 +0,0 @@
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-      <owl:Class rdf:ID="Move"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Arrange"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="Solder">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Clinch"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Glue"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Rivet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Weld"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Fill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Assemble"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Join"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Bolt"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is a thermic procedure to connect workpieces. Then, a fluid phase is created by melting solder (additional material).</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:ID="TypeOfActuation">
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="PhysicalPropertiesRobot"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Reachability"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="NumberOfJoints"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="PerformSelfTest">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CollectStatisticalData"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="DiagnosticFunction"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="Hot-galvanise">
-    <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>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="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="Varnish"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="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>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="AdditionalFunction"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CompoundSkills"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiagnosticFunction"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Skill"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#DetectObject">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 2</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DetectLuminescence"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DetectContrast"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DetectColor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DetectCollision"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Detect"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="Thrust">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Hone"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Lathe"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Cut"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="File"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Grind"/>
-    </owl:disjointWith>
-    <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>
-      <owl:Class rdf:ID="Thermal-Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Rub"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Saw"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Mill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Lap"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Broach"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#File">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Rub"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Saw"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-    <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="#Plane"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <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="#Cut"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Mill"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Thrust"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Grind"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lap"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lathe"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="CheckPresence">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CheckPosition"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Count"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CheckSurfaceForIrregularities"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Check"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#DetectColor">
-    <owl:disjointWith rdf:resource="#DetectContrast"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DetectLuminescence"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DetectObject"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DetectCollision"/>
-    </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>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Detect"/>
-    </rdfs:subClassOf>
-    <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:Class>
-  <owl:Class rdf:ID="OpticReflexSwitch">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="OpticThroughBeamSwitch"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="OpticProximitySwitch"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="OpticSwitch"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 2</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:ID="Merge">
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="ModifyAmount"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Unify"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Branch"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Divide"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Assign"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Partition"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Combine subflows of material to a superflow.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:ID="MinVoltageSupply">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in volts</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Shape"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="PhysicalPropertiesSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaxCurrentConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Length"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Diameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Width"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaxVoltageSupply"/>
-    </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="MechanicalResistance"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="LightSpotSize">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaxMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MinMeasurementRange"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesSensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="LightType"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Diameter in mm.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaxScanAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="FieldOfView"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ScanningDistance"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#PhysicalPropertiesSensor">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxCurrentConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Diameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Width"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Length"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="InsideOrOutsidePicking">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaxLiftWay"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaxLiftWeight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaximumVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="TypeOfVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SizeOfGripper"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxCurrentConsumption">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Diameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Width"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in amperes</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Length"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="Device">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:8</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Workpiece"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:allValuesFrom>
-          <owl:Class rdf:about="#Skill"/>
-        </owl:allValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:cardinality>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasIdentifier"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasProperty"/>
-        </owl:onProperty>
-        <owl:allValuesFrom>
-          <owl:Class rdf:ID="Property"/>
-        </owl:allValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:minCardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >0</owl:minCardinality>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasReference"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="PhysicalObject"/>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#PhysicalProperties"/>
-        </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="#MainFunction"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Mill">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lathe"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Rub"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Thrust"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Saw"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lap"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#File"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cut"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thermal-Separate"/>
-    </owl:disjointWith>
-    <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>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Grind"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="VisionSensor">
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="OpticSensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="OpticLuminescenceScanner"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticSwitch"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticContrastScanner"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="LightGrid"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticColorSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="OpticDistanceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SmartCamera"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="LaserScanner2D"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#CheckPosition">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Check"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#CheckPresence"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Count"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CheckSurfaceForIrregularities"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Length">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Width"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Diameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Diameter">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Width"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#CloseClaws">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:ID="PincerGripper"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Grasp"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#AdjustVacuumToGrip"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#AdjustCurrentToGrip"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CloseFingers"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Workpiece">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:allValuesFrom>
-          <owl:Class rdf:about="#Property"/>
-        </owl:allValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasIdentifier"/>
-        </owl:onProperty>
-        <owl:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:cardinality>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalObject"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Device"/>
-  </owl:Class>
-  <owl:Class rdf:ID="MechanicalConnector">
-    <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>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="ToolInterface"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ElectricalConnector"/>
-    </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="#CheckPosition"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Count"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CheckPresence"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Check"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#AsFastAsPossible">
-    <owl:disjointWith rdf:resource="#Circular"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Karthesian"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Feed"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="Part">
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="ObjectBase"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Assembly"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Varnish">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Powder-coat"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electroplate"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Hot-galvanise"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Coat"/>
-    </rdfs:subClassOf>
-    <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="#OpticContrastScanner">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticLuminescenceScanner"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticDistanceSensor"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#OpticSensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticColorSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SmartCamera"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightGrid"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticSwitch"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserScanner2D"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#VisionSensor"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 3</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:ID="TactileSensor">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="TorqueForceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CapacitveSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MagneticSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#UltrasonicSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="InductiveSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="EncoderSensor"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Sensor"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="Fold">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Buckle, squeeze or crop thin, malleable and/or flexible materials like sheet metals and plates.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Roll"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Forge"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Bend"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Flang"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="True"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Bead"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Form"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Deep-Draw"/>
-    </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="Extrude"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticSwitch">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticDistanceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticLuminescenceScanner"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#VisionSensor"/>
-    <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightGrid"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SmartCamera"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserScanner2D"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticColorSensor"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#OpticSensor"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="SimpleControl">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="NumericalCtrl"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="IntelligentCtrl"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="PlaybackCtrl"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="ControlSystem"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="MeasureDistance">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureMotionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureVolume"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureTorque"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureDiameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureArea"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureSpeed"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Measure"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Skill">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Property"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="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>
-    <rdfs:subClassOf rdf:resource="http://www.w3.org/2002/07/owl#Thing"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:allValuesFrom rdf:resource="#Device"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#List"/>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Operation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ObjectBase"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#CloseFingers">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#AdjustVacuumToGrip"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CloseClaws"/>
-    <owl:disjointWith rdf:resource="#AdjustCurrentToGrip"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Grasp"/>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:ID="FingerGripper"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#AdditionalFunction">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-(Breakdown of Skills)</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="#Skill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CompoundSkills"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MainFunction"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiagnosticFunction"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureVolume">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Measure"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureTorque"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureArea"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureMotionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureSpeed"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAngle"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MinMeasurementRange">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FieldOfView"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxScanAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >In mm.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightType"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="CalibrateImage">
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="ImageAnalysis"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ExtractEdges"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CompressImageData"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="TransformImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="DecompressImageData"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="FilterImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SegmentImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="BlobAnalysis"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="Communication">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Arrangement"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="QualityCriteria"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Geometry"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Timing"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Identifier"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="DeviceProperty"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Cost"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="Accuracy">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Repeatability"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Resolution"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="WireDrawEncoder">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >distanceMeasurements.pdf
-SICK
-pag 4</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="WheelEncoder"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="LinearEncoder"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#EncoderSensor"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Partition">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Create a subset of a defined size from a superset.
-Separating is a special case of parting with size 1.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ModifyAmount"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Merge"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Assign"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Divide"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Unify"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Branch"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="ScaraRobot">
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Robot"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ArticulatedRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SpecialKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CartesianRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="HexapodRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SimpleKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="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="#EncoderSensor">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Sensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CapacitveSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TactileSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TorqueForceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MagneticSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InductiveSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#UltrasonicSensor"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="LoadParameterSet">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Reset"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SetParameterValue"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Calibrate"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SaveParameterSet"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#AdditionalFunction"/>
-  </owl:Class>
-  <owl:Class rdf:ID="ParallelGripper">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="AngleGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PincerGripper"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#CapacitveSensor">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Sensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MagneticSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TactileSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TorqueForceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#EncoderSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#UltrasonicSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InductiveSensor"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="Atomic">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Operation"/>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:cardinality>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasDevice"/>
-        </owl:onProperty>
-        <owl:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:cardinality>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasWorkpiece"/>
-        </owl:onProperty>
-        <owl:maxCardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:maxCardinality>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Parallel"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Sequence"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxVoltageSupply">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Width"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in volts</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureArea">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureTorque"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureSpeed"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureTemperature"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Measure"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureMotionOfObject"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#ScanningDistance">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxScanAngle"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightType"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FieldOfView"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Height">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </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="#Width"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticSensor">
-    <owl:disjointWith rdf:resource="#TactileSensor"/>
-    <owl:disjointWith rdf:resource="#CapacitveSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InductiveSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TorqueForceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MagneticSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#UltrasonicSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#EncoderSensor"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Sensor"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Shape">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Width"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#DegreesOfFreedom">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Width"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#ExtractEdges">
-    <owl:disjointWith rdf:resource="#CalibrateImage"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SegmentImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TransformImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CompressImageData"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FilterImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DecompressImageData"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#BlobAnalysis"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ImageAnalysis"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="MountedDevicePosition">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Arrangement"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MountedDeviceOrientation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CoordinateReferenceSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="WorkFrame"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="StoreInOrder">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Save workpieces which are geometrically defined in a well-defined position and/or orientation.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Store"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="StorePartlyOrdered"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="StoreUnOrdered"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#WheelEncoder">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LinearEncoder"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#WireDrawEncoder"/>
-    <rdfs:subClassOf rdf:resource="#EncoderSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Calibrate">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SetParameterValue"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SaveParameterSet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reset"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LoadParameterSet"/>
-    <rdfs:subClassOf rdf:resource="#AdditionalFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#SizeOfGripper">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWay"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWeight"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#TypeOfFingers">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </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="#MaxLiftWay"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Task">
-    <rdfs:subClassOf rdf:resource="http://www.w3.org/2002/07/owl#Thing"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasOperation"/>
-        </owl:onProperty>
-        <owl:maxCardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:maxCardinality>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Property"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Skill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Operation"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#List"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ObjectBase"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="isEditable">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This attribute indicates whether the property is supposed to be provided each time a skill is invoked or just once.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Property"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SkillProperty"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DeviceProperty"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Detect">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Read"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Classify"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Measure"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Scan"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Check"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ImageAnalysis"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="SensorFunction"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 2-5</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:ID="ClassifyObject">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Classify"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SortObjects"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Weight">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Width"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in kg</rdfs:comment>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-  </owl:Class>
-  <owl:Class rdf:about="#LaserClass">
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FieldOfView"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#ScanningDistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxScanAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightType"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Rub">
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Saw"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lap"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lathe"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Thrust"/>
-    <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="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#File"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thermal-Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Grind"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cut"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Crush">
-    <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="#Extrude"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Form"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Roll"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#True"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Stretch-Form"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bend"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Relative change of length by pressure force.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#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>
-      <owl:Class rdf:about="#Divide"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Merge"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Branch"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Assign"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Partition"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ModifyAmount"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#PhysicalObject">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is basically the world.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ObjectBase"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Task"/>
-    <owl:disjointWith rdf:resource="#Skill"/>
-    <owl:disjointWith rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#List"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Property"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Operation"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="http://www.w3.org/2002/07/owl#Thing"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasAssembly"/>
-        </owl:onProperty>
-        <owl:maxCardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:maxCardinality>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#DetectLuminescence">
-    <owl:disjointWith rdf:resource="#DetectObject"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DetectCollision"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DetectContrast"/>
-    <owl:disjointWith rdf:resource="#DetectColor"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#OpticLuminescenceScanner"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="#Detect"/>
-    <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="#Roll">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Stretch-Form"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Extrude"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is a malleable procedure. The material is feed between at least two rotating rolls. There are various types of rollling.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#True"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bend"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Form"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Crush"/>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Forge"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Deep-Draw"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Resolution">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Repeatability"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Position">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Feed"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pan"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part from an undefined to a well-defined position. The part's orientation is not important here.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Convey"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Orient"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Turn"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Displace"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrange"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#LinearEncoder">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >distanceMeasurements.pdf
-SICK
-pag 4</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="#EncoderSensor"/>
-    <owl:disjointWith rdf:resource="#WireDrawEncoder"/>
-    <owl:disjointWith rdf:resource="#WheelEncoder"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxMeasurementRange">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >In mm.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxScanAngle"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightType"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FieldOfView"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith rdf:resource="#ScanningDistance"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ImageAnalysis">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#SensorFunction"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Detect"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Measure"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Classify"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Scan"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Check"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Read"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="TactileProximitySwitch">
-    <rdfs:subClassOf rdf:resource="#TactileSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureTorque">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Measure"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureMotionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureSpeed"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="AdjustCurrentToRelease">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:allValuesFrom>
-          <owl:Class rdf:about="#MagnetGripper"/>
-        </owl:allValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Release"/>
-    </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>
-  </owl:Class>
-  <owl:Class rdf:ID="ReadBarCode">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Task and Skills of Optical Sensors v1.1
-part:7</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Read"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Read2DMatrixCode"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ReadOpticalCharacters"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="InductiveProximitySwitch">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#InductiveSensor"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 2</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:ID="CommunicationProtocol">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="BusInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ElectricalInterface"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Communication"/>
-  </owl:Class>
-  <owl:Class rdf:about="#AngleGripper">
-    <owl:disjointWith rdf:resource="#ParallelGripper"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PincerGripper"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Pass">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Convey"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Turn"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Feed"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pan"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Orient"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrange"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part from one to another positition along an undefined trajectory. The part's orientation remains unchanged.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Position"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Displace"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="Gripper">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#ControlSystem"/>
-        </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="#PhysicalPropertiesGripper"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#Arrangement"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#Release"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#Communication"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#Grasp"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#Cost"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Robot"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="ManipulationAndHandling"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#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>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Read"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#ReadBarCode"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ReadOpticalCharacters"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="Age">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Improve the mechanical resistivity by modifying the crystal structure. This is done by heating and fast cooling down.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="ModifyWorkpieceProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Anneal"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Temper"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#ArticulatedRobot">
-    <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="#SimpleKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CartesianRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ScaraRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ParallelKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#HexapodRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SpecialKinematicRobot"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Robot"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Form">
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="ManufacturingFunction"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ModifyWorkpieceProperties"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Join"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Mold"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Coat"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Create workpieces from solid raw pieces. The shape is permanently modified. The volumina remains the same.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:ID="Manufacturing">
-    <rdfs:subClassOf rdf:resource="#Device"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#ManufacturingFunction"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ManipulationAndHandling"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Sensor"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#TorqueForceSensor">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Sensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#UltrasonicSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CapacitveSensor"/>
-    <owl:disjointWith rdf:resource="#OpticSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InductiveSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#EncoderSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MagneticSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TactileSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Lap">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Saw"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cut"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Grind"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lathe"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thermal-Separate"/>
-    </owl:disjointWith>
-    <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 rdf:resource="#Mill"/>
-    <owl:disjointWith rdf:resource="#File"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Thrust"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="ResponseTime">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in seconds</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CycleTime"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Timing"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasurePositionOfObject">
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureMotionOfObject"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Measure"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureSpeed"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-  </owl:Class>
-  <owl:Class rdf:ID="CircularParallelGripper">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="LineParallelGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="GeneralParallelGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#ParallelGripper"/>
-  </owl:Class>
-  <owl:Class rdf:ID="CompountSensorFunction">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CompoundManipulationAndHandlingFunction"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CompoundManufacturingFunction"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#CompoundSkills"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Check">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Scan"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Read"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Classify"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Detect"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Measure"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#SensorFunction"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-Check if a part fulfils given conditions.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:ID="WormDiameter">
-    <rdfs:subClassOf rdf:resource="#MechanicalConnector"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Worm"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Parallel">
-    <owl:disjointWith rdf:resource="#Atomic"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Sequence"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Operation"/>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >2</owl:cardinality>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasOperation"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxLiftWeight">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in kg</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWay"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Forge">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Extrude"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#True"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Deep-Draw"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bend"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Stretch-Form"/>
-    </owl:disjointWith>
-    <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"/>
-    <rdfs:subClassOf rdf:resource="#Form"/>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureMotionOfObject">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureTemperature"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Measure"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureSpeed"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasurePositionOfObject"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAngle"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#LightType">
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#ScanningDistance"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxScanAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FieldOfView"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#HexapodRobot">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Very precise kinematic, but small working area. This is used for special applications.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Robot"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SpecialKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SimpleKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ParallelKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CartesianRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ScaraRobot"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MountedDeviceOrientation">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Arrangement"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CoordinateReferenceSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MountedDevicePosition"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ParallelKinematicRobot">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Special kinematic arrangement like the one built in SMErobot.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Robot"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SpecialKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
-    <owl:disjointWith rdf:resource="#ScaraRobot"/>
-    <owl:disjointWith rdf:resource="#HexapodRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CartesianRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SimpleKinematicRobot"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Arrange">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pan"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Displace"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Pass"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Feed"/>
-    </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 rdf:resource="#Position"/>
-    <owl:disjointWith rdf:resource="#Convey"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Orient"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Turn"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#SaveParameterSet">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SetParameterValue"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reset"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LoadParameterSet"/>
-    <owl:disjointWith rdf:resource="#Calibrate"/>
-    <rdfs:subClassOf rdf:resource="#AdditionalFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MaterialOfGripper">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWay"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfVacuum"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Reset">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SetParameterValue"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LoadParameterSet"/>
-    <owl:disjointWith rdf:resource="#Calibrate"/>
-    <owl:disjointWith rdf:resource="#SaveParameterSet"/>
-    <rdfs:subClassOf rdf:resource="#AdditionalFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#FilterImage">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#BlobAnalysis"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CompressImageData"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SegmentImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DecompressImageData"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ExtractEdges"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TransformImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CalibrateImage"/>
-    <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Identifier">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrangement"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >For the identifier there are two applications in the later implementation:
-1. Identifier of either a device or a workpiece.
-2. Reference to device identifier or a workpiece identifier as a link, e.g. a URI.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SkillProperty"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Geometry"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DeviceProperty"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Timing"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cost"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Communication"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#DeviceProperty"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Material">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Width"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Height"/>
-  </owl:Class>
-  <owl:Class rdf:about="#PathVelocityFluctuation">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Repeatability"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Repeatability">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#DetectCollision">
-    <owl:disjointWith rdf:resource="#DetectColor"/>
-    <owl:disjointWith rdf:resource="#DetectLuminescence"/>
-    <owl:disjointWith rdf:resource="#DetectObject"/>
-    <owl:disjointWith rdf:resource="#DetectContrast"/>
-    <rdfs:subClassOf rdf:resource="#Detect"/>
-  </owl:Class>
-  <owl:Class rdf:about="#OpenClaws">
-    <owl:disjointWith rdf:resource="#AdjustCurrentToRelease"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpenFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#AdjustVacuumToRelease"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#PincerGripper"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Release"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#QualityCriteria">
-    <owl:disjointWith rdf:resource="#Communication"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cost"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrangement"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#DeviceProperty"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Identifier"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Timing"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Geometry"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Grasp">
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Secure"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Release"/>
-    </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
-Keep a workpiece temporarily in a given position and orientation.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Measure">
-    <owl:disjointWith rdf:resource="#Detect"/>
-    <owl:disjointWith rdf:resource="#Check"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Classify"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Read"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Scan"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ImageAnalysis"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#SensorFunction"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-Gather a value as a multiple of a reference value.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Property">
-    <owl:disjointWith rdf:resource="#PhysicalObject"/>
-    <owl:disjointWith rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#List"/>
-    <owl:disjointWith rdf:resource="#Task"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ObjectBase"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Operation"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Skill"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Displace">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Orient"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Turn"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move translationally a part along a straight line. The part's orientiation remains unchanged.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Position"/>
-    <owl:disjointWith rdf:resource="#Arrange"/>
-    <owl:disjointWith rdf:resource="#Convey"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Feed"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pan"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Pass"/>
-  </owl:Class>
-  <owl:Class rdf:about="#StoreUnOrdered">
-    <owl:disjointWith rdf:resource="#StoreInOrder"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StorePartlyOrdered"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Store"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Save workpieces which are geometrically defined in an undefined position and orientation.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#LineParallelGripper">
-    <rdfs:subClassOf rdf:resource="#ParallelGripper"/>
-    <owl:disjointWith rdf:resource="#CircularParallelGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#GeneralParallelGripper"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Temper">
-    <owl:disjointWith rdf:resource="#Age"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Anneal"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ModifyWorkpieceProperties"/>
-    </rdfs:subClassOf>
-    <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:Class>
-  <owl:Class rdf:about="#SortObjects">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Classify"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#ClassifyObject"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Task and Skills of Optical Sensors v1.1
-part:7</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#BlobAnalysis">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SegmentImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DecompressImageData"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TransformImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CalibrateImage"/>
-    <owl:disjointWith rdf:resource="#ExtractEdges"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CompressImageData"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#FilterImage"/>
-    <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
-  </owl:Class>
-  <owl:Class rdf:about="#DecompressImageData">
-    <owl:disjointWith rdf:resource="#BlobAnalysis"/>
-    <owl:disjointWith rdf:resource="#CalibrateImage"/>
-    <owl:disjointWith rdf:resource="#FilterImage"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SegmentImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TransformImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ExtractEdges"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CompressImageData"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Assign">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ModifyAmount"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Create subsets of defined size or amount and move these subsets to a defined location.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Merge"/>
-    <owl:disjointWith rdf:resource="#Partition"/>
-    <owl:disjointWith rdf:resource="#Unify"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Branch"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Divide"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#ModifyAmount">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Store"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Move"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Secure"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="ManipulationAndHandlingFunction"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#WorkFrame">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Arrangement"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MountedDevicePosition"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CoordinateReferenceSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#TypeOfVacuum">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWay"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Payload">
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in kg</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Width"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#UltrasonicSensor">
-    <owl:disjointWith rdf:resource="#EncoderSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MagneticSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TactileSensor"/>
-    <owl:disjointWith rdf:resource="#CapacitveSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InductiveSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TorqueForceSensor"/>
-    <owl:disjointWith rdf:resource="#OpticSensor"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Sensor"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#InductiveSensor">
-    <owl:disjointWith rdf:resource="#TorqueForceSensor"/>
-    <owl:disjointWith rdf:resource="#OpticSensor"/>
-    <owl:disjointWith rdf:resource="#EncoderSensor"/>
-    <owl:disjointWith rdf:resource="#UltrasonicSensor"/>
-    <owl:disjointWith rdf:resource="#TactileSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MagneticSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CapacitveSensor"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Sensor"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#ElectricalConnector">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >How to connect a tool electrically.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MechanicalConnector"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxLiftWay">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticProximitySwitch">
-    <rdfs:subClassOf rdf:resource="#OpticSwitch"/>
-    <owl:disjointWith rdf:resource="#OpticReflexSwitch"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticThroughBeamSwitch"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MagnetGripper">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FingerGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="VacuumGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PincerGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#AdjustCurrentToGrip"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="#Gripper"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#AdjustCurrentToRelease"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Worm">
-    <owl:disjointWith rdf:resource="#WormDiameter"/>
-    <rdfs:subClassOf rdf:resource="#MechanicalConnector"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Can be inside or outside.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#DiagnosticFunction">
-    <rdfs:subClassOf rdf:resource="#Skill"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-(Breakdown of Skills)</rdfs:comment>
-    <owl:disjointWith rdf:resource="#AdditionalFunction"/>
-    <owl:disjointWith rdf:resource="#MainFunction"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CompoundSkills"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#ElectrolyticSegregate">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cast"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Sinter"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Mold"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Join">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ManufacturingFunction"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ModifyWorkpieceProperties"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Form"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Coat"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Mold"/>
-    </owl:disjointWith>
-    <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:Class>
-  <owl:Class rdf:about="#Extrude">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Stretch-Form"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Form"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bend"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is mainly used to create profiles, tubes and wires.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith rdf:resource="#Crush"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#True"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Forge"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Deep-Draw"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Fold"/>
-  </owl:Class>
-  <owl:Class rdf:about="#PhysicalProperties">
-    <owl:disjointWith rdf:resource="#QualityCriteria"/>
-    <owl:disjointWith rdf:resource="#Identifier"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Communication"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cost"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrangement"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Geometry"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#DeviceProperty"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Timing"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="BarcodeReader">
-    <rdfs:subClassOf rdf:resource="#VisionSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CycleTime">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in seconds</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Timing"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Grind">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thermal-Separate"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Increase the surface performance, flatten the surface.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Saw"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lathe"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cut"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#File"/>
-    <owl:disjointWith rdf:resource="#Thrust"/>
-    <owl:disjointWith rdf:resource="#Rub"/>
-  </owl:Class>
-  <owl:Class rdf:about="#SegmentImage">
-    <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TransformImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CompressImageData"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#FilterImage"/>
-    <owl:disjointWith rdf:resource="#ExtractEdges"/>
-    <owl:disjointWith rdf:resource="#CalibrateImage"/>
-    <owl:disjointWith rdf:resource="#BlobAnalysis"/>
-    <owl:disjointWith rdf:resource="#DecompressImageData"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ObjectBase">
-    <owl:disjointWith rdf:resource="#PhysicalObject"/>
-    <owl:disjointWith rdf:resource="#Skill"/>
-    <owl:disjointWith rdf:resource="#Task"/>
-    <owl:disjointWith rdf:resource="#Property"/>
-    <owl:disjointWith rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#List"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Operation"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="http://www.w3.org/2002/07/owl#Thing"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:cardinality>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasGeometry"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Fill">
-    <owl:disjointWith rdf:resource="#Solder"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Rivet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weld"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bolt"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Clinch"/>
-    </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:disjointWith>
-      <owl:Class rdf:about="#Glue"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Assemble"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#PlaybackCtrl">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Capability of replaying preteached sequences and commands.
-This includes as well very simple controllers like Pick-and-Placers. They are capable of replaying a pick sequence.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumericalCtrl"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#IntelligentCtrl"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SimpleControl"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#TypeOfMagnet">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MaxLiftWay"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Separate">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ManufacturingFunction"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Form"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Coat"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ModifyWorkpieceProperties"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Join"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Mold"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Modify the workpiece by breaking the coherence at some location.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#SkillProperty">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:cardinality>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasEditable"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-    <owl:disjointWith rdf:resource="#isEditable"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DeviceProperty"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Identifier"/>
-  </owl:Class>
-  <owl:Class rdf:about="#NumericalCtrl">
-    <owl:disjointWith rdf:resource="#PlaybackCtrl"/>
-    <owl:disjointWith rdf:resource="#SimpleControl"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#IntelligentCtrl"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Capability of setting up movements via numerical positions instead of functions.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Operation">
-    <owl:disjointWith rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#List"/>
-    <owl:disjointWith rdf:resource="#Property"/>
-    <owl:disjointWith rdf:resource="#Skill"/>
-    <owl:disjointWith rdf:resource="#Task"/>
-    <owl:disjointWith rdf:resource="#ObjectBase"/>
-    <owl:disjointWith rdf:resource="#PhysicalObject"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Width">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Stretch-Form">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#True"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Form"/>
-    <owl:disjointWith rdf:resource="#Forge"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Deep-Draw"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Extrude"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bend"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Crush"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#CartesianRobot">
-    <owl:disjointWith rdf:resource="#ParallelKinematicRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SpecialKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SimpleKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#HexapodRobot"/>
-    <owl:disjointWith rdf:resource="#ScaraRobot"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Robot"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >These machines move along the cartesian axes, i.e. they don't have revolute joints. Sometimes, there is a kind of portal where they move in. They are usually used for packing, palletizing and so on where they move heavy loads.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Precision">
-    <rdfs:subClassOf rdf:resource="#QualityCriteria"/>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <owl:disjointWith rdf:resource="#Repeatability"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Release">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Secure"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-Invert the grasping.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Grasp"/>
-  </owl:Class>
-  <owl:Class rdf:about="#DiameterOfGripper">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MaxLiftWay"/>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Pan">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Turn"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Orient"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Convey"/>
-    <owl:disjointWith rdf:resource="#Arrange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Feed"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part from one to another orientation and position by rotation around an axis which does not intersect with the part.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Position"/>
-    <owl:disjointWith rdf:resource="#Pass"/>
-    <owl:disjointWith rdf:resource="#Displace"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ModifyWorkpieceProperties">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Coat"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Separate"/>
-    <owl:disjointWith rdf:resource="#Form"/>
-    <owl:disjointWith rdf:resource="#Join"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Mold"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Modify some physical properties of the workpiece.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ManufacturingFunction"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#MinAmbientTemperature">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in degrees celsius</rdfs:comment>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-  </owl:Class>
-  <owl:Class rdf:about="#VacuumGripper">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#AdjustVacuumToRelease"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="#Gripper"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#AdjustVacuumToGrip"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MagnetGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PincerGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FingerGripper"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#LightGrid">
-    <rdfs:subClassOf rdf:resource="#OpticSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticDistanceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SmartCamera"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticLuminescenceScanner"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#VisionSensor"/>
-    <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticColorSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserScanner2D"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpticSwitch"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Coat">
-    <owl:disjointWith rdf:resource="#Form"/>
-    <owl:disjointWith rdf:resource="#Separate"/>
-    <owl:disjointWith rdf:resource="#Join"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Mold"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ModifyWorkpieceProperties"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ManufacturingFunction"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Put a permanent layer of formless material onto the workpiece.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#PowerConsumption">
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in kVA</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureTemperature">
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureSpeed"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasurePositionOfObject"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxAmbientTemperature">
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PowerConsumption"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in degrees celsius</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticColorSensor">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserScanner2D"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#OpticSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticLuminescenceScanner"/>
-    </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:disjointWith rdf:resource="#OpticContrastScanner"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SmartCamera"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#VisionSensor"/>
-    <owl:disjointWith rdf:resource="#LightGrid"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticDistanceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpticSwitch"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Secure">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ManipulationAndHandlingFunction"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Move"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ModifyAmount"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Store"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#ReadOpticalCharacters">
-    <owl:disjointWith rdf:resource="#ReadBarCode"/>
-    <owl:disjointWith rdf:resource="#Read2DMatrixCode"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Read"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Task and Skills of Optical Sensors v1.1
-part:7</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Orient">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Feed"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Turn"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Displace"/>
-    <owl:disjointWith rdf:resource="#Position"/>
-    <owl:disjointWith rdf:resource="#Pass"/>
-    <owl:disjointWith rdf:resource="#Arrange"/>
-    <owl:disjointWith rdf:resource="#Pan"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part from an undefined to a well-defined orientation. The part's position is not important here.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Convey"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureSpeed">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-    <owl:disjointWith rdf:resource="#MeasurePositionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureTemperature"/>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Assemble">
-    <owl:disjointWith rdf:resource="#Solder"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weld"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Join"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Putting together two workpieces.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Fill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Clinch"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bolt"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Rivet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Glue"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#PhysicalInterface">
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PowerConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#ShapeOfClaws">
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWay"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Glue">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Connect workpieces with the help of a glue. This is done by physical interaction of the glue at the workpieces' interfaces.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Solder"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Rivet"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Assemble"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weld"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bolt"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Join"/>
-    <owl:disjointWith rdf:resource="#Fill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Clinch"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#AdjustVacuumToGrip">
-    <rdfs:subClassOf rdf:resource="#Grasp"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#VacuumGripper"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#CloseFingers"/>
-    <owl:disjointWith rdf:resource="#CloseClaws"/>
-    <owl:disjointWith rdf:resource="#AdjustCurrentToGrip"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Electroplate">
-    <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:disjointWith>
-      <owl:Class rdf:about="#Powder-coat"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Hot-galvanise"/>
-    <owl:disjointWith rdf:resource="#Varnish"/>
-    <rdfs:subClassOf rdf:resource="#Coat"/>
-  </owl:Class>
-  <owl:Class rdf:about="#IntelligentCtrl">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#NumericalCtrl"/>
-    <owl:disjointWith rdf:resource="#PlaybackCtrl"/>
-    <owl:disjointWith rdf:resource="#SimpleControl"/>
-    <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="#MaximumVacuum">
-    <owl:disjointWith rdf:resource="#MaxLiftWay"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticDistanceSensor">
-    <owl:disjointWith rdf:resource="#OpticColorSensor"/>
-    <owl:disjointWith rdf:resource="#OpticSwitch"/>
-    <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SmartCamera"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightGrid"/>
-    <rdfs:subClassOf rdf:resource="#OpticSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticLuminescenceScanner"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserScanner2D"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#VisionSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Cut">
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Divide a workpiece into two parts.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thermal-Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Saw"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Thrust"/>
-    <rdfs:subClassOf rdf:resource="#Separate"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lathe"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#File"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Scan">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Read"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Check"/>
-    <owl:disjointWith rdf:resource="#Detect"/>
-    <owl:disjointWith rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Classify"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Measure"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#SensorFunction"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Press">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bend"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#True"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <rdfs:subClassOf rdf:resource="#Form"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Deep-Draw"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <owl:disjointWith rdf:resource="#Forge"/>
-    <owl:disjointWith rdf:resource="#Crush"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Modify the surface of a solid body with the help of a stamp. The feed rate is very slow, although the pressure is very high.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Extrude"/>
-  </owl:Class>
-  <owl:Class rdf:about="#TransformImage">
-    <owl:disjointWith rdf:resource="#CalibrateImage"/>
-    <owl:disjointWith rdf:resource="#DecompressImageData"/>
-    <owl:disjointWith rdf:resource="#SegmentImage"/>
-    <owl:disjointWith rdf:resource="#BlobAnalysis"/>
-    <owl:disjointWith rdf:resource="#ExtractEdges"/>
-    <owl:disjointWith rdf:resource="#FilterImage"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CompressImageData"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Bead">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bend"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Press"/>
-    <rdfs:subClassOf rdf:resource="#Form"/>
-    <owl:disjointWith rdf:resource="#Extrude"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Create channel-shaped deepenings which are meant to increase the stiffness.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith rdf:resource="#Forge"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#True"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Deep-Draw"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Crush"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Rivet">
-    <owl:disjointWith rdf:resource="#Assemble"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bolt"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Solder"/>
-    <owl:disjointWith rdf:resource="#Glue"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Clinch"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Fill"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Connect workpieces with the help of a deformed, cylindrical connection element.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weld"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Join"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Robot">
-    <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:someValuesFrom>
-          <owl:Class rdf:about="#Cost"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ManipulationAndHandling"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Gripper"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#ControlSystem"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#QualityCriteria"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#Communication"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Introdution to Robotics
-(Analysis, System, Applications)
-Saeed B. Niku</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#Arrangement"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#ToolInterface"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#WorkFrame"/>
-        <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="#PhysicalPropertiesRobot"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#ManipulationAndHandlingFunction">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ManufacturingFunction"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SensorFunction"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#MainFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureForce">
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith rdf:resource="#MeasureTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith rdf:resource="#MeasurePositionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureSpeed"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Bend">
-    <rdfs:subClassOf rdf:resource="#Form"/>
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Deep-Draw"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Forge"/>
-    <owl:disjointWith rdf:resource="#Extrude"/>
-    <owl:disjointWith rdf:resource="#Bead"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#True"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Put a bending moment to the material which causes a malleable, i.e. permanent deformation.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Press"/>
-    <owl:disjointWith rdf:resource="#Crush"/>
-  </owl:Class>
-  <owl:Class rdf:about="#OpenFingers">
-    <rdfs:subClassOf rdf:resource="#Release"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#FingerGripper"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#AdjustVacuumToRelease"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpenClaws"/>
-    <owl:disjointWith rdf:resource="#AdjustCurrentToRelease"/>
-  </owl:Class>
-  <owl:Class rdf:about="#SensorFunction">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ManufacturingFunction"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ManipulationAndHandlingFunction"/>
-    <rdfs:subClassOf rdf:resource="#MainFunction"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:allValuesFrom>
-          <owl:Class rdf:about="#Sensor"/>
-        </owl:allValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs: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:Class>
-  <owl:Class rdf:about="#Turn">
-    <owl:disjointWith rdf:resource="#Displace"/>
-    <owl:disjointWith rdf:resource="#Pass"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Position"/>
-    <owl:disjointWith rdf:resource="#Orient"/>
-    <owl:disjointWith rdf:resource="#Pan"/>
-    <owl:disjointWith rdf:resource="#Arrange"/>
-    <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>
-      <owl:Class rdf:about="#Feed"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Convey"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Deep-Draw">
-    <owl:disjointWith rdf:resource="#Press"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Change the shape of a sheet metal or plate by pressing into a hollow piece. 
-This is one of the most important procedures in mass production and small series production.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Forge"/>
-    <owl:disjointWith rdf:resource="#Crush"/>
-    <owl:disjointWith rdf:resource="#Bead"/>
-    <rdfs:subClassOf rdf:resource="#Form"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#True"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <owl:disjointWith rdf:resource="#Extrude"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Clinch">
-    <owl:disjointWith rdf:resource="#Rivet"/>
-    <owl:disjointWith rdf:resource="#Solder"/>
-    <owl:disjointWith rdf:resource="#Glue"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weld"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Fill"/>
-    <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 rdf:resource="#Assemble"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bolt"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Join"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Sensor">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#Communication"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Manufacturing"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ManipulationAndHandling"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Device"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#SensorFunction"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#PhysicalPropertiesSensor"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#Cost"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#Arrangement"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#QualityCriteria"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#Timing"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Electro-discharge-machine">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Saw"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Separate"/>
-    <owl:disjointWith rdf:resource="#Thrust"/>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith rdf:resource="#Cut"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lathe"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >A spark removes material from the workpiece.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thermal-Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith rdf:resource="#File"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Arrangement">
-    <owl:disjointWith rdf:resource="#Communication"/>
-    <owl:disjointWith rdf:resource="#Identifier"/>
-    <owl:disjointWith rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cost"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Geometry"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Timing"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#QualityCriteria"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#DeviceProperty"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#CoordinateReferenceSystem">
-    <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MountedDevicePosition"/>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-    <rdfs:subClassOf rdf:resource="#Arrangement"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Cast">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >From fluid metallic material a solid workpiece is created.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Mold"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Sinter"/>
-    <owl:disjointWith rdf:resource="#ElectrolyticSegregate"/>
-  </owl:Class>
-  <owl:Class rdf:about="#SpecialKinematicRobot">
-    <owl:disjointWith rdf:resource="#HexapodRobot"/>
-    <owl:disjointWith rdf:resource="#CartesianRobot"/>
-    <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
-    <owl:disjointWith rdf:resource="#ScaraRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SimpleKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ParallelKinematicRobot"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Everything else which cannot be sorted in one of the other categories.</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="#Robot"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Lathe">
-    <owl:disjointWith rdf:resource="#File"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Saw"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <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>
-      <owl:Class rdf:about="#Thermal-Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Electro-discharge-machine"/>
-    <owl:disjointWith rdf:resource="#Cut"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <rdfs:subClassOf rdf:resource="#Separate"/>
-    <owl:disjointWith rdf:resource="#Thrust"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Saw">
-    <owl:disjointWith rdf:resource="#Lathe"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >A steel plate with teeth attached to it removes thin chippings by moving into the material. This is widely used for wood, stone, metal, plastics and other solid materials.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Cut"/>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith rdf:resource="#File"/>
-    <owl:disjointWith rdf:resource="#Thrust"/>
-    <owl:disjointWith rdf:resource="#Electro-discharge-machine"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Separate"/>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thermal-Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Mill"/>
-  </owl:Class>
-  <owl:Class rdf:about="#GeneralParallelGripper">
-    <owl:disjointWith rdf:resource="#LineParallelGripper"/>
-    <owl:disjointWith rdf:resource="#CircularParallelGripper"/>
-    <rdfs:subClassOf rdf:resource="#ParallelGripper"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Sequence">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:cardinality>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasAtomicOperation"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:cardinality>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasOperation"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="#Operation"/>
-    <owl:disjointWith rdf:resource="#Parallel"/>
-    <owl:disjointWith rdf:resource="#Atomic"/>
-  </owl:Class>
-  <owl:Class rdf:about="#EnclosureRatingIP">
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PowerConsumption"/>
-    <owl:disjointWith rdf:resource="#PhysicalInterface"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureDiameter">
-    <owl:disjointWith rdf:resource="#MeasurePositionOfObject"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureForce"/>
-    <owl:disjointWith rdf:resource="#MeasureSpeed"/>
-    <owl:disjointWith rdf:resource="#MeasureTemperature"/>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CollectStatisticalData">
-    <owl:disjointWith rdf:resource="#PerformSelfTest"/>
-    <rdfs:subClassOf rdf:resource="#DiagnosticFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ManipulationAndHandling">
-    <rdfs:subClassOf rdf:resource="#Device"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#ManipulationAndHandlingFunction"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Sensor"/>
-    <owl:disjointWith rdf:resource="#Manufacturing"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Branch">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Divide"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Unify"/>
-    <owl:disjointWith rdf:resource="#Merge"/>
-    <owl:disjointWith rdf:resource="#Assign"/>
-    <owl:disjointWith rdf:resource="#Partition"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Divide a material flow into subflows.</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="#ModifyAmount"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureAcceleration">
-    <owl:disjointWith rdf:resource="#MeasurePositionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith rdf:resource="#MeasureSpeed"/>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-    <owl:disjointWith rdf:resource="#MeasureForce"/>
-    <owl:disjointWith rdf:resource="#MeasureDiameter"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Anneal">
-    <rdfs:subClassOf rdf:resource="#ModifyWorkpieceProperties"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Set specific material properties by heating, holding the heat for a specific time and cooling down.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Age"/>
-    <owl:disjointWith rdf:resource="#Temper"/>
-  </owl:Class>
-  <owl:Class rdf:about="#NumberOfClaws">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWay"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ControlSystem">
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#DeviceProperty"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Communication"/>
-    <owl:disjointWith rdf:resource="#QualityCriteria"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Timing"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Geometry"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Identifier"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cost"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Hone">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Separate"/>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Smooth finishing of metallic surfaces, mostly wholes to increase size, shape or surface performance.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Thrust"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thermal-Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith rdf:resource="#Lathe"/>
-    <owl:disjointWith rdf:resource="#Electro-discharge-machine"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Cut"/>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <owl:disjointWith rdf:resource="#File"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ToolInterface">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >How to connect a tool to a robot.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Timing"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cost"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Communication"/>
-    <owl:disjointWith rdf:resource="#Identifier"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#QualityCriteria"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Geometry"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#DeviceProperty"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Divide">
-    <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>
-    <rdfs:subClassOf rdf:resource="#ModifyAmount"/>
-    <owl:disjointWith rdf:resource="#Merge"/>
-    <owl:disjointWith rdf:resource="#Assign"/>
-    <owl:disjointWith rdf:resource="#Unify"/>
-    <owl:disjointWith rdf:resource="#Partition"/>
-    <owl:disjointWith rdf:resource="#Branch"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Thermal-Separate">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <rdfs:subClassOf rdf:resource="#Separate"/>
-    <owl:disjointWith rdf:resource="#Cut"/>
-    <owl:disjointWith rdf:resource="#Thrust"/>
-    <owl:disjointWith rdf:resource="#Lathe"/>
-    <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 rdf:resource="#Electro-discharge-machine"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Hone"/>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith rdf:resource="#File"/>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <owl:disjointWith rdf:resource="#Saw"/>
-  </owl:Class>
-  <owl:Class rdf:about="#AdjustVacuumToRelease">
-    <rdfs:subClassOf rdf:resource="#Release"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#VacuumGripper"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#AdjustCurrentToRelease"/>
-    <owl:disjointWith rdf:resource="#OpenClaws"/>
-    <owl:disjointWith rdf:resource="#OpenFingers"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Timing">
-    <owl:disjointWith rdf:resource="#QualityCriteria"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#Identifier"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Geometry"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Communication"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cost"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#DeviceProperty"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CompoundManufacturingFunction">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#CompoundSkills"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CompoundManipulationAndHandlingFunction"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CompountSensorFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Reach">
-    <owl:disjointWith rdf:resource="#MaxLiftWay"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#SetParameterValue">
-    <rdfs:subClassOf rdf:resource="#AdditionalFunction"/>
-    <owl:disjointWith rdf:resource="#Reset"/>
-    <owl:disjointWith rdf:resource="#LoadParameterSet"/>
-    <owl:disjointWith rdf:resource="#SaveParameterSet"/>
-    <owl:disjointWith rdf:resource="#Calibrate"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Plane">
-    <owl:disjointWith rdf:resource="#Cut"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Separate"/>
-    <owl:disjointWith rdf:resource="#Hone"/>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith rdf:resource="#Electro-discharge-machine"/>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <owl:disjointWith rdf:resource="#Thrust"/>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lathe"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is mainly used for wooden workpieces to remove chipping from the workpiece.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#File"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Classify">
-    <owl:disjointWith rdf:resource="#Detect"/>
-    <owl:disjointWith rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Read"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Scan"/>
-    <owl:disjointWith rdf:resource="#Measure"/>
-    <owl:disjointWith rdf:resource="#Check"/>
-    <rdfs:subClassOf rdf:resource="#SensorFunction"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#WorkCoordinates">
-    <owl:disjointWith rdf:resource="#MountedDevicePosition"/>
-    <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
-    <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-    <rdfs:subClassOf rdf:resource="#Arrangement"/>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticLuminescenceScanner">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 5</rdfs:comment>
-    <owl:disjointWith rdf:resource="#OpticColorSensor"/>
-    <owl:disjointWith rdf:resource="#LightGrid"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserScanner2D"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpticSwitch"/>
-    <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
-    <owl:disjointWith rdf:resource="#VisionSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SmartCamera"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpticDistanceSensor"/>
-    <rdfs:subClassOf rdf:resource="#OpticSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#SimpleKinematicRobot">
-    <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 rdf:resource="#ParallelKinematicRobot"/>
-    <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>
-    <rdfs:subClassOf rdf:resource="#Robot"/>
-  </owl:Class>
-  <owl:Class rdf:about="#PhysicalPropertiesRobot">
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PowerConsumption"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#PhysicalInterface"/>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureAngle">
-    <owl:disjointWith rdf:resource="#MeasureSpeed"/>
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith rdf:resource="#MeasureTemperature"/>
-    <owl:disjointWith rdf:resource="#MeasureAcceleration"/>
-    <owl:disjointWith rdf:resource="#MeasureDiameter"/>
-    <owl:disjointWith rdf:resource="#MeasurePositionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureForce"/>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Bolt">
-    <owl:disjointWith rdf:resource="#Solder"/>
-    <owl:disjointWith rdf:resource="#Assemble"/>
-    <rdfs:subClassOf rdf:resource="#Join"/>
-    <owl:disjointWith rdf:resource="#Fill"/>
-    <owl:disjointWith rdf:resource="#Glue"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weld"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Rivet"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Bolts are removable elements to create a connection between two or more workpieces.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Clinch"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Store">
-    <rdfs:subClassOf rdf:resource="#ManipulationAndHandlingFunction"/>
-    <owl:disjointWith rdf:resource="#Secure"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Move"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ModifyAmount"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Powder-coat">
-    <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="#Varnish"/>
-    <owl:disjointWith rdf:resource="#Electroplate"/>
-    <owl:disjointWith rdf:resource="#Hot-galvanise"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Mold">
-    <owl:disjointWith rdf:resource="#ModifyWorkpieceProperties"/>
-    <owl:disjointWith rdf:resource="#Separate"/>
-    <owl:disjointWith rdf:resource="#Coat"/>
-    <owl:disjointWith rdf:resource="#Join"/>
-    <owl:disjointWith rdf:resource="#Form"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ManufacturingFunction"/>
-    </rdfs:subClassOf>
-    <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="#StiffnessOfGripper">
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWay"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MechanicalResistance">
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesRobot"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith rdf:resource="#PhysicalInterface"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#PowerConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-  </owl:Class>
-  <owl:Class rdf:about="#SmartCamera">
-    <owl:disjointWith rdf:resource="#OpticSwitch"/>
-    <owl:disjointWith rdf:resource="#VisionSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserScanner2D"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpticColorSensor"/>
-    <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 7</rdfs:comment>
-    <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
-    <owl:disjointWith rdf:resource="#OpticDistanceSensor"/>
-    <owl:disjointWith rdf:resource="#LightGrid"/>
-    <rdfs:subClassOf rdf:resource="#OpticSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Flang">
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <owl:disjointWith rdf:resource="#Extrude"/>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith rdf:resource="#Bead"/>
-    <owl:disjointWith rdf:resource="#Press"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#True"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Crush"/>
-    <owl:disjointWith rdf:resource="#Forge"/>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Orthogonal bending up of the border of metal sheets. This is used for creating pipe connections and is widely used in the manufacturing of air channels.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <rdfs:subClassOf rdf:resource="#Form"/>
-    <owl:disjointWith rdf:resource="#Deep-Draw"/>
-  </owl:Class>
-  <owl:Class rdf:about="#NumberOfMovableClaws">
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWay"/>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Broach">
-    <owl:disjointWith rdf:resource="#Electro-discharge-machine"/>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >The workpiece is given the tool's contour. This is used where contours are necessary which cannot be created by milling or lathing.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Cut"/>
-    <owl:disjointWith rdf:resource="#Plane"/>
-    <rdfs:subClassOf rdf:resource="#Separate"/>
-    <owl:disjointWith rdf:resource="#File"/>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <owl:disjointWith rdf:resource="#Thrust"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith rdf:resource="#Hone"/>
-    <owl:disjointWith rdf:resource="#Lathe"/>
-  </owl:Class>
-  <owl:Class rdf:about="#PhysicalPropertiesGripper">
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <owl:disjointWith rdf:resource="#PhysicalInterface"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesRobot"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#PowerConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Move">
-    <rdfs:subClassOf rdf:resource="#ManipulationAndHandlingFunction"/>
-    <owl:disjointWith rdf:resource="#Secure"/>
-    <owl:disjointWith rdf:resource="#ModifyAmount"/>
-    <owl:disjointWith rdf:resource="#Store"/>
-  </owl:Class>
-  <owl:Class rdf:ID="ElasticFingerGripper">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#FingerGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="JointFingerGripper"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Geometry">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#DeviceProperty"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cost"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith rdf:resource="#Timing"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith rdf:resource="#QualityCriteria"/>
-    <owl:disjointWith rdf:resource="#Identifier"/>
-    <owl:disjointWith rdf:resource="#Communication"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ManufacturingFunction">
-    <rdfs:subClassOf rdf:resource="#MainFunction"/>
-    <owl:disjointWith rdf:resource="#SensorFunction"/>
-    <owl:disjointWith rdf:resource="#ManipulationAndHandlingFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Cost">
-    <owl:disjointWith rdf:resource="#Identifier"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#Geometry"/>
-    <owl:disjointWith rdf:resource="#Timing"/>
-    <owl:disjointWith rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith rdf:resource="#Communication"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in euros</rdfs:comment>
-    <owl:disjointWith rdf:resource="#QualityCriteria"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#DeviceProperty"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-  </owl:Class>
-  <owl:Class rdf:about="#FingerGripper">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PincerGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MagnetGripper"/>
-    <owl:disjointWith rdf:resource="#VacuumGripper"/>
-    <rdfs:subClassOf rdf:resource="#Gripper"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#OpenFingers"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#CloseFingers"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#StorePartlyOrdered">
-    <rdfs:subClassOf rdf:resource="#Store"/>
-    <owl:disjointWith rdf:resource="#StoreUnOrdered"/>
-    <owl:disjointWith rdf:resource="#StoreInOrder"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Save workpieces which are geometrically defined in a well-defined position and/or orientation. This means position and orientation are only defined in some of their degrees of freedom.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureOrientationOfObject">
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith rdf:resource="#MeasureForce"/>
-    <owl:disjointWith rdf:resource="#MeasureSpeed"/>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith rdf:resource="#MeasurePositionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureAcceleration"/>
-    <owl:disjointWith rdf:resource="#MeasureTemperature"/>
-    <owl:disjointWith rdf:resource="#MeasureDiameter"/>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith rdf:resource="#MeasureAngle"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MagneticSensor">
-    <rdfs:subClassOf rdf:resource="#Sensor"/>
-    <owl:disjointWith rdf:resource="#CapacitveSensor"/>
-    <owl:disjointWith rdf:resource="#InductiveSensor"/>
-    <owl:disjointWith rdf:resource="#TactileSensor"/>
-    <owl:disjointWith rdf:resource="#UltrasonicSensor"/>
-    <owl:disjointWith rdf:resource="#EncoderSensor"/>
-    <owl:disjointWith rdf:resource="#TorqueForceSensor"/>
-    <owl:disjointWith rdf:resource="#OpticSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#PincerGripper">
-    <rdfs:subClassOf rdf:resource="#Gripper"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#CloseClaws"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#OpenClaws"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#FingerGripper"/>
-    <owl:disjointWith rdf:resource="#VacuumGripper"/>
-    <owl:disjointWith rdf:resource="#MagnetGripper"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CompoundSkills">
-    <rdfs:subClassOf rdf:resource="#Skill"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:maxCardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:maxCardinality>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:maxCardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:maxCardinality>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasSubskill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#AdditionalFunction"/>
-    <owl:disjointWith rdf:resource="#MainFunction"/>
-    <owl:disjointWith rdf:resource="#DiagnosticFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticThroughBeamSwitch">
-    <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="#OpticSwitch"/>
-    <owl:disjointWith rdf:resource="#OpticReflexSwitch"/>
-    <owl:disjointWith rdf:resource="#OpticProximitySwitch"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ElectricalInterface">
-    <rdfs:subClassOf rdf:resource="#Communication"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#BusInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CommunicationProtocol"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Reachability">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesRobot"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxForce">
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesRobot"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith rdf:resource="#PowerConsumption"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#PhysicalInterface"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in Newton</rdfs:comment>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Weld">
-    <owl:disjointWith rdf:resource="#Clinch"/>
-    <owl:disjointWith rdf:resource="#Glue"/>
-    <owl:disjointWith rdf:resource="#Bolt"/>
-    <rdfs:subClassOf rdf:resource="#Join"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is a permanent connection of workpieces by using heat and/or pressure. The material keeps its properties when welded.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Rivet"/>
-    <owl:disjointWith rdf:resource="#Fill"/>
-    <owl:disjointWith rdf:resource="#Assemble"/>
-    <owl:disjointWith rdf:resource="#Solder"/>
-  </owl:Class>
-  <owl:Class rdf:about="#True">
-    <owl:disjointWith rdf:resource="#Crush"/>
-    <owl:disjointWith rdf:resource="#Flang"/>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith rdf:resource="#Extrude"/>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <rdfs:subClassOf rdf:resource="#Form"/>
-    <owl:disjointWith rdf:resource="#Press"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Machine finishing after e.g. folding</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Bead"/>
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <owl:disjointWith rdf:resource="#Deep-Draw"/>
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <owl:disjointWith rdf:resource="#Forge"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxScanAngle">
-    <owl:disjointWith rdf:resource="#ScanningDistance"/>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FieldOfView"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#NumberOfFingers">
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesGripper"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWay"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-  </owl:Class>
-  <owl:Class rdf:about="#SwitchingFrequency">
-    <rdfs:subClassOf rdf:resource="#Timing"/>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in Kilohertz</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#DeviceProperty">
-    <owl:disjointWith rdf:resource="#isEditable"/>
-    <owl:disjointWith rdf:resource="#SkillProperty"/>
-    <owl:disjointWith rdf:resource="#Identifier"/>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-  </owl:Class>
-  <owl:Class rdf:about="#BusInterface">
-    <rdfs:subClassOf rdf:resource="#Communication"/>
-    <owl:disjointWith rdf:resource="#CommunicationProtocol"/>
-    <owl:disjointWith rdf:resource="#ElectricalInterface"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Feed">
-    <owl:disjointWith rdf:resource="#Turn"/>
-    <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="#Arrange"/>
-    <owl:disjointWith rdf:resource="#Pass"/>
-    <owl:disjointWith rdf:resource="#Orient"/>
-    <owl:disjointWith rdf:resource="#Displace"/>
-    <owl:disjointWith rdf:resource="#Convey"/>
-    <rdfs:subClassOf rdf:resource="#Move"/>
-    <owl:disjointWith rdf:resource="#Position"/>
-    <owl:disjointWith rdf:resource="#Pan"/>
-  </owl:Class>
-  <owl:Class rdf:about="#NumberOfJoints">
-    <owl:disjointWith rdf:resource="#Reachability"/>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesRobot"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Drill">
-    <owl:disjointWith rdf:resource="#Thrust"/>
-    <owl:disjointWith rdf:resource="#Broach"/>
-    <owl:disjointWith rdf:resource="#Lathe"/>
-    <owl:disjointWith rdf:resource="#Plane"/>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <owl:disjointWith rdf:resource="#Cut"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Create a circular whole in the workpiece.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Electro-discharge-machine"/>
-    <rdfs:subClassOf rdf:resource="#Separate"/>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith rdf:resource="#File"/>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith rdf:resource="#Hone"/>
-  </owl:Class>
-  <owl:Class rdf:about="#LaserScanner2D">
-    <owl:disjointWith rdf:resource="#OpticDistanceSensor"/>
-    <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
-    <owl:disjointWith rdf:resource="#OpticColorSensor"/>
-    <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
-    <owl:disjointWith rdf:resource="#OpticSwitch"/>
-    <owl:disjointWith rdf:resource="#VisionSensor"/>
-    <owl:disjointWith rdf:resource="#SmartCamera"/>
-    <owl:disjointWith rdf:resource="#LightGrid"/>
-    <rdfs:subClassOf rdf:resource="#OpticSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Assembly">
-    <rdfs:subClassOf rdf:resource="#ObjectBase"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasObjectBase"/>
-        </owl:onProperty>
-        <owl:minCardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:minCardinality>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Part"/>
-  </owl:Class>
-  <owl:Class rdf:about="#JointFingerGripper">
-    <rdfs:subClassOf rdf:resource="#FingerGripper"/>
-    <owl:disjointWith rdf:resource="#ElasticFingerGripper"/>
-  </owl:Class>
-  <owl:Class rdf:about="#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>
-    <rdfs:subClassOf rdf:resource="#SensorFunction"/>
-    <owl:disjointWith rdf:resource="#Check"/>
-    <owl:disjointWith rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith rdf:resource="#Measure"/>
-    <owl:disjointWith rdf:resource="#Classify"/>
-    <owl:disjointWith rdf:resource="#Scan"/>
-    <owl:disjointWith rdf:resource="#Detect"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CompressImageData">
-    <owl:disjointWith rdf:resource="#CalibrateImage"/>
-    <owl:disjointWith rdf:resource="#ExtractEdges"/>
-    <owl:disjointWith rdf:resource="#SegmentImage"/>
-    <owl:disjointWith rdf:resource="#FilterImage"/>
-    <owl:disjointWith rdf:resource="#TransformImage"/>
-    <owl:disjointWith rdf:resource="#DecompressImageData"/>
-    <owl:disjointWith rdf:resource="#BlobAnalysis"/>
-    <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CompoundManipulationAndHandlingFunction">
-    <rdfs:subClassOf rdf:resource="#CompoundSkills"/>
-    <owl:disjointWith rdf:resource="#CompoundManufacturingFunction"/>
-    <owl:disjointWith rdf:resource="#CompountSensorFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Count">
-    <rdfs:subClassOf rdf:resource="#Check"/>
-    <owl:disjointWith rdf:resource="#CheckSurfaceForIrregularities"/>
-    <owl:disjointWith rdf:resource="#CheckPosition"/>
-    <owl:disjointWith rdf:resource="#CheckPresence"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Karthesian">
-    <rdfs:subClassOf rdf:resource="#Feed"/>
-    <owl:disjointWith rdf:resource="#AsFastAsPossible"/>
-    <owl:disjointWith rdf:resource="#Circular"/>
-  </owl:Class>
-  <owl:Class rdf:about="#FieldOfView">
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#ScanningDistance"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith rdf:resource="#MaxScanAngle"/>
-  </owl:Class>
-  <owl:ObjectProperty rdf:ID="isOperationOf">
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:about="#hasOperation"/>
-    </owl:inverseOf>
-    <rdfs:range rdf:resource="#Task"/>
-    <rdfs:domain rdf:resource="#Task"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasReference">
-    <rdfs:domain>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Workpiece"/>
-          <owl:Class rdf:about="#Device"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:domain>
-    <rdfs:range rdf:resource="#Identifier"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This will be used für referencing devices in the later implementation, e.g. as a URI.</rdfs:comment>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:ID="isSubskillOf">
-    <rdfs:range rdf:resource="#CompoundSkills"/>
-    <rdfs:domain rdf:resource="#CompoundSkills"/>
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:about="#hasSubskill"/>
-    </owl:inverseOf>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasObjectBase">
-    <rdfs:domain>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Assembly"/>
-          <owl:Class rdf:about="#Workpiece"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:domain>
-    <rdfs:range rdf:resource="#ObjectBase"/>
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:ID="isObjectBaseOf"/>
-    </owl:inverseOf>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasIdentifier">
-    <rdfs:domain>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Device"/>
-          <owl:Class rdf:about="#Workpiece"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:domain>
-    <rdfs:range rdf:resource="#Identifier"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#isObjectBaseOf">
-    <owl:inverseOf rdf:resource="#hasObjectBase"/>
-    <rdfs:range>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Assembly"/>
-          <owl:Class rdf:about="#Workpiece"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:range>
-    <rdfs:domain rdf:resource="#ObjectBase"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasSubskill">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >To use an ordered list, according to the FAQ, rdf:List has to be added in Range (cf. http://protege.stanford.edu/doc/owl-faq.html#ordered). But it does not work so far.</rdfs:comment>
-    <owl:inverseOf rdf:resource="#isSubskillOf"/>
-    <rdfs:domain rdf:resource="#CompoundSkills"/>
-    <rdfs:range rdf:resource="#CompoundSkills"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasDevice">
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:ID="isDeviceOf"/>
-    </owl:inverseOf>
-    <rdfs:domain rdf:resource="#Atomic"/>
-    <rdfs:range rdf:resource="#Device"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:ID="isAssemblyOf">
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:about="#hasAssembly"/>
-    </owl:inverseOf>
-    <rdfs:range>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#PhysicalObject"/>
-          <owl:Class rdf:about="#ObjectBase"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:range>
-    <rdfs:domain rdf:resource="#Assembly"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasProperty">
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:ID="isPropertyOf"/>
-    </owl:inverseOf>
-    <rdfs:range rdf:resource="#Property"/>
-    <rdfs:domain rdf:resource="#Skill"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasWorkpiece">
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:ID="isWorkpieceOf"/>
-    </owl:inverseOf>
-    <rdfs:domain rdf:resource="#Operation"/>
-    <rdfs:range rdf:resource="#Workpiece"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:ID="isAtomicOperationOf">
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:about="#hasAtomicOperation"/>
-    </owl:inverseOf>
-    <rdfs:range rdf:resource="#Operation"/>
-    <rdfs:domain rdf:resource="#Atomic"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasAssembly">
-    <owl:inverseOf rdf:resource="#isAssemblyOf"/>
-    <rdfs:domain>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#PhysicalObject"/>
-          <owl:Class rdf:about="#ObjectBase"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:domain>
-    <rdfs:range rdf:resource="#Assembly"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:ID="canBePerformedBy">
-    <rdfs:domain rdf:resource="#Task"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasOperation">
-    <owl:inverseOf rdf:resource="#isOperationOf"/>
-    <rdfs:domain rdf:resource="#Task"/>
-    <rdfs:range rdf:resource="#Task"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#isSkillOf">
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:about="#hasSkill"/>
-    </owl:inverseOf>
-    <rdfs:range>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Atomic"/>
-          <owl:Class rdf:about="#Device"/>
-          <owl:Class rdf:about="#Skill"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:range>
-    <rdfs:domain rdf:resource="#Skill"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#isWorkpieceOf">
-    <owl:inverseOf rdf:resource="#hasWorkpiece"/>
-    <rdfs:range rdf:resource="#Operation"/>
-    <rdfs:domain rdf:resource="#Workpiece"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasGeometry">
-    <rdfs:domain rdf:resource="#PhysicalObject"/>
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:ID="isGeometryOf"/>
-    </owl:inverseOf>
-    <rdfs:range rdf:resource="#Geometry"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#isGeometryOf">
-    <owl:inverseOf rdf:resource="#hasGeometry"/>
-    <rdfs:range rdf:resource="#PhysicalObject"/>
-    <rdfs:domain rdf:resource="#Geometry"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#isDeviceOf">
-    <rdfs:domain rdf:resource="#Device"/>
-    <rdfs:range rdf:resource="#Atomic"/>
-    <owl:inverseOf rdf:resource="#hasDevice"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#isPropertyOf">
-    <rdfs:domain rdf:resource="#Property"/>
-    <rdfs:range rdf:resource="#Skill"/>
-    <owl:inverseOf rdf:resource="#hasProperty"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasEditable">
-    <rdfs:range rdf:resource="#isEditable"/>
-    <rdfs:domain rdf:resource="#Property"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasSkill">
-    <owl:inverseOf rdf:resource="#isSkillOf"/>
-    <rdfs:domain>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Device"/>
-          <owl:Class rdf:about="#Skill"/>
-          <owl:Class rdf:about="#Atomic"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:domain>
-    <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>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasAtomicOperation">
-    <owl:inverseOf rdf:resource="#isAtomicOperationOf"/>
-    <rdfs:domain rdf:resource="#Operation"/>
-    <rdfs:range rdf:resource="#Atomic"/>
-  </owl:ObjectProperty>
-  <owl:DatatypeProperty rdf:ID="value">
-    <rdfs:domain rdf:resource="#Property"/>
-  </owl:DatatypeProperty>
-  <OpticReflexSwitch rdf:ID="Sick_WL18-3P430">
-    <hasProperty>
-      <MaxVoltageSupply rdf:ID="MaxVoltageSupply_30.0">
-        <hasEditable>
-          <isEditable rdf:ID="isEditable_false">
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#boolean"
-            >false</value>
-          </isEditable>
-        </hasEditable>
-        <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-        >30.0</value>
-        <isPropertyOf>
-          <OpticDistanceSensor rdf:ID="Sick_DT10-P10B5">
-            <hasProperty>
-              <MinMeasurementRange rdf:ID="MinMeasurementRange_0.05">
-                <hasEditable rdf:resource="#isEditable_false"/>
-                <isPropertyOf>
-                  <OpticProximitySwitch rdf:ID="Sick_WT18-3P430">
-                    <hasProperty>
-                      <ElectricalInterface rdf:ID="ElectricalInterface_ConnectorM12-4Pins">
-                        <isPropertyOf>
-                          <SmartCamera rdf:ID="Sick_IVC-2DM1111">
-                            <hasProperty>
-                              <Length rdf:ID="Length_161">
-                                <isPropertyOf>
-                                  <SmartCamera rdf:ID="Sick_IVC-2DM1122">
-                                    <hasProperty>
-                                      <EnclosureRatingIP rdf:ID="EnclosureRatingIP_65">
-                                        <isPropertyOf>
-                                          <OpticColorSensor rdf:ID="Sensopart_FL64C">
-                                            <hasProperty>
-                                              <MinVoltageSupply rdf:ID="MinVoltageSupply_12.0">
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >12.0</value>
-                                                <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                                                <isPropertyOf>
-                                                  <OpticLuminescenceScanner rdf:ID="Sick_LUT3-610">
-                                                    <hasProperty>
-                                                      <SwitchingFrequency rdf:ID="SwitchingFrequency_1500">
-                                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                                        <value
-                                                         rdf:datatype=
-                                                        "http://www.w3.org/2001/XMLSchema#float"
-                                                        >1500.0</value>
-                                                        <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-                                                        <isPropertyOf>
-                                                          <OpticColorSensor rdf:ID="Sick_CSM1-N1114">
-                                                            <hasProperty>
-                                                              <EnclosureRatingIP rdf:ID="EnclosureRatingIP_67">
-    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-    <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-    <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-    <isPropertyOf>
-      <OpticContrastScanner rdf:ID="Sick_KT10-2P1115">
-        <hasProperty>
-          <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.08">
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-            >0.08</value>
-            <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-            <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-            <isPropertyOf>
-              <SmartCamera rdf:ID="VisionComponents-VC4465">
-                <hasSkill>
-                  <Read2DMatrixCode rdf:ID="Read2DMatrixCode_1">
-                    <isSkillOf rdf:resource="#VisionComponents-VC4465"/>
-                    <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                  </Read2DMatrixCode>
-                </hasSkill>
-                <hasProperty>
-                  <MinVoltageSupply rdf:ID="MinVoltageSupply_19.2">
-                    <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-                    <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                    <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-                    <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                    >19.2</value>
-                    <hasEditable rdf:resource="#isEditable_false"/>
-                  </MinVoltageSupply>
-                </hasProperty>
-                <hasProperty>
-                  <Height rdf:ID="Height_53">
-                    <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-                    <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                    >53.0</value>
-                    <hasEditable rdf:resource="#isEditable_false"/>
-                  </Height>
-                </hasProperty>
-                <hasProperty>
-                  <Length rdf:ID="Length_66.25">
-                    <hasEditable rdf:resource="#isEditable_false"/>
-                    <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 rdf:resource="#MaxCurrentConsumption_0.08"/>
-                <hasProperty>
-                  <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.3">
-                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                    >0.3</value>
-                    <hasEditable rdf:resource="#isEditable_false"/>
-                    <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-                    <isPropertyOf>
-                      <OpticDistanceSensor rdf:ID="Sick_DME5000-112">
-                        <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
-                        <hasIdentifier>
-                          <Identifier rdf:ID="ID_Sick_DME5000-112">
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                            >Sick_DME5000-112</value>
-                          </Identifier>
-                        </hasIdentifier>
-                        <hasProperty>
-                          <MinAmbientTemperature rdf:ID="MinAmbientTemperature_-10">
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >-10.0</value>
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <isPropertyOf>
-                              <OpticColorSensor rdf:ID="Sick_CS81-P1112">
-                                <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
-                                <hasProperty>
-                                  <ElectricalInterface rdf:ID="ElectricalInterface_OpenCollectorPNP">
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                    >open collector PNP</value>
-                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                    <isPropertyOf>
-                                      <OpticThroughBeamSwitch rdf:ID="Sick_WSWE18-3P430">
-                                        <hasProperty>
-                                          <MaxMeasurementRange rdf:ID="MaxMeasurementRange_20">
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >20.0</value>
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                          </MaxMeasurementRange>
-                                        </hasProperty>
-                                        <hasProperty>
-                                          <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_60">
-                                            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                            <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >60.0</value>
-                                          </MaxAmbientTemperature>
-                                        </hasProperty>
-                                        <hasProperty>
-                                          <SwitchingFrequency rdf:ID="SwitchingFrequency_1000">
-                                            <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                                            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                            <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >1000.0</value>
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                          </SwitchingFrequency>
-                                        </hasProperty>
-                                        <hasIdentifier>
-                                          <Identifier rdf:ID="ID_Sick_WSWE18-3P430">
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#string"
-                                            >Sick_WSWE18-3P430</value>
-                                          </Identifier>
-                                        </hasIdentifier>
-                                        <hasProperty>
-                                          <MinMeasurementRange rdf:ID="MinMeasurementRange_0">
-                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >0.0</value>
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                          </MinMeasurementRange>
-                                        </hasProperty>
-                                        <hasSkill>
-                                          <DetectObject rdf:ID="DetectObject_1">
-                                            <isSkillOf rdf:resource="#Sick_WL18-3P430"/>
-                                            <isSkillOf rdf:resource="#Sick_WT18-3P430"/>
-                                            <isSkillOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                          </DetectObject>
-                                        </hasSkill>
-                                        <hasProperty>
-                                          <LightType rdf:ID="LightType_LEDred">
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#string"
-                                            >LEDred</value>
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                            <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-                                            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                            <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                            <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                                            <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                                            <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                          </LightType>
-                                        </hasProperty>
-                                        <hasProperty>
-                                          <Weight rdf:ID="Weight_0.04">
-                                            <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                                            <isPropertyOf>
-                                              <rdf:Description rdf:ID="Schunk_MPG_20">
-                                                <hasProperty>
-                                                  <Repeatability rdf:ID="Repeatability_0.01">
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >0.01</value>
-                                                    <isPropertyOf>
-                                                      <rdf:Description rdf:ID="Schunk_MPG_64">
-                                                        <hasIdentifier>
-                                                          <Identifier rdf:ID="ID_Schunk_MPG_64"/>
-                                                        </hasIdentifier>
-                                                        <hasSkill>
-                                                          <OpenFingers rdf:ID="OpenFingers_1">
-                                                            <isSkillOf rdf:resource="#Schunk_MPG_20"/>
-                                                            <isSkillOf rdf:resource="#Schunk_MPG_64"/>
-                                                          </OpenFingers>
-                                                        </hasSkill>
-                                                        <hasProperty>
-                                                          <Payload rdf:ID="Payload_1.0">
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#float"
-                                                            >1.0</value>
-                                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                                            <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                                                          </Payload>
-                                                        </hasProperty>
-                                                        <hasProperty>
-                                                          <Weight rdf:ID="Weight_0.6">
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#float"
-                                                            >0.6</value>
-                                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                                            <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                                                          </Weight>
-                                                        </hasProperty>
-                                                        <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
-                                                        <hasProperty>
-                                                          <Repeatability rdf:ID="Repeatability_0.1">
-                                                            <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                                            <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                                                            <isPropertyOf>
-                                                              <ArticulatedRobot rdf:ID="ArticulatedRobot_ABB_IRB-4400">
-    <hasProperty>
-      <TypeOfActuation rdf:ID="TypeOfActuation_Electric">
-        <hasEditable rdf:resource="#isEditable_false"/>
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >Electric</value>
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-              <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>
-                  <ScaraRobot rdf:ID="ScaraRobot_Staeubli_RS40B">
-                    <hasSkill>
-                      <Circular rdf:ID="Circular_29">
-                        <isSkillOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-                        <isSkillOf>
-                          <ArticulatedRobot rdf:ID="ArticulatedRobot_ABB_IRB-140">
-                            <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>
-                                  <VisionSensor rdf:ID="Sick_CVS2-P112">
-                                    <hasProperty rdf:resource="#MaxAmbientTemperature_40"/>
-                                    <hasProperty>
-                                      <ResponseTime rdf:ID="ResponseTime_0.005">
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >0.0050</value>
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-                                      </ResponseTime>
-                                    </hasProperty>
-                                    <hasProperty>
-                                      <MaxVoltageSupply rdf:ID="MaxVoltageSupply_24">
-                                        <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >24.0</value>
-                                      </MaxVoltageSupply>
-                                    </hasProperty>
-                                    <hasProperty>
-                                      <MinAmbientTemperature rdf:ID="MinAmbientTemperature_0">
-                                        <rdfs:comment rdf:datatype=
-                                        "http://www.w3.org/2001/XMLSchema#string"
-                                        >in degrees celsius</rdfs:comment>
-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                        <isPropertyOf>
-                                          <LaserScanner2D rdf:ID="Sick_LMS200-30106">
-                                            <hasProperty>
-                                              <ResponseTime rdf:ID="ResponseTime_0.026">
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >0.026</value>
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                                <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                              </ResponseTime>
-                                            </hasProperty>
-                                            <hasSkill>
-                                              <MeasureVolume rdf:ID="MeasureVolume_1">
-                                                <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                              </MeasureVolume>
-                                            </hasSkill>
-                                            <hasProperty>
-                                              <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_50">
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >50.0</value>
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                                <rdfs:comment
-                                                 rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#string"
-                                                >in degrees celsius</rdfs:comment>
-                                                <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                                <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                              </MaxAmbientTemperature>
-                                            </hasProperty>
-                                            <hasSkill>
-                                              <Count rdf:ID="Count_1">
-                                                <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                                <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                                <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                              </Count>
-                                            </hasSkill>
-                                            <hasProperty>
-                                              <LaserClass rdf:ID="LaserClass_1">
-                                                <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#string"
-                                                >1</value>
-                                              </LaserClass>
-                                            </hasProperty>
-                                            <hasProperty>
-                                              <PowerConsumption rdf:ID="PowerConsumption_20">
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >20.0</value>
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                                <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                              </PowerConsumption>
-                                            </hasProperty>
-                                            <hasSkill>
-                                              <MeasurePositionOfObject rdf:ID="DeterminePositionOfObject_1">
-                                                <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                                <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                                <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                              </MeasurePositionOfObject>
-                                            </hasSkill>
-                                            <hasSkill>
-                                              <MeasureDistance rdf:ID="MeasureDistance_2">
-                                                <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                              </MeasureDistance>
-                                            </hasSkill>
-                                            <hasProperty>
-                                              <Weight rdf:ID="Weight_4.5">
-                                                <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >4.5</value>
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                              </Weight>
-                                            </hasProperty>
-                                            <hasProperty>
-                                              <MinVoltageSupply rdf:ID="MinVoltageSupply_20.4">
-                                                <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >20.4</value>
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                              </MinVoltageSupply>
-                                            </hasProperty>
-                                            <hasProperty>
-                                              <MaxMeasurementRange rdf:ID="MaxMeasurementRange_80">
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                                <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >80.0</value>
-                                              </MaxMeasurementRange>
-                                            </hasProperty>
-                                            <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
-                                            <hasSkill>
-                                              <Scan rdf:ID="Scan_2D">
-                                                <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                              </Scan>
-                                            </hasSkill>
-                                            <hasProperty>
-                                              <Resolution rdf:ID="AngleResolution_0.5">
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >0.5</value>
-                                                <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                              </Resolution>
-                                            </hasProperty>
-                                            <hasIdentifier>
-                                              <Identifier rdf:ID="ID_Sick_LMS200-30106">
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#string"
-                                                >Sick_LMS200-30106</value>
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                              </Identifier>
-                                            </hasIdentifier>
-                                            <hasSkill>
-                                              <DetectCollision rdf:ID="DetectCollision_1">
-                                                <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                              </DetectCollision>
-                                            </hasSkill>
-                                            <hasProperty>
-                                              <MaxVoltageSupply rdf:ID="MaxVoltageSupply_27.6">
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >27.6</value>
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                                <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                              </MaxVoltageSupply>
-                                            </hasProperty>
-                                            <hasSkill>
-                                              <ClassifyObject rdf:ID="ClassifyObject_2">
-                                                <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                              </ClassifyObject>
-                                            </hasSkill>
-                                            <hasProperty>
-                                              <Resolution rdf:ID="DepthResolution_0.01">
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >0.01</value>
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                                <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                              </Resolution>
-                                            </hasProperty>
-                                            <hasProperty>
-                                              <MaxScanAngle rdf:ID="MaxScanAngle_180">
-                                                <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >180.0</value>
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                              </MaxScanAngle>
-                                            </hasProperty>
-                                            <hasProperty rdf:resource="#MinAmbientTemperature_0"/>
-                                          </LaserScanner2D>
-                                        </isPropertyOf>
-                                        <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >0.0</value>
-                                      </MinAmbientTemperature>
-                                    </hasProperty>
-                                    <hasIdentifier>
-                                      <Identifier rdf:ID="ID_Sick_CVS2-P112">
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                        >Sick_CVS2-P112</value>
-                                      </Identifier>
-                                    </hasIdentifier>
-                                    <hasProperty>
-                                      <ScanningDistance rdf:ID="ScanningDistance_0.24">
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >0.24</value>
-                                        <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-                                      </ScanningDistance>
-                                    </hasProperty>
-                                    <hasProperty>
-                                      <LightType rdf:ID="LightType_LEDwhite">
-                                        <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                        >LEDwhite</value>
-                                      </LightType>
-                                    </hasProperty>
-                                    <hasProperty>
-                                      <FieldOfView rdf:ID="FieldOfView_50x60">
-                                        <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                        >50x60</value>
-                                      </FieldOfView>
-                                    </hasProperty>
-                                    <hasProperty>
-                                      <Weight rdf:ID="Weight_0.18">
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >0.18</value>
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-                                      </Weight>
-                                    </hasProperty>
-                                    <hasProperty rdf:resource="#MinVoltageSupply_12.0"/>
-                                    <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-                                    <hasSkill>
-                                      <SortObjects rdf:ID="SortObjectColor_15">
-                                        <isSkillOf rdf:resource="#Sick_CVS2-P112"/>
-                                      </SortObjects>
-                                    </hasSkill>
-                                    <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
-                                    <hasProperty>
-                                      <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.2">
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >0.2</value>
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <isPropertyOf>
-                                          <LightGrid rdf:ID="Sick_MLG2-0280F511">
-                                            <hasProperty>
-                                              <MinVoltageSupply rdf:ID="MinVoltageSupply_15">
-                                                <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >15.0</value>
-                                              </MinVoltageSupply>
-                                            </hasProperty>
-                                            <hasSkill>
-                                              <DetectObject rdf:ID="DetectObject_15">
-                                                <isSkillOf rdf:resource="#Sick_MLG2-0280F511"/>
-                                              </DetectObject>
-                                            </hasSkill>
-                                            <hasProperty>
-                                              <ElectricalInterface rdf:ID="ElectricalInterface_ConnectorM12-5Pins">
-                                                <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                                <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
-                                                <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                                                <isPropertyOf>
-                                                  <OpticContrastScanner rdf:ID="Sick_KT5W_2P1116D">
-                                                    <hasProperty>
-                                                      <Weight rdf:ID="Weight_0.4">
-                                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                                        <value
-                                                         rdf:datatype=
-                                                        "http://www.w3.org/2001/XMLSchema#float"
-                                                        >0.4</value>
-                                                        <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                                                        <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-                                                        <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                                                        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                                        <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                                                        <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                                                      </Weight>
-                                                    </hasProperty>
-                                                    <hasProperty rdf:resource="#MinAmbientTemperature_-10"/>
-                                                    <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-5Pins"/>
-                                                    <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-                                                    <hasProperty>
-                                                      <ScanningDistance rdf:ID="ScanningDistance_0.01">
-                                                        <value
-                                                         rdf:datatype=
-                                                        "http://www.w3.org/2001/XMLSchema#float"
-                                                        >0.01</value>
-                                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                                        <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-                                                        <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                                                        <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                                                      </ScanningDistance>
-                                                    </hasProperty>
-                                                    <hasIdentifier>
-                                                      <Identifier rdf:ID="ID_Sick_KT5W_2P1116D">
-                                                        <value
-                                                         rdf:datatype=
-                                                        "http://www.w3.org/2001/XMLSchema#string"
-                                                        >Sick_KT5W_2P1116D</value>
-                                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                                      </Identifier>
-                                                    </hasIdentifier>
-                                                    <hasProperty>
-                                                      <LightSpotSize rdf:ID="LightSpotSize_0.0012x0.0042">
-                                                        <value
-                                                         rdf:datatype=
-                                                        "http://www.w3.org/2001/XMLSchema#string"
-                                                        >0.0012x0.0042</value>
-                                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                                        <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                                                      </LightSpotSize>
-                                                    </hasProperty>
-                                                    <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
-                                                    <hasProperty>
-                                                      <ResponseTime rdf:ID="ResponseTime_0.00005">
-                                                        <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                                        <value
-                                                         rdf:datatype=
-                                                        "http://www.w3.org/2001/XMLSchema#float"
-                                                        >5.0E-5</value>
-                                                      </ResponseTime>
-                                                    </hasProperty>
-                                                    <hasProperty>
-                                                      <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_55">
-                                                        <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                                                        <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                                                        <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                                        <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                                                        <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
-                                                        <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-                                                        <value
-                                                         rdf:datatype=
-                                                        "http://www.w3.org/2001/XMLSchema#float"
-                                                        >55.0</value>
-                                                        <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-                                                        <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                                                      </MaxAmbientTemperature>
-                                                    </hasProperty>
-                                                    <hasSkill>
-                                                      <DetectContrast rdf:ID="DetectContrast_1">
-                                                        <isSkillOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                                                        <isSkillOf rdf:resource="#Sick_KT10-2P1115"/>
-                                                      </DetectContrast>
-                                                    </hasSkill>
-                                                    <hasProperty>
-                                                      <SwitchingFrequency rdf:ID="SwitchingFrequency_10000">
-                                                        <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                                                        <value
-                                                         rdf:datatype=
-                                                        "http://www.w3.org/2001/XMLSchema#float"
-                                                        >10000.0</value>
-                                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                                      </SwitchingFrequency>
-                                                    </hasProperty>
-                                                    <hasProperty>
-                                                      <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.13">
-                                                        <value
-                                                         rdf:datatype=
-                                                        "http://www.w3.org/2001/XMLSchema#float"
-                                                        >0.13</value>
-                                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                                        <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                                                      </MaxCurrentConsumption>
-                                                    </hasProperty>
-                                                  </OpticContrastScanner>
-                                                </isPropertyOf>
-                                                <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#string"
-                                                >Connector M12, 5 Pins</value>
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                              </ElectricalInterface>
-                                            </hasProperty>
-                                            <hasProperty>
-                                              <ResponseTime rdf:ID="ResponseTime_0.003">
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >0.0030</value>
-                                                <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                              </ResponseTime>
-                                            </hasProperty>
-                                            <hasIdentifier>
-                                              <Identifier rdf:ID="ID_Sick_MLG2-0280F511">
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#string"
-                                                >Sick_MLG2-0280F511</value>
-                                              </Identifier>
-                                            </hasIdentifier>
-                                            <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
-                                            <hasProperty rdf:resource="#MaxAmbientTemperature_55"/>
-                                            <hasProperty>
-                                              <LightType rdf:ID="LightType_LEDinfrared">
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#string"
-                                                >LEDinfrared</value>
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                                <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
-                                              </LightType>
-                                            </hasProperty>
-                                            <hasProperty>
-                                              <MaxMeasurementRange rdf:ID="MaxMeasurementRange_5">
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >5.0</value>
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                                <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                                <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
-                                              </MaxMeasurementRange>
-                                            </hasProperty>
-                                            <hasProperty rdf:resource="#MaxCurrentConsumption_0.2"/>
-                                            <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
-                                            <hasProperty>
-                                              <MinAmbientTemperature rdf:ID="MinAmbientTemperature_-25">
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                                <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                                <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >-25.0</value>
-                                              </MinAmbientTemperature>
-                                            </hasProperty>
-                                          </LightGrid>
-                                        </isPropertyOf>
-                                        <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-                                      </MaxCurrentConsumption>
-                                    </hasProperty>
-                                    <hasProperty>
-                                      <Resolution rdf:ID="Resolution_208x238">
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                        >208x238</value>
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-                                      </Resolution>
-                                    </hasProperty>
-                                  </VisionSensor>
-                                </isPropertyOf>
-                                <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                >40.0</value>
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                              </MaxAmbientTemperature>
-                            </hasProperty>
-                            <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"/>
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                              </PowerConsumption>
-                            </hasProperty>
-                            <hasProperty rdf:resource="#TypeOfActuation_Electric"/>
-                            <hasSkill rdf:resource="#Circular_29"/>
-                            <hasProperty>
-                              <Reachability rdf:ID="Reachability_810">
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-                                >810</value>
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                              </Reachability>
-                            </hasProperty>
-                            <hasProperty>
-                              <MinAmbientTemperature rdf:ID="MinAmbientTemperature_5">
-                                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                                <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                                <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                >5.0</value>
-                                <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                                <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-                              </MinAmbientTemperature>
-                            </hasProperty>
-                            <hasProperty>
-                              <Payload rdf:ID="Payload_5.0">
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                >5.0</value>
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                                <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                              </Payload>
-                            </hasProperty>
-                            <hasProperty rdf:resource="#NumberOfJoints_4"/>
-                            <hasProperty>
-                              <Reachability rdf:ID="Reachability_800">
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-                                >800</value>
-                                <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-                                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                              </Reachability>
-                            </hasProperty>
-                            <hasProperty>
-                              <DegreesOfFreedom rdf:ID="DegreesOfFreedom_6">
-                                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-                                >6</value>
-                              </DegreesOfFreedom>
-                            </hasProperty>
-                            <hasProperty>
-                              <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_45">
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-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                >45.0</value>
-                                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                              </MaxAmbientTemperature>
-                            </hasProperty>
-                            <hasProperty>
-                              <Reachability rdf:ID="Reachability_400">
-                                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                                <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-                                >400</value>
-                                <hasEditable rdf:resource="#isEditable_false"/>
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-                            </hasProperty>
-                            <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-                            <hasProperty>
-                              <Reachability rdf:ID="Reachability_1960">
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-                                >1960</value>
-                                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                              </Reachability>
-                            </hasProperty>
-                            <hasSkill>
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-                                <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>
-                              <IntelligentCtrl rdf:ID="IntelligentCtrl_1">
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                >yes</value>
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                              </IntelligentCtrl>
-                            </hasProperty>
-                            <hasIdentifier>
-                              <Identifier rdf:ID="ID_ABB_IRB-140">
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                ></value>
-                                <hasEditable rdf:resource="#isEditable_false"/>
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-                            <hasProperty>
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-                                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                >200.0</value>
-                              </MinVoltageSupply>
-                            </hasProperty>
-                            <hasProperty>
-                              <DegreesOfFreedom rdf:ID="DegreesOfFreedom_4">
-                                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                                <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
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-                                <hasEditable rdf:resource="#isEditable_false"/>
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-                                >4</value>
-                              </DegreesOfFreedom>
-                            </hasProperty>
-                            <hasProperty>
-                              <Repeatability rdf:ID="Repeatability_0.03">
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                >0.03</value>
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                                <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                                <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                              </Repeatability>
-                            </hasProperty>
-                            <hasProperty>
-                              <NumberOfJoints rdf:ID="NumberOfJoints_6">
-                                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-                                >6</value>
-                              </NumberOfJoints>
-                            </hasProperty>
-                            <hasProperty>
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-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                >600.0</value>
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-                                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
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-                            </hasProperty>
-                            <hasSkill>
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-                                <isSkillOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-                                <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                                <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                              </AsFastAsPossible>
-                            </hasSkill>
-                          </ArticulatedRobot>
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-                        <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
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-                        >40.5</value>
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-                      <Identifier rdf:ID="ID_Staeubli_RS40B">
-                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                        >Staeubli_RS40B</value>
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-                    <hasProperty rdf:resource="#DegreesOfFreedom_4"/>
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-                        >30</value>
-                        <hasEditable rdf:resource="#isEditable_false"/>
-                        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
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-                        <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                        <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
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-                    <hasSkill rdf:resource="#AsFastAsPossible_28"/>
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-                    <hasProperty rdf:resource="#Repeatability_0.01"/>
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-                        >2.0</value>
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-                        <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
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-                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
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-            <hasProperty>
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-                >51.0</value>
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-                <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
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-            <hasProperty rdf:resource="#TypeOfActuation_Electric"/>
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-              <Identifier rdf:ID="ID_Staeubli_RS80">
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-                >Staeubli_RS80</value>
-                <hasEditable rdf:resource="#isEditable_false"/>
-              </Identifier>
-            </hasIdentifier>
-            <hasProperty rdf:resource="#Payload_2.0"/>
-            <hasProperty rdf:resource="#EnclosureRatingIP_54"/>
-            <hasProperty rdf:resource="#MaxAmbientTemperature_40"/>
-            <hasSkill rdf:resource="#Karthesian_30"/>
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-            <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
-            <hasProperty rdf:resource="#Repeatability_0.01"/>
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-        <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-        <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-        <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
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-    <hasProperty rdf:resource="#MaxAmbientTemperature_45"/>
-    <hasProperty rdf:resource="#IntelligentCtrl_1"/>
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-    <hasProperty rdf:resource="#MinVoltageSupply_200"/>
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-                                                        <hasProperty rdf:resource="#EnclosureRatingIP_54"/>
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-                                                            <isSkillOf rdf:resource="#Schunk_MPG_20"/>
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-                                                        <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
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-                                                            <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                                                            <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
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-                                                    <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-                                                    <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                                    <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
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-                                                    >0.14</value>
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-                                                <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
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-                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
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-                    <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-                    <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
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-                    <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                    <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
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-            <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
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-        <hasProperty rdf:resource="#LightType_LEDblue"/>
-        <hasProperty rdf:resource="#MinAmbientTemperature_-10"/>
-        <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-5Pins"/>
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-        <hasProperty rdf:resource="#LightType_LEDgreen"/>
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-    <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
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-    <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
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-    <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-    <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
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-    <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-    <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-    <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-    <isPropertyOf rdf:resource="#Schunk_MPG_20"/>             </EnclosureRatingIP>
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-                                                            <hasProperty rdf:resource="#ResponseTime_0.0005"/>
-                                                            <hasProperty rdf:resource="#SwitchingFrequency_1500"/>
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-                                                            <hasProperty rdf:resource="#LightType_LEDred"/>
-                                                            <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
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-                                                              <LightSpotSize rdf:ID="LightSpotSize_0.0015x0.0065">
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-    >open collector NPN</value>
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-    <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
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-                                                         rdf:datatype=
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-                                                    <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
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-                                                         rdf:datatype=
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-                                                        >Sick_LUT3-610</value>
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-                                                        "http://www.w3.org/2001/XMLSchema#float"
-                                                        >3.0E-4</value>
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-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >9.0E-4</value>
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-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >7.0E-4</value>
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-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >80.0</value>
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-                                                "http://www.w3.org/2001/XMLSchema#string"
-                                                >LED</value>
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-                                                "http://www.w3.org/2001/XMLSchema#string"
-                                                >Polycarbonat</value>
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-                                                >26.4</value>
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-                                        >65</value>
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-                                        >1.0</value>
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-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
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-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
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-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
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-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                        >Connector M12, 8 Pins</value>
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-                                      </ElectricalInterface>
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-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >60.0</value>
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-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                        >1024x768</value>
-                                      </Resolution>
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-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                      </MeasureAngle>
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-                                        >55.0</value>
-                                      </Height>
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-                                    <hasProperty rdf:resource="#MinVoltageSupply_19.2"/>
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-                                        >0.4</value>
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-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                        >0.5</value>
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-                                    <hasProperty rdf:resource="#IntelligentCtrl_1"/>
-                                    <hasSkill>
-                                      <CheckPosition rdf:ID="CheckPosition_1">
-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                      </CheckPosition>
-                                    </hasSkill>
-                                    <hasProperty>
-                                      <BusInterface rdf:ID="BusInterface_RS485">
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                        >RS485</value>
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                      </BusInterface>
-                                    </hasProperty>
-                                    <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
-                                    <hasSkill>
-                                      <ClassifyObject rdf:ID="ClassifyObject_1">
-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                      </ClassifyObject>
-                                    </hasSkill>
-                                    <hasProperty>
-                                      <SwitchingFrequency rdf:ID="SwitchingFrequency_30fps">
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >30.0</value>
-                                      </SwitchingFrequency>
-                                    </hasProperty>
-                                    <hasIdentifier>
-                                      <Identifier rdf:ID="ID_Sick_IVC-2DM1122">
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                        >Sick_IVC-2DM1122</value>
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                      </Identifier>
-                                    </hasIdentifier>
-                                    <hasSkill>
-                                      <MeasureOrientationOfObject rdf:ID="MeasureOrientationOfObject_1">
-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                      </MeasureOrientationOfObject>
-                                    </hasSkill>
-                                    <hasSkill rdf:resource="#Count_1"/>
-                                    <hasSkill rdf:resource="#ReadBarCode_1"/>
-                                  </SmartCamera>
-                                </isPropertyOf>
-                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                >161.0</value>
-                              </Length>
-                            </hasProperty>
-                            <hasProperty rdf:resource="#IntelligentCtrl_1"/>
-                            <hasProperty rdf:resource="#MinAmbientTemperature_0"/>
-                            <hasIdentifier>
-                              <Identifier rdf:ID="ID_Sick_IVC-2DM1111">
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                >Sick_IVC-2DM1111</value>
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                              </Identifier>
-                            </hasIdentifier>
-                            <hasProperty rdf:resource="#Height_55"/>
-                            <hasSkill rdf:resource="#MeasureOrientationOfObject_1"/>
-                            <hasSkill rdf:resource="#MeasureAngle_1"/>
-                            <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
-                            <hasProperty rdf:resource="#MaxMeasurementRange_1"/>
-                            <hasProperty rdf:resource="#MaxAmbientTemperature_50"/>
-                            <hasProperty rdf:resource="#MaxCurrentConsumption_0.4"/>
-                            <hasProperty rdf:resource="#Weight_0.5"/>
-                            <hasSkill rdf:resource="#DeterminePositionOfObject_1"/>
-                            <hasSkill rdf:resource="#MeasureDiameter_1"/>
-                            <hasSkill rdf:resource="#CheckPosition_1"/>
-                            <hasProperty rdf:resource="#BusInterface_RS485"/>
-                            <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
-                            <hasSkill rdf:resource="#ClassifyObject_1"/>
-                            <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
-                            <hasProperty rdf:resource="#SwitchingFrequency_30fps"/>
-                            <hasProperty rdf:resource="#MinMeasurementRange_0.10"/>
-                            <hasSkill rdf:resource="#MeasureArea_1"/>
-                            <hasSkill rdf:resource="#Count_1"/>
-                            <hasProperty>
-                              <Resolution rdf:ID="Resolution_640x480">
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                >640x480</value>
-                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                              </Resolution>
-                            </hasProperty>
-                            <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-8Pins"/>
-                            <hasProperty rdf:resource="#MaxVoltageSupply_28.8"/>
-                            <hasProperty rdf:resource="#Width_60"/>
-                            <hasProperty rdf:resource="#MinVoltageSupply_19.2"/>
-                            <hasSkill rdf:resource="#CheckPresence_1"/>
-                          </SmartCamera>
-                        </isPropertyOf>
-                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                        >Connector M12, 4 Pins</value>
-                        <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                        <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                        <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-                        <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                        <hasEditable rdf:resource="#isEditable_false"/>
-                        <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                      </ElectricalInterface>
-                    </hasProperty>
-                    <hasProperty rdf:resource="#Weight_0.04"/>
-                    <hasProperty rdf:resource="#LightType_LEDred"/>
-                    <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-                    <hasProperty>
-                      <LightSpotSize rdf:ID="LightSpotSize_0.015">
-                        <hasEditable rdf:resource="#isEditable_false"/>
-                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                        >0.015</value>
-                        <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                      </LightSpotSize>
-                    </hasProperty>
-                    <hasProperty rdf:resource="#ResponseTime_0.0007"/>
-                    <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
-                    <hasSkill rdf:resource="#DetectObject_1"/>
-                    <hasProperty>
-                      <MaxMeasurementRange rdf:ID="MaxMeasurementRange_0.6">
-                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                        >0.6</value>
-                        <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                        <hasEditable rdf:resource="#isEditable_false"/>
-                      </MaxMeasurementRange>
-                    </hasProperty>
-                    <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
-                    <hasProperty rdf:resource="#MinMeasurementRange_0.05"/>
-                    <hasProperty rdf:resource="#MaxAmbientTemperature_60"/>
-                    <hasProperty rdf:resource="#MinAmbientTemperature_-40"/>
-                    <hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
-                    <hasProperty>
-                      <SwitchingFrequency rdf:ID="SwitchingFrequency_700">
-                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                        >700.0</value>
-                        <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                        <hasEditable rdf:resource="#isEditable_false"/>
-                      </SwitchingFrequency>
-                    </hasProperty>
-                    <hasProperty>
-                      <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.04">
-                        <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                        <hasEditable rdf:resource="#isEditable_false"/>
-                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                        >0.04</value>
-                      </MaxCurrentConsumption>
-                    </hasProperty>
-                    <hasIdentifier>
-                      <Identifier rdf:ID="ID_Sick_WT18-3P430">
-                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                        >Sick_WT18-3P430</value>
-                        <hasEditable rdf:resource="#isEditable_false"/>
-                      </Identifier>
-                    </hasIdentifier>
-                  </OpticProximitySwitch>
-                </isPropertyOf>
-                <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                >0.05</value>
-              </MinMeasurementRange>
-            </hasProperty>
-            <hasProperty>
-              <PowerConsumption rdf:ID="PowerConsumption_1.2">
-                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                >1.2</value>
-                <hasEditable rdf:resource="#isEditable_false"/>
-                <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-              </PowerConsumption>
-            </hasProperty>
-            <hasSkill rdf:resource="#MeasureDistance_1"/>
-            <hasProperty rdf:resource="#SwitchingFrequency_1000"/>
-            <hasProperty rdf:resource="#LightType_LEDred"/>
-            <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
-            <hasProperty>
-              <LightSpotSize rdf:ID="LightSpotSize_0.02">
-                <hasEditable rdf:resource="#isEditable_false"/>
-                <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                >0.02</value>
-              </LightSpotSize>
-            </hasProperty>
-            <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-5Pins"/>
-            <hasProperty>
-              <Accuracy rdf:ID="Accuracy_0.003">
-                <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                >0.0030</value>
-                <hasEditable rdf:resource="#isEditable_false"/>
-              </Accuracy>
-            </hasProperty>
-            <hasProperty rdf:resource="#Weight_0.04"/>
-            <hasProperty>
-              <ResponseTime rdf:ID="ResponseTime_0.02">
-                <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                >0.02</value>
-                <hasEditable rdf:resource="#isEditable_false"/>
-              </ResponseTime>
-            </hasProperty>
-            <hasIdentifier>
-              <Identifier rdf:ID="ID_Sick_DT10-P10B5">
-                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                >Sick_DT10-P10B5</value>
-                <hasEditable rdf:resource="#isEditable_false"/>
-              </Identifier>
-            </hasIdentifier>
-            <hasProperty>
-              <Repeatability rdf:ID="Repeatability_0.003">
-                <hasEditable rdf:resource="#isEditable_false"/>
-                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                >0.0030</value>
-                <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-              </Repeatability>
-            </hasProperty>
-            <hasProperty>
-              <ElectricalInterface rdf:ID="ElectricalInterface_AnalogueOutput4-20mA">
-                <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                <hasEditable rdf:resource="#isEditable_false"/>
-                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                >4...20 mA</value>
-              </ElectricalInterface>
-            </hasProperty>
-            <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-            <hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
-            <hasProperty rdf:resource="#MinAmbientTemperature_-25"/>
-            <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
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-                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                >0.4</value>
-                <hasEditable rdf:resource="#isEditable_false"/>
-                <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
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-            </hasProperty>
-            <hasProperty rdf:resource="#MaxAmbientTemperature_50"/>
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-        <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-        <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-        <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-        <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
-        <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-        <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-        <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-        <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
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-    </hasProperty>
-    <hasSkill rdf:resource="#DetectObject_1"/>
-    <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
-    <hasProperty rdf:resource="#LightType_LEDred"/>
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-    <hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
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-        >Sick_WL18-3P430</value>
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-    <hasProperty rdf:resource="#ResponseTime_0.0005"/>
-    <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
-    <hasProperty rdf:resource="#MaxAmbientTemperature_60"/>
-    <hasProperty rdf:resource="#MinAmbientTemperature_-40"/>
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-        >0.04</value>
-        <hasEditable rdf:resource="#isEditable_false"/>
-        <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
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-        >0.03</value>
-        <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
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-    <hasProperty rdf:resource="#MaxMeasurementRange_5"/>
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-      >elastic</rdf:first>
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-        >multiple joints</rdf:first>
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-          <rdf:rest rdf:parseType="Resource">
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-              <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-              >scara</rdf:first>
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-          >spherical</rdf:first>
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-        >cylindrical</rdf:first>
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-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >carthesian</rdf:first>
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-  <AdjustVacuumToRelease rdf:ID="AdjustVacuumToRelease_1"/>
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-          <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-          >blower</rdf:first>
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-        >vacuum pump</rdf:first>
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-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >venturi nozzle</rdf:first>
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-  <Worm rdf:ID="Worm_Inside">
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-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >tool</rdf:first>
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-      >joint</rdf:first>
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-      <Identifier rdf:ID="ID_IPA_AMMS_SimpleGripper-2DOF">
-        <hasEditable rdf:resource="#isEditable_true"/>
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >IPA_AMMS_SimpleGripper-2DOF</value>
-        <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >IPA-2DOF Picker from AMMS.</rdfs:comment>
-      </Identifier>
-    </hasIdentifier>
-    <hasSkill>
-      <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK_2DOF">
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-          <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK_2DOF_Part3">
-            <isSubskillOf rdf:resource="#AMMS_IPA_PICK_2DOF"/>
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-              <AdjustVacuumToGrip rdf:ID="AdjustVacuumToGrip_16">
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-            <hasSubskill>
-              <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK_2DOF_Part2">
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-                  <Displace rdf:ID="IPA_AMMS_MoveDown">
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-                </hasSkill>
-                <hasSubskill>
-                  <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK_2DOF_Part1">
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-                      <Displace rdf:ID="IPA_AMMS_MoveFront">
-                        <isSkillOf rdf:resource="#AMMS_IPA_PICK_2DOF_Part1"/>
-                      </Displace>
-                    </hasSkill>
-                    <isSubskillOf rdf:resource="#AMMS_IPA_PICK_2DOF_Part2"/>
-                  </CompoundManipulationAndHandlingFunction>
-                </hasSubskill>
-              </CompoundManipulationAndHandlingFunction>
-            </hasSubskill>
-          </CompoundManipulationAndHandlingFunction>
-        </hasSubskill>
-        <hasSkill>
-          <Displace rdf:ID="IPA_AMMS_MoveUp">
-            <isSkillOf rdf:resource="#AMMS_IPA_PICK_2DOF"/>
-          </Displace>
-        </hasSkill>
-        <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >Pick operation for IPA-2DOF Picker from AMMS.
-Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
-        <isSkillOf rdf:resource="#VacuumGripper_1"/>
-        <isSkillOf>
-          <rdf:Description rdf:ID="AMMS_IPA_2DOF_Gripper">
-            <hasSkill rdf:resource="#AMMS_IPA_PICK_2DOF"/>
-          </rdf:Description>
-        </isSkillOf>
-      </CompoundManipulationAndHandlingFunction>
-    </hasSkill>
-  </rdf:Description>
-  <WormDiameter rdf:ID="WormDiameter_G1-2">
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >G1/2</value>
-    <hasEditable rdf:resource="#isEditable_false"/>
-  </WormDiameter>
-  <Width rdf:ID="Width_35">
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-    >35.0</value>
-    <hasEditable rdf:resource="#isEditable_false"/>
-  </Width>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-      >3.0</rdf:first>
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-        >3.5</rdf:first>
-        <rdf:rest rdf:parseType="Resource">
-          <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-          >4.0</rdf:first>
-          <rdf:rest rdf:parseType="Resource">
-            <rdf: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:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                  >4.5</rdf:first>
-                  <rdf:rest rdf:parseType="Resource">
-                    <rdf:rest rdf:parseType="Resource">
-                      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                      >6.5</rdf:first>
-                      <rdf:rest rdf:parseType="Resource">
-                        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                        >2.5</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#float"
-                          >2.0</rdf:first>
-                        </rdf:rest>
-                      </rdf:rest>
-                    </rdf:rest>
-                    <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                    >5.5</rdf:first>
-                  </rdf:rest>
-                </rdf:rest>
-              </rdf:rest>
-              <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-              >6.0</rdf:first>
-            </rdf:rest>
-            <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-            >5.0</rdf:first>
-          </rdf:rest>
-        </rdf:rest>
-      </rdf:rest>
-    </owl:oneOf>
-  </owl:DataRange>
-  <owl:AllDifferent/>
-  <Material rdf:ID="Material_Silicon">
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Silicon SI 55+-5</value>
-    <hasEditable rdf:resource="#isEditable_false"/>
-  </Material>
-  <Material rdf:ID="Material-ZincPressureCasting">
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Zinc Pressure Casting</value>
-    <hasEditable rdf:resource="#isEditable_false"/>
-  </Material>
-  <Displace rdf:ID="IPA_AMMS_MoveBack"/>
-  <rdf:Description rdf:ID="AMMS_IPA-2DOF_Picker">
-    <hasIdentifier rdf:resource="#ID_IPA_AMMS_SimpleGripper-2DOF"/>
-  </rdf:Description>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >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>
-  <MaxForce rdf:ID="MaximumForce_4.7">
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-    >4.7</value>
-    <hasEditable rdf:resource="#isEditable_false"/>
-  </MaxForce>
-  <DiameterOfGripper rdf:ID="DiameterOfGripper_200">
-    <hasEditable rdf:resource="#isEditable_false"/>
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-    >200.0</value>
-  </DiameterOfGripper>
-  <MinAmbientTemperature rdf:ID="MinAmbientTemperature_-20">
-    <hasEditable rdf:resource="#isEditable_false"/>
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-    >-20.0</value>
-  </MinAmbientTemperature>
-  <owl:AllDifferent/>
-  <isEditable rdf:ID="isEditableFalse">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    ></rdfs:comment>
-  </isEditable>
-  <rdf:Description rdf:ID="IPA_AMMS_SimpleGripper-2DOF">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >2DOF-Gripper of the IPA AMMS Demonstrator.</rdfs:comment>
-  </rdf:Description>
-  <WormDiameter rdf:ID="WormDiameter_M5">
-    <hasEditable rdf:resource="#isEditable_false"/>
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >M5</value>
-  </WormDiameter>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >pneumatic</rdf:first>
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:rest rdf:parseType="Resource">
-          <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-          >electric</rdf:first>
-          <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-        </rdf:rest>
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >hydraulic</rdf:first>
-      </rdf:rest>
-    </owl:oneOf>
-  </owl:DataRange>
-  <SortObjects rdf:ID="SortObjects_1"/>
-  <Worm rdf:ID="Worm_Outside">
-    <hasEditable rdf:resource="#isEditable_false"/>
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Outside</value>
-  </Worm>
-  <MaxForce rdf:ID="MaximumForce_850">
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-    >850.0</value>
-    <hasEditable rdf:resource="#isEditable_false"/>
-  </MaxForce>
-  <DiameterOfGripper rdf:ID="DiameterOfGripper_20">
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-    >20.0</value>
-    <hasEditable rdf:resource="#isEditable_false"/>
-  </DiameterOfGripper>
-  <owl:AllDifferent>
-    <owl:distinctMembers rdf:parseType="Collection">
-      <Displace rdf:about="#IPA_AMMS_MoveFront"/>
-      <Displace rdf:about="#IPA_AMMS_MoveBack"/>
-      <Displace rdf:about="#IPA_AMMS_MoveUp"/>
-      <Displace rdf:about="#IPA_AMMS_MoveDown"/>
-    </owl:distinctMembers>
-  </owl:AllDifferent>
-  <owl:AllDifferent/>
-  <owl:AllDifferent/>
-  <Material rdf:ID="Material_Perbunan">
-    <hasEditable rdf:resource="#isEditable_false"/>
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Perbunan NBR 55+-5</value>
-  </Material>
-</rdf:RDF>
-
-<!-- Created with Protege (with OWL Plugin 3.2, Build 355)  http://protege.stanford.edu -->
diff --git a/testontologies/v094.owl b/testontologies/v094.owl
deleted file mode 100644
index f1146f75a7217ac93c4e8f4a141df96c60330595..0000000000000000000000000000000000000000
--- a/testontologies/v094.owl
+++ /dev/null
@@ -1,9321 +0,0 @@
-<?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=""/>
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-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ReadBarCode"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Read"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Task and Skills of Optical Sensors v1.1
-part:7</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:ID="DetectObject">
-    <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>
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-    <owl:disjointWith>
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-    <rdfs:subClassOf>
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-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part (or transported material) from one undefined to another undefined position. The trajectory and the orientation of the parts while moved are not necessarily defined.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Orient"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Turn"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Position"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Displace"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Feed"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrange"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="MeasureDistance">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureMotionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureVolume"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureTorque"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureDiameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureArea"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureSpeed"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Measure"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxAmbientTemperature">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Width"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxCurrentConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Diameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Length"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in degrees celsius</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="Object">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is basically the world.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Task"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#List"/>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Skill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Operation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ObjectBase"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Property"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="CheckSurfaceForIrregularities">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CheckPresence"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CheckPosition"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Count"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Check"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Task and Skills of Optical Sensors v1.1
-part:7</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Glue">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Connect workpieces with the help of a glue. This is done by physical interaction of the glue at the workpieces' interfaces.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Solder"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Rivet"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Assemble"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weld"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bolt"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Join"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Fill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Clinch"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#TypeOfVacuum">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWay"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWeight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#EnclosureRatingIP">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Length"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxCurrentConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Width"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Diameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Pass">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Convey"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Turn"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Feed"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pan"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Orient"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrange"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part from one to another positition along an undefined trajectory. The part's orientation remains unchanged.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Position"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Displace"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureTorque">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Measure"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureArea"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureVolume"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureMotionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureSpeed"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="CompoundSkills">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="DiagnosticFunction"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MainFunction"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="AdditionalFunction"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Skill"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="Branch">
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="ModifyAmount"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Partition"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Assign"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Unify"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Merge"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Divide"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Divide a material flow into subflows.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:ID="Thermal-Separate">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Mill"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Cut"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Thrust"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Lathe"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Cut a contour with the help of a laser, a plasma cutter or a cutting torch.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Lap"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Broach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Hone"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Rub"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="File"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Grind"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Saw"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxLiftWeight">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in kg</rdfs:comment>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWay"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SizeOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="TactileSensor">
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Sensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="EncoderSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="InductiveSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="OpticSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="UltrasonicSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MagneticSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CapacitveSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="TorqueForceSensor"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="LoadParameterSet">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SaveParameterSet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Calibrate"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SetParameterValue"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Reset"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#AdditionalFunction"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Communication">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrangement"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Geometry"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#DeviceProperty"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Identifier"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Timing"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cost"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#SizeOfGripper">
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWay"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InsideOrOutsidePicking"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="Bend">
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Form"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Stretch-Form"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Roll"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Deep-Draw"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Forge"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Extrude"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Bead"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="True"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Fold"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Flang"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Put a bending moment to the material which causes a malleable, i.e. permanent deformation.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Crush"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticSensor">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EncoderSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#UltrasonicSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TorqueForceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MagneticSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InductiveSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CapacitveSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TactileSensor"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Sensor"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureAngle">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureSpeed"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureVolume"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Measure"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureMotionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureArea"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="WheelEncoder">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="LinearEncoder"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="WireDrawEncoder"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#EncoderSensor"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#ModifyAmount">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Secure"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Move"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Store"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="ManipulationAndHandlingFunction"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Payload">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxCurrentConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in kg</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Width"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Diameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Length"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-  </owl:Class>
-  <owl:Class rdf:ID="NumberOfJoints">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="TypeOfActuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Reachability"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="StoreUnOrdered">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="StorePartlyOrdered"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="StoreInOrder"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Store"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Save workpieces which are geometrically defined in an undefined position and orientation.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Measure">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-Gather a value as a multiple of a reference value.</rdfs:comment>
-    <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>
-    <owl:disjointWith rdf:resource="#Read"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Check"/>
-    </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="OpticContrastScanner">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticLuminescenceScanner"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="OpticDistanceSensor"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#OpticSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="OpticColorSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SmartCamera"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="LightGrid"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="OpticSwitch"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="LaserScanner2D"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="VisionSensor"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 3</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#DetectColor">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#OpticColorSensor"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Detect"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 4</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DetectCollision"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DetectLuminescence"/>
-    <owl:disjointWith rdf:resource="#DetectObject"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DetectContrast"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#PhysicalProperties">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Identifier"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Communication"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cost"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrangement"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Geometry"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#DeviceProperty"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Timing"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="SwitchingFrequency">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Timing"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CycleTime"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ResponseTime"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in Kilohertz</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:ID="WorkCoordinates">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MountedDeviceOrientation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CoordinateReferenceSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MountedDevicePosition"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Arrangement"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="isEditable">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This attribute indicates whether the property is supposed to be provided each time a skill is invoked or just once.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SkillProperty"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DeviceProperty"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Property"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#WireDrawEncoder">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#EncoderSensor"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >distanceMeasurements.pdf
-SICK
-pag 4</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LinearEncoder"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#WheelEncoder"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Reachability">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfActuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfJoints"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Bolt">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Solder"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Assemble"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Join"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Fill"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Glue"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weld"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Rivet"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Bolts are removable elements to create a connection between two or more workpieces.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Clinch"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Lap">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Saw"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Rub"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cut"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Grind"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lathe"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Flatten surfaces while keeping very low tolerances. Moveable, rolling grains are used between the lapping plate and the workpiece.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Mill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#File"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#DeviceProperty">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Property"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#isEditable"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SkillProperty"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Fold">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Buckle, squeeze or crop thin, malleable and/or flexible materials like sheet metals and plates.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Roll"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Forge"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#True"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Form"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Deep-Draw"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Crush"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Stretch-Form"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Extrude"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#InsideOrOutsidePicking">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWay"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-  </owl:Class>
-  <owl:Class rdf:ID="ElasticFingerGripper">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="JointFingerGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="FingerGripper"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="ManipulationAndHandling">
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Device"/>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#ManipulationAndHandlingFunction"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Manufacturing"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Sensor"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="AdjustCurrentToGrip">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CloseClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="AdjustVacuumToGrip"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CloseFingers"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:ID="MagnetGripper"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Grasp"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticLuminescenceScanner">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 5</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticColorSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightGrid"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserScanner2D"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticSwitch"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#VisionSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SmartCamera"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticDistanceSensor"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#OpticSensor"/>
-  </owl:Class>
-  <owl:Class rdf:ID="Workpiece">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Device"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasProperty"/>
-        </owl:onProperty>
-        <owl:allValuesFrom>
-          <owl:Class rdf:about="#Property"/>
-        </owl:allValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="#Object"/>
-  </owl:Class>
-  <owl:Class rdf:ID="LightType">
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="FieldOfView"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MinMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaxScanAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="LightSpotSize"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaxMeasurementRange"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Merge">
-    <rdfs:subClassOf rdf:resource="#ModifyAmount"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Combine subflows of material to a superflow.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Divide"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Assign"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Partition"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Branch"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Unify"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Manufacturing">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Sensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ManipulationAndHandling"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Device"/>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:ID="ManufacturingFunction"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Saw">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lathe"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >A steel plate with teeth attached to it removes thin chippings by moving into the material. This is widely used for wood, stone, metal, plastics and other solid materials.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Grind"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cut"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#File"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Rub"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Mill"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Feed">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Turn"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part from one to another position along a given trajectory. The part's orientation is given at each point of the trajectory.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrange"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Pass"/>
-    <owl:disjointWith rdf:resource="#Orient"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Displace"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Convey"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Position"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pan"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="Temper">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Anneal"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Age"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="ModifyWorkpieceProperties"/>
-    </rdfs:subClassOf>
-    <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:Class>
-  <owl:Class rdf:about="#Calibrate">
-    <owl:disjointWith rdf:resource="#LoadParameterSet"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reset"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SaveParameterSet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SetParameterValue"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#AdditionalFunction"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#AdditionalFunction">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiagnosticFunction"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MainFunction"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CompoundSkills"/>
-    <rdfs: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>
-      <owl:Class rdf:about="#Skill"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="CompressImageData">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="BlobAnalysis"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="DecompressImageData"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="FilterImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="TransformImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ExtractEdges"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SegmentImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CalibrateImage"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ImageAnalysis"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#MaximumVacuum">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWay"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Mill">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lathe"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Rub"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#File"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cut"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >The tool moves over the workpiece to remove chipping. The tool is fed in a linear motion over the workpiece while the tool is rotating.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Grind"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="CompoundManipulationAndHandlingFunction">
-    <rdfs:subClassOf rdf:resource="#CompoundSkills"/>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CompoundManufacturingFunction"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CompountSensorFunction"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="MechanicalConnector">
-    <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:disjointWith>
-      <owl:Class rdf:ID="ElectricalConnector"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="PerformSelfTest">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#DiagnosticFunction"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CollectStatisticalData"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#DetectContrast">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#OpticContrastScanner"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Detect"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#DetectColor"/>
-    <owl:disjointWith rdf:resource="#DetectLuminescence"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DetectCollision"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DetectObject"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:11
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 3</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:ID="OpenFingers">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="AdjustCurrentToRelease"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="OpenClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="AdjustVacuumToRelease"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#FingerGripper"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Release"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#AdjustVacuumToGrip">
-    <owl:disjointWith rdf:resource="#AdjustCurrentToGrip"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CloseClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CloseFingers"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:ID="VacuumGripper"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Grasp"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="Circular">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Karthesian"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="AsFastAsPossible"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Feed"/>
-  </owl:Class>
-  <owl:Class rdf:ID="Mold">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ManufacturingFunction"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Join"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Form"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Coat"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ModifyWorkpieceProperties"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >From a formless material a workpiece is created. The original material can be in either form like gaseous, vaporous, fluid, solid (powderous, grainy), papescent, paste-like, ...</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureMotionOfObject">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureTemperature"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureSpeed"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureVolume"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureArea"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureAngle"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Unify">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Partition"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Assign"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Branch"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Divide"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Merge"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Create a superset from subsets.
-The size of source and target sets does not necessarily have to be defined.</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="#ModifyAmount"/>
-  </owl:Class>
-  <owl:Class rdf:ID="OpticThroughBeamSwitch">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#OpticSwitch"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 2</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="OpticProximitySwitch"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="OpticReflexSwitch"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxMeasurementRange">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >In mm.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxScanAngle"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FieldOfView"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightSpotSize"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="Accuracy">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Resolution"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Repeatability"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Precision"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureArea">
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureVolume"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureSpeed"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureAngle"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureTemperature"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MagneticSensor">
-    <owl:disjointWith rdf:resource="#OpticSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TorqueForceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EncoderSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TactileSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#UltrasonicSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InductiveSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CapacitveSensor"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Sensor"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="Gripper">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#Arrangement"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#Grasp"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#ControlSystem"/>
-        </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="#Cost"/>
-        </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="#PhysicalPropertiesGripper"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Robot"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#ManipulationAndHandling"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#Release"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#Communication"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Count">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CheckPresence"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CheckPosition"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CheckSurfaceForIrregularities"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Check"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Clinch">
-    <owl:disjointWith rdf:resource="#Rivet"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Solder"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Glue"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weld"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Fill"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is a connection of metal sheets without any additional material. The workpieces are deformed between a stamp and a template to generate a pushbutton-like shape.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Assemble"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Bolt"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Join"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Fill">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Solder"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Rivet"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weld"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Bolt"/>
-    <owl:disjointWith rdf:resource="#Clinch"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Join"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Fill a workpiece with a cubic capacity.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Glue"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Assemble"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="Parallel">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Sequence"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Atomic"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >2</owl:cardinality>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasOperation"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Operation"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#NumberOfMovableClaws">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWay"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#OpenClaws">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#AdjustVacuumToRelease"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpenFingers"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#AdjustCurrentToRelease"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Release"/>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#PincerGripper"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="GeneralParallelGripper">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ParallelGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CircularParallelGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="LineParallelGripper"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Check">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-Check if a part fulfils given conditions.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Measure"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Detect"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Classify"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ImageAnalysis"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Read"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Scan"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#SensorFunction"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxForce">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Length"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Diameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in Newton</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxCurrentConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Width"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="Electroplate">
-    <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>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Coat"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Varnish"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Hot-galvanise"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Powder-coat"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="HexapodRobot">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Robot"/>
-    </rdfs:subClassOf>
-    <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:disjointWith>
-      <owl:Class rdf:ID="ScaraRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CartesianRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ParallelKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SimpleKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SpecialKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ArticulatedRobot"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#ControlSystem">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrangement"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#DeviceProperty"/>
-    <owl:disjointWith rdf:resource="#Communication"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Timing"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#Geometry"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Identifier"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cost"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#True">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Crush"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Roll"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Extrude"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Form"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Machine finishing after e.g. folding</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Stretch-Form"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Deep-Draw"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Forge"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#SetParameterValue">
-    <rdfs:subClassOf rdf:resource="#AdditionalFunction"/>
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-    <owl:disjointWith>
-      <owl:Class rdf:about="#SaveParameterSet"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LoadParameterSet"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reset"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MaterialOfGripper">
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWay"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Lathe">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#File"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Grind"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >The workpiece turns on a lathe. The cutting movement is performed by its turning movement. The tool is fixed and removes chips from the workpiece. Usually only rotation-symmetric workpieces are handled here.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cut"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Rub"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="UltrasonicDistanceSensor">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#UltrasonicSensor"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >distanceMeasurements.pdf
-SICK
-pag 4</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Width">
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Length"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Diameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxCurrentConsumption"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureVolume">
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureSpeed"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureAngle"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureSpeed">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureAngle"/>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#PathVelocityFluctuation">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Resolution"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Repeatability"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#ExtractEdges">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ImageAnalysis"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#BlobAnalysis"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DecompressImageData"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CompressImageData"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FilterImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TransformImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SegmentImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CalibrateImage"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticProximitySwitch">
-    <owl:disjointWith rdf:resource="#OpticThroughBeamSwitch"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticReflexSwitch"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#OpticSwitch"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Drill">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lathe"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Grind"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cut"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Create a circular whole in the workpiece.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#File"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Rub"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#ModifyWorkpieceProperties">
-    <owl:disjointWith rdf:resource="#Mold"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Join"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Form"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Coat"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ManufacturingFunction"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Modify some physical properties of the workpiece.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Reach">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWay"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Device">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:8</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Workpiece"/>
-    <rdfs:subClassOf rdf:resource="#Object"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#MainFunction"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#PhysicalProperties"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:allValuesFrom>
-          <owl:Class rdf:about="#Property"/>
-        </owl:allValuesFrom>
-        <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:allValuesFrom>
-          <owl:Class rdf:about="#Skill"/>
-        </owl:allValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Partition">
-    <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 rdf:resource="#Merge"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Assign"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Unify"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Divide"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Branch"/>
-    <rdfs:subClassOf rdf:resource="#ModifyAmount"/>
-  </owl:Class>
-  <owl:Class rdf:about="#StorePartlyOrdered">
-    <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:disjointWith>
-      <owl:Class rdf:about="#StoreInOrder"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#StoreUnOrdered"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Store"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#ManipulationAndHandlingFunction">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#MainFunction"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SensorFunction"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ManufacturingFunction"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxVoltageSupply">
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Length"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in volts</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Diameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxCurrentConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Solder">
-    <owl:disjointWith rdf:resource="#Clinch"/>
-    <owl:disjointWith rdf:resource="#Glue"/>
-    <owl:disjointWith rdf:resource="#Rivet"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weld"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Fill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Assemble"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Join"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Bolt"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is a thermic procedure to connect workpieces. Then, a fluid phase is created by melting solder (additional material).</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Precision">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Repeatability"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Resolution"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Repeatability">
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Resolution"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
-    <owl:disjointWith rdf:resource="#Precision"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#MinMeasurementRange">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FieldOfView"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxScanAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightSpotSize"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >In mm.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-  </owl:Class>
-  <owl:Class rdf:ID="Sinter">
-    <rdfs:subClassOf rdf:resource="#Mold"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >By using powder material, a workpiece is formed. By heating the workpiece is hardened by avoiding a fluid phase.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ElectrolyticSegregate"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Cast"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Reset">
-    <rdfs:subClassOf rdf:resource="#AdditionalFunction"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SaveParameterSet"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Calibrate"/>
-    <owl:disjointWith rdf:resource="#SetParameterValue"/>
-    <owl:disjointWith rdf:resource="#LoadParameterSet"/>
-  </owl:Class>
-  <owl:Class rdf:about="#AsFastAsPossible">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Karthesian"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Circular"/>
-    <rdfs:subClassOf rdf:resource="#Feed"/>
-  </owl:Class>
-  <owl:Class rdf:about="#SkillProperty">
-    <owl:disjointWith rdf:resource="#isEditable"/>
-    <owl:disjointWith rdf:resource="#DeviceProperty"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Identifier"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Property"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticColorSensor">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserScanner2D"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#OpticSensor"/>
-    <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 4</rdfs:comment>
-    <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SmartCamera"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#VisionSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightGrid"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticDistanceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticSwitch"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureDiameter">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureSpeed"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-    <owl:disjointWith rdf:resource="#MeasureAngle"/>
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-  </owl:Class>
-  <owl:Class rdf:ID="SimpleControl">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="PlaybackCtrl"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="IntelligentCtrl"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="NumericalCtrl"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#ControlSystem"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ToolInterface">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >How to connect a tool to a robot.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Timing"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cost"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Communication"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Identifier"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Geometry"/>
-    <rdfs:subClassOf rdf:resource="#DeviceProperty"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrangement"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#FilterImage">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ImageAnalysis"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CalibrateImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TransformImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DecompressImageData"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ExtractEdges"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#BlobAnalysis"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CompressImageData"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SegmentImage"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Cut">
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Divide a workpiece into two parts.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Grind"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Rub"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lathe"/>
-    <owl:disjointWith rdf:resource="#Drill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#File"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#CompountSensorFunction">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CompoundManufacturingFunction"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CompoundManipulationAndHandlingFunction"/>
-    <rdfs:subClassOf rdf:resource="#CompoundSkills"/>
-  </owl:Class>
-  <owl:Class rdf:about="#BlobAnalysis">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ImageAnalysis"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#FilterImage"/>
-    <owl:disjointWith rdf:resource="#CompressImageData"/>
-    <owl:disjointWith rdf:resource="#ExtractEdges"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CalibrateImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DecompressImageData"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TransformImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SegmentImage"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Turn">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Displace"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Pass"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Position"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Orient"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pan"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrange"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part from one to another orientation by turning it around an axis which intersects with the part.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Feed"/>
-    <owl:disjointWith rdf:resource="#Convey"/>
-  </owl:Class>
-  <owl:Class rdf:about="#LinearEncoder">
-    <owl:disjointWith rdf:resource="#WheelEncoder"/>
-    <owl:disjointWith rdf:resource="#WireDrawEncoder"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#EncoderSensor"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >distanceMeasurements.pdf
-SICK
-pag 4</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Position">
-    <owl:disjointWith rdf:resource="#Feed"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pan"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part from an undefined to a well-defined position. The part's orientation is not important here.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Convey"/>
-    <owl:disjointWith rdf:resource="#Orient"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Turn"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Displace"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Pass"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrange"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Arrange">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pan"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Displace"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Pass"/>
-    <owl:disjointWith rdf:resource="#Feed"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part from an undefined to a well-defined orientation and position.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Position"/>
-    <owl:disjointWith rdf:resource="#Convey"/>
-    <owl:disjointWith rdf:resource="#Orient"/>
-    <owl:disjointWith rdf:resource="#Turn"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#DetectCollision">
-    <owl:disjointWith rdf:resource="#DetectContrast"/>
-    <owl:disjointWith rdf:resource="#DetectObject"/>
-    <owl:disjointWith rdf:resource="#DetectLuminescence"/>
-    <owl:disjointWith rdf:resource="#DetectColor"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Detect"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#DiameterOfGripper">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWay"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Skill">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Property"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Task"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Object"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-(Breakdown of Skills)</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="http://www.w3.org/2002/07/owl#Thing"/>
-    <owl:disjointWith rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#List"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Operation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ObjectBase"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:allValuesFrom rdf:resource="#Device"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="WormDiameter">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="#MechanicalConnector"/>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Worm"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxCurrentConsumption">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Diameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in amperes</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Length"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MagnetGripper">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PincerGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#VacuumGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FingerGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Gripper"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#AdjustCurrentToRelease"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#AdjustCurrentToGrip"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#DecompressImageData">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ImageAnalysis"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#CompressImageData"/>
-    <owl:disjointWith rdf:resource="#ExtractEdges"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TransformImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SegmentImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CalibrateImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#FilterImage"/>
-    <owl:disjointWith rdf:resource="#BlobAnalysis"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MinVoltageSupply">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in volts</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Length"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Diameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#CompoundManufacturingFunction">
-    <rdfs:subClassOf rdf:resource="#CompoundSkills"/>
-    <owl:disjointWith rdf:resource="#CompoundManipulationAndHandlingFunction"/>
-    <owl:disjointWith rdf:resource="#CompountSensorFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Broach">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >The workpiece is given the tool's contour. This is used where contours are necessary which cannot be created by milling or lathing.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Cut"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#File"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Rub"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Grind"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Drill"/>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lathe"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Assemble">
-    <owl:disjointWith rdf:resource="#Solder"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weld"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Join"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Putting together two workpieces.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Fill"/>
-    <owl:disjointWith rdf:resource="#Clinch"/>
-    <owl:disjointWith rdf:resource="#Bolt"/>
-    <owl:disjointWith rdf:resource="#Rivet"/>
-    <owl:disjointWith rdf:resource="#Glue"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Worm">
-    <rdfs:subClassOf rdf:resource="#MechanicalConnector"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Can be inside or outside.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#WormDiameter"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Rub">
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith rdf:resource="#Broach"/>
-    <owl:disjointWith rdf:resource="#Lathe"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Drill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </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="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#File"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Grind"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Cut"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MechanicalResistance">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Length"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Diameter"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Hot-galvanise">
-    <rdfs: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>
-      <owl:Class rdf:about="#Varnish"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Electroplate"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Powder-coat"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Coat"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticReflexSwitch">
-    <owl:disjointWith rdf:resource="#OpticProximitySwitch"/>
-    <owl:disjointWith rdf:resource="#OpticThroughBeamSwitch"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#OpticSwitch"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 2</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Pan">
-    <owl:disjointWith rdf:resource="#Turn"/>
-    <owl:disjointWith rdf:resource="#Orient"/>
-    <owl:disjointWith rdf:resource="#Convey"/>
-    <owl:disjointWith rdf:resource="#Arrange"/>
-    <owl:disjointWith rdf:resource="#Feed"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part from one to another orientation and position by rotation around an axis which does not intersect with the part.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Position"/>
-    <owl:disjointWith rdf:resource="#Pass"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Displace"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#NumberOfFingers">
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWay"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Cost">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Identifier"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrangement"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Geometry"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Timing"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith rdf:resource="#Communication"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in euros</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#DeviceProperty"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-  </owl:Class>
-  <owl:Class rdf:about="#PlaybackCtrl">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Capability of replaying preteached sequences and commands.
-This includes as well very simple controllers like Pick-and-Placers. They are capable of replaying a pick sequence.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#SimpleControl"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#IntelligentCtrl"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumericalCtrl"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#ControlSystem"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Release">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Secure"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-Invert the grasping.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Grasp"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#ScanningDistance">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxScanAngle"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FieldOfView"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightSpotSize"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#QualityCriteria">
-    <owl:disjointWith rdf:resource="#Communication"/>
-    <owl:disjointWith rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith rdf:resource="#Cost"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrangement"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <rdfs:subClassOf rdf:resource="#SkillProperty"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Identifier"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Timing"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Geometry"/>
-  </owl:Class>
-  <owl:Class rdf:about="#SensorFunction">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:6-7
-(breakdown of properties)</rdfs:comment>
-    <owl:disjointWith rdf:resource="#ManipulationAndHandlingFunction"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ManufacturingFunction"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#MainFunction"/>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:allValuesFrom>
-          <owl:Class rdf:about="#Sensor"/>
-        </owl:allValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#MountedDeviceOrientation">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Arrangement"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MountedDevicePosition"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CoordinateReferenceSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#WorkCoordinates"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Roll">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Stretch-Form"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Extrude"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is a malleable procedure. The material is feed between at least two rotating rolls. There are various types of rollling.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#True"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Form"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Crush"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Forge"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Deep-Draw"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Stretch-Form">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <owl:disjointWith rdf:resource="#True"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Form"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Forge"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Deep-Draw"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Extrude"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Crush"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#ManufacturingFunction">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#MainFunction"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#ManipulationAndHandlingFunction"/>
-    <owl:disjointWith rdf:resource="#SensorFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CheckPresence">
-    <rdfs:subClassOf rdf:resource="#Check"/>
-    <owl:disjointWith rdf:resource="#CheckSurfaceForIrregularities"/>
-    <owl:disjointWith rdf:resource="#Count"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CheckPosition"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="BusInterface">
-    <rdfs:subClassOf rdf:resource="#Communication"/>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ElectricalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CommunicationProtocol"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#LightSpotSize">
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Diameter in mm.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxScanAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FieldOfView"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ScanningDistance"/>
-  </owl:Class>
-  <owl:Class rdf:ID="Part">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Assembly"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ObjectBase"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Diameter">
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Length"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Grasp">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Secure"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-Keep a workpiece temporarily in a given position and orientation.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Release"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureTemperature">
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith rdf:resource="#MeasureSpeed"/>
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith rdf:resource="#MeasureAngle"/>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureDiameter"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Height">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Length"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MinAmbientTemperature">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in degrees celsius</rdfs:comment>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Length"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Displace">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Orient"/>
-    <owl:disjointWith rdf:resource="#Turn"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move translationally a part along a straight line. The part's orientiation remains unchanged.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Position"/>
-    <owl:disjointWith rdf:resource="#Arrange"/>
-    <owl:disjointWith rdf:resource="#Convey"/>
-    <owl:disjointWith rdf:resource="#Feed"/>
-    <owl:disjointWith rdf:resource="#Pan"/>
-    <owl:disjointWith rdf:resource="#Pass"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CloseFingers">
-    <owl:disjointWith rdf:resource="#AdjustCurrentToGrip"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CloseClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#AdjustVacuumToGrip"/>
-    <rdfs:subClassOf rdf:resource="#Grasp"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#FingerGripper"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#AdjustVacuumToRelease">
-    <owl:disjointWith rdf:resource="#OpenFingers"/>
-    <owl:disjointWith rdf:resource="#OpenClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#AdjustCurrentToRelease"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#VacuumGripper"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="#Release"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Deep-Draw">
-    <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>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Forge"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Crush"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Form"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#True"/>
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Extrude"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#TypeOfMagnet">
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWay"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Length">
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Grind">
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Increase the surface performance, flatten the surface.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Broach"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lathe"/>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith rdf:resource="#Drill"/>
-    <owl:disjointWith rdf:resource="#Cut"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#File"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Rub"/>
-  </owl:Class>
-  <owl:Class rdf:about="#TypeOfActuation">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#NumberOfJoints"/>
-    <owl:disjointWith rdf:resource="#Reachability"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Hone">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Smooth finishing of metallic surfaces, mostly wholes to increase size, shape or surface performance.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Broach"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith rdf:resource="#Lathe"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Drill"/>
-    <owl:disjointWith rdf:resource="#Cut"/>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#File"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Secure">
-    <rdfs:subClassOf rdf:resource="#ManipulationAndHandlingFunction"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Store"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Move"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ModifyAmount"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CheckPosition">
-    <rdfs:subClassOf rdf:resource="#Check"/>
-    <owl:disjointWith rdf:resource="#CheckSurfaceForIrregularities"/>
-    <owl:disjointWith rdf:resource="#Count"/>
-    <owl:disjointWith rdf:resource="#CheckPresence"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureForce">
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith rdf:resource="#MeasureTemperature"/>
-    <owl:disjointWith rdf:resource="#MeasureDiameter"/>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-    <owl:disjointWith rdf:resource="#MeasureAngle"/>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureSpeed"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ParallelKinematicRobot">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Robot"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Special kinematic arrangement like the one built in SMErobot.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SimpleKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CartesianRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#HexapodRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ArticulatedRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScaraRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SpecialKinematicRobot"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Form">
-    <rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Create workpieces from solid raw pieces. The shape is permanently modified. The volumina remains the same.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Coat"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Mold"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Join"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ModifyWorkpieceProperties"/>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticDistanceSensor">
-    <owl:disjointWith rdf:resource="#OpticColorSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticSwitch"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SmartCamera"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightGrid"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#OpticSensor"/>
-    <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserScanner2D"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#VisionSensor"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Forge">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Extrude"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#True"/>
-    <owl:disjointWith rdf:resource="#Deep-Draw"/>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <rdfs:subClassOf rdf:resource="#Form"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Crush"/>
-    </owl:disjointWith>
-    <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="#Roll"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#ReadBarCode">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Task and Skills of Optical Sensors v1.1
-part:7</rdfs:comment>
-    <owl:disjointWith rdf:resource="#ReadOpticalCharacters"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Read2DMatrixCode"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Read"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Weight">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in kg</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#JointFingerGripper">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#FingerGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#ElasticFingerGripper"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ElectricalConnector">
-    <rdfs:subClassOf rdf:resource="#ToolInterface"/>
-    <owl:disjointWith rdf:resource="#MechanicalConnector"/>
-    <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="#EncoderSensor">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Sensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#UltrasonicSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InductiveSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MagneticSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TorqueForceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TactileSensor"/>
-    <owl:disjointWith rdf:resource="#OpticSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CapacitveSensor"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#ImageAnalysis">
-    <owl:disjointWith rdf:resource="#Read"/>
-    <owl:disjointWith rdf:resource="#Check"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Scan"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Classify"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Measure"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Detect"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#SensorFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ScaraRobot">
-    <owl:disjointWith rdf:resource="#ParallelKinematicRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SimpleKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#HexapodRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CartesianRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SpecialKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ArticulatedRobot"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Industrial type, but special kinematic arrangement. Well-known manufacturer: Bosch-Rexrodt.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Robot"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasurePositionOfObject">
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith rdf:resource="#MeasureForce"/>
-    <owl:disjointWith rdf:resource="#MeasureTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureDiameter"/>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith rdf:resource="#MeasureAngle"/>
-    <owl:disjointWith rdf:resource="#MeasureSpeed"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-  </owl:Class>
-  <owl:Class rdf:about="#DegreesOfFreedom">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith rdf:resource="#Weight"/>
-  </owl:Class>
-  <owl:Class rdf:about="#PowerConsumption">
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in kVA</rdfs:comment>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Identifier">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrangement"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >For the identifier there are two applications in the later implementation:
-1. Identifier of either a device or a workpiece.
-2. Reference to device identifier or a workpiece identifier as a link, e.g. a URI.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#SkillProperty"/>
-    <owl:disjointWith rdf:resource="#Geometry"/>
-    <owl:disjointWith rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Timing"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Cost"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith rdf:resource="#QualityCriteria"/>
-    <owl:disjointWith rdf:resource="#Communication"/>
-    <rdfs:subClassOf rdf:resource="#DeviceProperty"/>
-  </owl:Class>
-  <owl:Class rdf:about="#DiagnosticFunction">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-(Breakdown of Skills)</rdfs:comment>
-    <owl:disjointWith rdf:resource="#CompoundSkills"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MainFunction"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#AdditionalFunction"/>
-    <rdfs:subClassOf rdf:resource="#Skill"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Varnish">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Put colour or any other material onto the surface, either by spraying or painting.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Coat"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Hot-galvanise"/>
-    <owl:disjointWith rdf:resource="#Electroplate"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Powder-coat"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#ObjectBase">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Task"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Skill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Operation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Property"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#List"/>
-    <owl:disjointWith rdf:resource="#Object"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CapacitveSensor">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Sensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InductiveSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpticSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#UltrasonicSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#EncoderSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TorqueForceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TactileSensor"/>
-    <owl:disjointWith rdf:resource="#MagneticSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ArticulatedRobot">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is the standard industrial robot-type with usually 5 to 7 joints.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Robot"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#HexapodRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SpecialKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ParallelKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#ScaraRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CartesianRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SimpleKinematicRobot"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#VisionSensor">
-    <rdfs:subClassOf rdf:resource="#OpticSensor"/>
-    <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticSwitch"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightGrid"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpticColorSensor"/>
-    <owl:disjointWith rdf:resource="#OpticDistanceSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SmartCamera"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserScanner2D"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MainFunction">
-    <owl:disjointWith rdf:resource="#DiagnosticFunction"/>
-    <owl:disjointWith rdf:resource="#CompoundSkills"/>
-    <owl:disjointWith rdf:resource="#AdditionalFunction"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-(Breakdown of Skills)</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="#Skill"/>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticSwitch">
-    <owl:disjointWith rdf:resource="#OpticDistanceSensor"/>
-    <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
-    <owl:disjointWith rdf:resource="#VisionSensor"/>
-    <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightGrid"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SmartCamera"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserScanner2D"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpticColorSensor"/>
-    <rdfs:subClassOf rdf:resource="#OpticSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Arrangement">
-    <owl:disjointWith rdf:resource="#Communication"/>
-    <owl:disjointWith rdf:resource="#Identifier"/>
-    <owl:disjointWith rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#Cost"/>
-    <owl:disjointWith rdf:resource="#Geometry"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Timing"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#QualityCriteria"/>
-    <rdfs:subClassOf rdf:resource="#DeviceProperty"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxLiftWay">
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Plane">
-    <owl:disjointWith rdf:resource="#Cut"/>
-    <owl:disjointWith rdf:resource="#Drill"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Hone"/>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith rdf:resource="#Broach"/>
-    <owl:disjointWith rdf:resource="#Lathe"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is mainly used for wooden workpieces to remove chipping from the workpiece.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#File"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#SegmentImage">
-    <owl:disjointWith rdf:resource="#DecompressImageData"/>
-    <owl:disjointWith rdf:resource="#BlobAnalysis"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CalibrateImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ExtractEdges"/>
-    <owl:disjointWith rdf:resource="#FilterImage"/>
-    <owl:disjointWith rdf:resource="#CompressImageData"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TransformImage"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Weld">
-    <owl:disjointWith rdf:resource="#Clinch"/>
-    <owl:disjointWith rdf:resource="#Glue"/>
-    <owl:disjointWith rdf:resource="#Bolt"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Join"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is a permanent connection of workpieces by using heat and/or pressure. The material keeps its properties when welded.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Rivet"/>
-    <owl:disjointWith rdf:resource="#Fill"/>
-    <owl:disjointWith rdf:resource="#Assemble"/>
-    <owl:disjointWith rdf:resource="#Solder"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Anneal">
-    <owl:disjointWith rdf:resource="#Temper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Age"/>
-    </owl:disjointWith>
-    <rdfs: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>
-    <rdfs:subClassOf rdf:resource="#ModifyWorkpieceProperties"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CartesianRobot">
-    <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 rdf:resource="#ScaraRobot"/>
-    <owl:disjointWith rdf:resource="#HexapodRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SimpleKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SpecialKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ParallelKinematicRobot"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Robot"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Atomic">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Operation"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Parallel"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Sequence"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#NumberOfClaws">
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWay"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Operation">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Task"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ObjectBase"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Property"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Object"/>
-    <owl:disjointWith rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#List"/>
-    <owl:disjointWith rdf:resource="#Skill"/>
-  </owl:Class>
-  <owl:Class rdf:about="#UltrasonicSensor">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Sensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TorqueForceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpticSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InductiveSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TactileSensor"/>
-    <owl:disjointWith rdf:resource="#CapacitveSensor"/>
-    <owl:disjointWith rdf:resource="#MagneticSensor"/>
-    <owl:disjointWith rdf:resource="#EncoderSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ParallelGripper">
-    <owl:disjointWith rdf:resource="#AngleGripper"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PincerGripper"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Cast">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >From fluid metallic material a solid workpiece is created.</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="#Mold"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ElectrolyticSegregate"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Sinter"/>
-  </owl:Class>
-  <owl:Class rdf:about="#StiffnessOfGripper">
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWay"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureAcceleration">
-    <owl:disjointWith rdf:resource="#MeasurePositionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureTemperature"/>
-    <owl:disjointWith rdf:resource="#MeasureAngle"/>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith rdf:resource="#MeasureSpeed"/>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-    <owl:disjointWith rdf:resource="#MeasureForce"/>
-    <owl:disjointWith rdf:resource="#MeasureDiameter"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Assign">
-    <rdfs:subClassOf rdf:resource="#ModifyAmount"/>
-    <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>
-      <owl:Class rdf:about="#Divide"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Branch"/>
-    <owl:disjointWith rdf:resource="#Unify"/>
-    <owl:disjointWith rdf:resource="#Partition"/>
-    <owl:disjointWith rdf:resource="#Merge"/>
-  </owl:Class>
-  <owl:Class rdf:about="#TypeOfFingers">
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#NumberOfFingers"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWay"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-  </owl:Class>
-  <owl:Class rdf:about="#SimpleKinematicRobot">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Robot"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
-    <owl:disjointWith rdf:resource="#ParallelKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#CartesianRobot"/>
-    <owl:disjointWith rdf:resource="#HexapodRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SpecialKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ScaraRobot"/>
-    <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:Class>
-  <owl:Class rdf:about="#CollectStatisticalData">
-    <rdfs:subClassOf rdf:resource="#DiagnosticFunction"/>
-    <owl:disjointWith rdf:resource="#PerformSelfTest"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Material">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#PowerConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ElectricalInterface">
-    <rdfs:subClassOf rdf:resource="#Communication"/>
-    <owl:disjointWith rdf:resource="#BusInterface"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CommunicationProtocol"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#ElectrolyticSegregate">
-    <owl:disjointWith rdf:resource="#Sinter"/>
-    <owl:disjointWith rdf:resource="#Cast"/>
-    <rdfs:subClassOf rdf:resource="#Mold"/>
-  </owl:Class>
-  <owl:Class rdf:ID="TactileProximitySwitch">
-    <rdfs:subClassOf rdf:resource="#TactileSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Flang">
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Extrude"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#True"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Crush"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Forge"/>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Orthogonal bending up of the border of metal sheets. This is used for creating pipe connections and is widely used in the manufacturing of air channels.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <owl:disjointWith rdf:resource="#Deep-Draw"/>
-    <rdfs:subClassOf rdf:resource="#Form"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CoordinateReferenceSystem">
-    <rdfs:subClassOf rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MountedDevicePosition"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#WorkCoordinates"/>
-    <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CycleTime">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Timing"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ResponseTime"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in seconds</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#FieldOfView">
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxScanAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#ScanningDistance"/>
-  </owl:Class>
-  <owl:Class rdf:about="#LaserScanner2D">
-    <owl:disjointWith rdf:resource="#OpticDistanceSensor"/>
-    <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
-    <owl:disjointWith rdf:resource="#OpticColorSensor"/>
-    <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
-    <owl:disjointWith rdf:resource="#OpticSwitch"/>
-    <owl:disjointWith rdf:resource="#VisionSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SmartCamera"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightGrid"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#OpticSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Move">
-    <rdfs:subClassOf rdf:resource="#ManipulationAndHandlingFunction"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Store"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ModifyAmount"/>
-    <owl:disjointWith rdf:resource="#Secure"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Divide">
-    <owl:disjointWith rdf:resource="#Branch"/>
-    <owl:disjointWith rdf:resource="#Unify"/>
-    <owl:disjointWith rdf:resource="#Partition"/>
-    <owl:disjointWith rdf:resource="#Assign"/>
-    <owl:disjointWith rdf:resource="#Merge"/>
-    <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>
-    <rdfs:subClassOf rdf:resource="#ModifyAmount"/>
-  </owl:Class>
-  <owl:Class rdf:about="#File">
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith rdf:resource="#Hone"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >The workpiece is fixed while a metal plate performs a cutting movement and a feed motion. This is done manually very often.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Plane"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Drill"/>
-    <owl:disjointWith rdf:resource="#Cut"/>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thrust"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith rdf:resource="#Lathe"/>
-    <owl:disjointWith rdf:resource="#Broach"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Thrust">
-    <owl:disjointWith rdf:resource="#Hone"/>
-    <owl:disjointWith rdf:resource="#Lathe"/>
-    <owl:disjointWith rdf:resource="#Drill"/>
-    <owl:disjointWith rdf:resource="#Cut"/>
-    <owl:disjointWith rdf:resource="#File"/>
-    <owl:disjointWith rdf:resource="#Plane"/>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >The tool performs a cutting movement and a reverse movement.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Broach"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Electro-discharge-machine">
-    <owl:disjointWith rdf:resource="#Drill"/>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Thrust"/>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith rdf:resource="#Cut"/>
-    <owl:disjointWith rdf:resource="#Plane"/>
-    <owl:disjointWith rdf:resource="#Hone"/>
-    <owl:disjointWith rdf:resource="#Lathe"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >A spark removes material from the workpiece.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith rdf:resource="#Broach"/>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith rdf:resource="#File"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CircularParallelGripper">
-    <rdfs:subClassOf rdf:resource="#ParallelGripper"/>
-    <owl:disjointWith rdf:resource="#GeneralParallelGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LineParallelGripper"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#SmartCamera">
-    <owl:disjointWith rdf:resource="#OpticSwitch"/>
-    <owl:disjointWith rdf:resource="#VisionSensor"/>
-    <owl:disjointWith rdf:resource="#LaserScanner2D"/>
-    <owl:disjointWith rdf:resource="#OpticColorSensor"/>
-    <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 7</rdfs:comment>
-    <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
-    <owl:disjointWith rdf:resource="#OpticDistanceSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightGrid"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#OpticSensor"/>
-  </owl:Class>
-  <owl:Class rdf:ID="BarcodeReader">
-    <rdfs:subClassOf rdf:resource="#VisionSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CloseClaws">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#PincerGripper"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="#Grasp"/>
-    <owl:disjointWith rdf:resource="#CloseFingers"/>
-    <owl:disjointWith rdf:resource="#AdjustCurrentToGrip"/>
-    <owl:disjointWith rdf:resource="#AdjustVacuumToGrip"/>
-  </owl:Class>
-  <owl:Class rdf:about="#InductiveSensor">
-    <owl:disjointWith rdf:resource="#CapacitveSensor"/>
-    <owl:disjointWith rdf:resource="#MagneticSensor"/>
-    <owl:disjointWith rdf:resource="#TactileSensor"/>
-    <owl:disjointWith rdf:resource="#UltrasonicSensor"/>
-    <owl:disjointWith rdf:resource="#EncoderSensor"/>
-    <owl:disjointWith rdf:resource="#OpticSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TorqueForceSensor"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Sensor"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Sensor">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#Arrangement"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#Timing"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Manufacturing"/>
-    <owl:disjointWith 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:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#QualityCriteria"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="#Device"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#PhysicalPropertiesSensor"/>
-        <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 rdf:resource="#Communication"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#PhysicalPropertiesGripper">
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#PowerConsumption"/>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxScanAngle">
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#FieldOfView"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#ScanningDistance"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#SpecialKinematicRobot">
-    <owl:disjointWith rdf:resource="#ParallelKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#SimpleKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#ScaraRobot"/>
-    <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
-    <owl:disjointWith rdf:resource="#CartesianRobot"/>
-    <owl:disjointWith rdf:resource="#HexapodRobot"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Everything else which cannot be sorted in one of the other categories.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Robot"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Crush">
-    <owl:disjointWith rdf:resource="#Deep-Draw"/>
-    <owl:disjointWith rdf:resource="#Forge"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Extrude"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Form"/>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith rdf:resource="#True"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <owl:disjointWith rdf:resource="#Flang"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Relative change of length by pressure force.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Shape">
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#PowerConsumption"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Timing">
-    <rdfs:subClassOf rdf:resource="#SkillProperty"/>
-    <owl:disjointWith rdf:resource="#QualityCriteria"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#Identifier"/>
-    <owl:disjointWith rdf:resource="#Geometry"/>
-    <owl:disjointWith rdf:resource="#Communication"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith rdf:resource="#Cost"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-  </owl:Class>
-  <owl:Class rdf:about="#TransformImage">
-    <owl:disjointWith rdf:resource="#CompressImageData"/>
-    <owl:disjointWith rdf:resource="#ExtractEdges"/>
-    <owl:disjointWith rdf:resource="#FilterImage"/>
-    <owl:disjointWith rdf:resource="#BlobAnalysis"/>
-    <owl:disjointWith rdf:resource="#SegmentImage"/>
-    <owl:disjointWith rdf:resource="#DecompressImageData"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CalibrateImage"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Karthesian">
-    <rdfs:subClassOf rdf:resource="#Feed"/>
-    <owl:disjointWith rdf:resource="#Circular"/>
-    <owl:disjointWith rdf:resource="#AsFastAsPossible"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Classify">
-    <owl:disjointWith rdf:resource="#Check"/>
-    <owl:disjointWith rdf:resource="#Measure"/>
-    <owl:disjointWith rdf:resource="#Read"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Scan"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Detect"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ImageAnalysis"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="#SensorFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#LightGrid">
-    <rdfs:subClassOf rdf:resource="#OpticSensor"/>
-    <owl:disjointWith rdf:resource="#OpticDistanceSensor"/>
-    <owl:disjointWith rdf:resource="#SmartCamera"/>
-    <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
-    <owl:disjointWith rdf:resource="#VisionSensor"/>
-    <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
-    <owl:disjointWith rdf:resource="#OpticColorSensor"/>
-    <owl:disjointWith rdf:resource="#LaserScanner2D"/>
-    <owl:disjointWith rdf:resource="#OpticSwitch"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Robot">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#WorkCoordinates"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl: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="#QualityCriteria"/>
-      </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="#Communication"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="#ManipulationAndHandling"/>
-    <owl:disjointWith rdf:resource="#Gripper"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#Cost"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Introdution to Robotics
-(Analysis, System, Applications)
-Saeed B. Niku</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#WorkFrame"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#Arrangement"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#LineParallelGripper">
-    <rdfs:subClassOf rdf:resource="#ParallelGripper"/>
-    <owl:disjointWith rdf:resource="#GeneralParallelGripper"/>
-    <owl:disjointWith rdf:resource="#CircularParallelGripper"/>
-  </owl:Class>
-  <owl:Class rdf:about="#StoreInOrder">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Store"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Save workpieces which are geometrically defined in a well-defined position and/or orientation.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#StoreUnOrdered"/>
-    <owl:disjointWith rdf:resource="#StorePartlyOrdered"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ResponseTime">
-    <rdfs:subClassOf rdf:resource="#Timing"/>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in seconds</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#TorqueForceSensor">
-    <owl:disjointWith rdf:resource="#TactileSensor"/>
-    <owl:disjointWith rdf:resource="#MagneticSensor"/>
-    <owl:disjointWith rdf:resource="#EncoderSensor"/>
-    <owl:disjointWith rdf:resource="#InductiveSensor"/>
-    <owl:disjointWith rdf:resource="#OpticSensor"/>
-    <owl:disjointWith rdf:resource="#CapacitveSensor"/>
-    <owl:disjointWith rdf:resource="#UltrasonicSensor"/>
-    <rdfs:subClassOf rdf:resource="#Sensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Detect">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 2-5</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="#SensorFunction"/>
-    <owl:disjointWith rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith rdf:resource="#Check"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Scan"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Measure"/>
-    <owl:disjointWith rdf:resource="#Classify"/>
-    <owl:disjointWith rdf:resource="#Read"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Task">
-    <owl:disjointWith rdf:resource="#Skill"/>
-    <owl:disjointWith rdf:resource="#Object"/>
-    <owl:disjointWith rdf:resource="#ObjectBase"/>
-    <owl:disjointWith rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#List"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Property"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Operation"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Sequence">
-    <owl:disjointWith rdf:resource="#Parallel"/>
-    <owl:disjointWith rdf:resource="#Atomic"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasOperation"/>
-        </owl:onProperty>
-        <owl:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:cardinality>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="#Operation"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:cardinality>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasAtomicOperation"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Powder-coat">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >The powder becomes electrostatically charged and sprayed to the workpiece. Then it is burned into the workpiece.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Hot-galvanise"/>
-    <owl:disjointWith rdf:resource="#Electroplate"/>
-    <owl:disjointWith rdf:resource="#Varnish"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Coat"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Join">
-    <rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Mold"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Coat"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Form"/>
-    <owl:disjointWith rdf:resource="#ModifyWorkpieceProperties"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is the creation of a long-term connection of workpieces with a geometrically defined, fixed shape or with formless-parts.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#AdjustCurrentToRelease">
-    <rdfs:subClassOf rdf:resource="#Release"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:allValuesFrom rdf:resource="#MagnetGripper"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#OpenClaws"/>
-    <owl:disjointWith rdf:resource="#OpenFingers"/>
-    <owl:disjointWith rdf:resource="#AdjustVacuumToRelease"/>
-  </owl:Class>
-  <owl:Class rdf:about="#NumericalCtrl">
-    <owl:disjointWith rdf:resource="#SimpleControl"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#IntelligentCtrl"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PlaybackCtrl"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Capability of setting up movements via numerical positions instead of functions.</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="#ControlSystem"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Extrude">
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <rdfs:subClassOf rdf:resource="#Form"/>
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is mainly used to create profiles, tubes and wires.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith rdf:resource="#Crush"/>
-    <owl:disjointWith rdf:resource="#True"/>
-    <owl:disjointWith rdf:resource="#Flang"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Forge"/>
-    <owl:disjointWith rdf:resource="#Deep-Draw"/>
-    <owl:disjointWith rdf:resource="#Fold"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Age">
-    <rdfs:subClassOf rdf:resource="#ModifyWorkpieceProperties"/>
-    <owl:disjointWith rdf:resource="#Temper"/>
-    <owl:disjointWith rdf:resource="#Anneal"/>
-    <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:Class>
-  <owl:Class rdf:about="#CalibrateImage">
-    <owl:disjointWith rdf:resource="#BlobAnalysis"/>
-    <owl:disjointWith rdf:resource="#SegmentImage"/>
-    <owl:disjointWith rdf:resource="#FilterImage"/>
-    <owl:disjointWith rdf:resource="#DecompressImageData"/>
-    <owl:disjointWith rdf:resource="#TransformImage"/>
-    <owl:disjointWith rdf:resource="#CompressImageData"/>
-    <owl:disjointWith rdf:resource="#ExtractEdges"/>
-    <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
-  </owl:Class>
-  <owl:Class rdf:about="#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>
-    <owl:disjointWith rdf:resource="#ClassifyObject"/>
-    <rdfs:subClassOf rdf:resource="#Classify"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Scan">
-    <owl:disjointWith rdf:resource="#Measure"/>
-    <owl:disjointWith rdf:resource="#Classify"/>
-    <owl:disjointWith rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith rdf:resource="#Check"/>
-    <owl:disjointWith rdf:resource="#Detect"/>
-    <owl:disjointWith rdf:resource="#Read"/>
-    <rdfs:subClassOf rdf:resource="#SensorFunction"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#LaserClass">
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#ScanningDistance"/>
-    <owl:disjointWith rdf:resource="#MaxScanAngle"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#FieldOfView"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Read2DMatrixCode">
-    <owl:disjointWith rdf:resource="#ReadOpticalCharacters"/>
-    <owl:disjointWith rdf:resource="#ReadBarCode"/>
-    <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="#VacuumGripper">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FingerGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PincerGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MagnetGripper"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#AdjustVacuumToRelease"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="#Gripper"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#AdjustVacuumToGrip"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureOrientationOfObject">
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith rdf:resource="#MeasureForce"/>
-    <owl:disjointWith rdf:resource="#MeasureSpeed"/>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith rdf:resource="#MeasurePositionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureAcceleration"/>
-    <owl:disjointWith rdf:resource="#MeasureTemperature"/>
-    <owl:disjointWith rdf:resource="#MeasureDiameter"/>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith rdf:resource="#MeasureAngle"/>
-  </owl:Class>
-  <owl:Class rdf:about="#FingerGripper">
-    <owl:disjointWith rdf:resource="#VacuumGripper"/>
-    <owl:disjointWith rdf:resource="#MagnetGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PincerGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Gripper"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#OpenFingers"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#CloseFingers"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#PincerGripper">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#OpenClaws"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="#Gripper"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#CloseClaws"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#VacuumGripper"/>
-    <owl:disjointWith rdf:resource="#MagnetGripper"/>
-    <owl:disjointWith rdf:resource="#FingerGripper"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CommunicationProtocol">
-    <owl:disjointWith rdf:resource="#ElectricalInterface"/>
-    <owl:disjointWith rdf:resource="#BusInterface"/>
-    <rdfs:subClassOf rdf:resource="#Communication"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Bead">
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Form"/>
-    <owl:disjointWith rdf:resource="#Extrude"/>
-    <owl:disjointWith rdf:resource="#Flang"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Create channel-shaped deepenings which are meant to increase the stiffness.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <owl:disjointWith rdf:resource="#Forge"/>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith rdf:resource="#True"/>
-    <owl:disjointWith rdf:resource="#Deep-Draw"/>
-    <owl:disjointWith rdf:resource="#Crush"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Resolution">
-    <owl:disjointWith rdf:resource="#Precision"/>
-    <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
-    <owl:disjointWith rdf:resource="#Repeatability"/>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <rdfs:subClassOf rdf:resource="#QualityCriteria"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Assembly">
-    <owl:disjointWith rdf:resource="#Part"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:minCardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:minCardinality>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasObjectBase"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="#ObjectBase"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MountedDevicePosition">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#WorkCoordinates"/>
-    <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
-    <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
-    <rdfs:subClassOf rdf:resource="#Arrangement"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Store">
-    <owl:disjointWith rdf:resource="#ModifyAmount"/>
-    <owl:disjointWith rdf:resource="#Move"/>
-    <owl:disjointWith rdf:resource="#Secure"/>
-    <rdfs:subClassOf rdf:resource="#ManipulationAndHandlingFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Coat">
-    <rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Put a permanent layer of formless material onto the workpiece.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#ModifyWorkpieceProperties"/>
-    <owl:disjointWith rdf:resource="#Mold"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Join"/>
-    <owl:disjointWith rdf:resource="#Form"/>
-  </owl:Class>
-  <owl:Class rdf:about="#PhysicalInterface">
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith rdf:resource="#PowerConsumption"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-  </owl:Class>
-  <owl:Class rdf:about="#SaveParameterSet">
-    <owl:disjointWith rdf:resource="#Calibrate"/>
-    <owl:disjointWith rdf:resource="#LoadParameterSet"/>
-    <owl:disjointWith rdf:resource="#Reset"/>
-    <owl:disjointWith rdf:resource="#SetParameterValue"/>
-    <rdfs:subClassOf rdf:resource="#AdditionalFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Separate">
-    <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="#Mold"/>
-    <owl:disjointWith rdf:resource="#Join"/>
-    <owl:disjointWith rdf:resource="#ModifyWorkpieceProperties"/>
-    <owl:disjointWith rdf:resource="#Coat"/>
-    <owl:disjointWith rdf:resource="#Form"/>
-    <rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
-  </owl:Class>
-  <owl:Class rdf:ID="InductiveProximitySwitch">
-    <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="#IntelligentCtrl">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This includes calculating up functions for setting positions and trajectories.</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="#ControlSystem"/>
-    <owl:disjointWith rdf:resource="#SimpleControl"/>
-    <owl:disjointWith rdf:resource="#PlaybackCtrl"/>
-    <owl:disjointWith rdf:resource="#NumericalCtrl"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Property">
-    <owl:disjointWith rdf:resource="#Operation"/>
-    <owl:disjointWith rdf:resource="#Skill"/>
-    <owl:disjointWith rdf:resource="#Object"/>
-    <owl:disjointWith rdf:resource="#Task"/>
-    <owl:disjointWith rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#List"/>
-    <owl:disjointWith rdf:resource="#ObjectBase"/>
-  </owl:Class>
-  <owl:Class rdf:about="#WorkFrame">
-    <owl:disjointWith rdf:resource="#WorkCoordinates"/>
-    <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
-    <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
-    <owl:disjointWith rdf:resource="#MountedDevicePosition"/>
-    <rdfs:subClassOf rdf:resource="#Arrangement"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Press">
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <owl:disjointWith rdf:resource="#Flang"/>
-    <owl:disjointWith rdf:resource="#True"/>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <rdfs:subClassOf rdf:resource="#Form"/>
-    <owl:disjointWith rdf:resource="#Bead"/>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith rdf:resource="#Deep-Draw"/>
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <owl:disjointWith rdf:resource="#Forge"/>
-    <owl:disjointWith rdf:resource="#Crush"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Modify the surface of a solid body with the help of a stamp. The feed rate is very slow, although the pressure is very high.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Extrude"/>
-  </owl:Class>
-  <owl:Class rdf:about="#PhysicalPropertiesRobot">
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith rdf:resource="#MaxForce"/>
-    <owl:disjointWith rdf:resource="#PowerConsumption"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#PhysicalInterface"/>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-  </owl:Class>
-  <owl:ObjectProperty rdf:ID="hasIdentifier">
-    <rdfs:range rdf:resource="#Identifier"/>
-    <rdfs:domain>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Device"/>
-          <owl:Class rdf:about="#Workpiece"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:domain>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:ID="isAtomicOperationOf">
-    <rdfs:range rdf:resource="#Operation"/>
-    <rdfs:domain rdf:resource="#Atomic"/>
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:about="#hasAtomicOperation"/>
-    </owl:inverseOf>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasProperty">
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:ID="isPropertyOf"/>
-    </owl:inverseOf>
-    <rdfs:range rdf:resource="#Property"/>
-    <rdfs:domain>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Skill"/>
-          <owl:Class rdf:about="#Device"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:domain>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:ID="canBePerformedBy">
-    <rdfs:domain rdf:resource="#Task"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:ID="isWorkpieceOf">
-    <rdfs:range rdf:resource="#Operation"/>
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:ID="hasWorkpiece"/>
-    </owl:inverseOf>
-    <rdfs:domain rdf:resource="#Workpiece"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasWorkpiece">
-    <owl:inverseOf rdf:resource="#isWorkpieceOf"/>
-    <rdfs:range rdf:resource="#Workpiece"/>
-    <rdfs:domain rdf:resource="#Operation"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:ID="hasAssembly">
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:ID="isAssemblyOf"/>
-    </owl:inverseOf>
-    <rdfs:domain>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Object"/>
-          <owl:Class rdf:about="#ObjectBase"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:domain>
-    <rdfs:range rdf:resource="#Assembly"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:ID="hasSubskill">
-    <rdfs:domain rdf:resource="#CompoundSkills"/>
-    <rdfs:range rdf:resource="#Skill"/>
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:ID="isSubskillOf"/>
-    </owl:inverseOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >To use an ordered list, according to the FAQ, rdf:List has to be added in Range (cf. http://protege.stanford.edu/doc/owl-faq.html#ordered). But it does not work so far.</rdfs:comment>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:ID="isObjectBaseOf">
-    <rdfs:domain rdf:resource="#ObjectBase"/>
-    <rdfs:range>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Assembly"/>
-          <owl:Class rdf:about="#Workpiece"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:range>
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:about="#hasObjectBase"/>
-    </owl:inverseOf>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:ID="hasGeometry">
-    <rdfs:domain rdf:resource="#Object"/>
-    <rdfs:range rdf:resource="#Geometry"/>
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:ID="isGeometryOf"/>
-    </owl:inverseOf>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasSkill">
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:about="#isSkillOf"/>
-    </owl:inverseOf>
-    <rdfs:range rdf:resource="#Skill"/>
-    <rdfs:domain>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Device"/>
-          <owl:Class rdf:about="#Skill"/>
-          <owl:Class rdf:about="#Atomic"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:domain>
-    <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:ObjectProperty>
-  <owl:ObjectProperty rdf:ID="hasReference">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This will be used für referencing devices in the later implementation, e.g. as a URI.</rdfs:comment>
-    <rdfs:range rdf:resource="#Identifier"/>
-    <rdfs:domain>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Workpiece"/>
-          <owl:Class rdf:about="#Device"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:domain>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasOperation">
-    <rdfs:domain rdf:resource="#Task"/>
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:ID="isOperationOf"/>
-    </owl:inverseOf>
-    <rdfs:range rdf:resource="#Task"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#isPropertyOf">
-    <owl:inverseOf rdf:resource="#hasProperty"/>
-    <rdfs:range>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Skill"/>
-          <owl:Class rdf:about="#Device"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:range>
-    <rdfs:domain rdf:resource="#Property"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:ID="isDeviceOf">
-    <rdfs:domain rdf:resource="#Device"/>
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:ID="hasDevice"/>
-    </owl:inverseOf>
-    <rdfs:range rdf:resource="#Atomic"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#isAssemblyOf">
-    <rdfs:range>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Object"/>
-          <owl:Class rdf:about="#ObjectBase"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:range>
-    <owl:inverseOf rdf:resource="#hasAssembly"/>
-    <rdfs:domain rdf:resource="#Assembly"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#isSkillOf">
-    <owl:inverseOf rdf:resource="#hasSkill"/>
-    <rdfs:range>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Atomic"/>
-          <owl:Class rdf:about="#Device"/>
-          <owl:Class rdf:about="#Skill"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:range>
-    <rdfs:domain rdf:resource="#Skill"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasObjectBase">
-    <rdfs:range rdf:resource="#ObjectBase"/>
-    <rdfs:domain>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Assembly"/>
-          <owl:Class rdf:about="#Workpiece"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:domain>
-    <owl:inverseOf rdf:resource="#isObjectBaseOf"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasAtomicOperation">
-    <rdfs:range rdf:resource="#Atomic"/>
-    <owl:inverseOf rdf:resource="#isAtomicOperationOf"/>
-    <rdfs:domain rdf:resource="#Operation"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasDevice">
-    <rdfs:range rdf:resource="#Device"/>
-    <rdfs:domain rdf:resource="#Atomic"/>
-    <owl:inverseOf rdf:resource="#isDeviceOf"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#isSubskillOf">
-    <rdfs:domain rdf:resource="#Skill"/>
-    <owl:inverseOf rdf:resource="#hasSubskill"/>
-    <rdfs:range rdf:resource="#CompoundSkills"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:ID="hasEditable">
-    <rdfs:domain rdf:resource="#Property"/>
-    <rdfs:range rdf:resource="#isEditable"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#isGeometryOf">
-    <rdfs:domain rdf:resource="#Geometry"/>
-    <rdfs:range rdf:resource="#Object"/>
-    <owl:inverseOf rdf:resource="#hasGeometry"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#isOperationOf">
-    <rdfs:domain rdf:resource="#Task"/>
-    <rdfs:range rdf:resource="#Task"/>
-    <owl:inverseOf rdf:resource="#hasOperation"/>
-  </owl:ObjectProperty>
-  <owl:DatatypeProperty rdf:ID="value">
-    <rdfs:domain rdf:resource="#Property"/>
-  </owl:DatatypeProperty>
-  <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.2">
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-    >0.2</value>
-    <isPropertyOf>
-      <VisionSensor rdf:ID="Sick_CVS2-P112">
-        <hasProperty>
-          <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_40">
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-            >40.0</value>
-            <isPropertyOf>
-              <ScaraRobot rdf:ID="ScaraRobot_Staeubli_RS80">
-                <hasProperty>
-                  <NumberOfJoints rdf:ID="NumberOfJoints_4">
-                    <hasEditable>
-                      <isEditable rdf:ID="isEditable_false">
-                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-                        >0</value>
-                      </isEditable>
-                    </hasEditable>
-                    <isPropertyOf>
-                      <ArticulatedRobot rdf:ID="ArticulatedRobot_ABB_IRB-140">
-                        <hasProperty rdf:resource="#MaxAmbientTemperature_40"/>
-                        <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"/>
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                          </PowerConsumption>
-                        </hasProperty>
-                        <hasProperty>
-                          <TypeOfActuation rdf:ID="TypeOfActuation_Electric">
-                            <isPropertyOf>
-                              <ArticulatedRobot rdf:ID="ArticulatedRobot_CLOOS_R320">
-                                <hasIdentifier>
-                                  <Identifier rdf:ID="ID_CLOOS_R320">
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                    >CLOOS_R320</value>
-                                  </Identifier>
-                                </hasIdentifier>
-                                <hasSkill>
-                                  <AsFastAsPossible rdf:ID="AsFastAsPossible_28">
-                                    <isSkillOf>
-                                      <ArticulatedRobot rdf:ID="ArticulatedRobot_ABB_IRB-4400">
-                                        <hasProperty rdf:resource="#TypeOfActuation_Electric"/>
-                                        <hasProperty>
-                                          <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_45">
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >45.0</value>
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                            <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
-                                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                                            <isPropertyOf>
-                                              <ArticulatedRobot rdf:ID="ArticulatedRobot_CLOOS_R350">
-                                                <hasProperty>
-                                                  <EnclosureRatingIP rdf:ID="EnclosureRatingIP_54">
-                                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
-                                                    <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-                                                    <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                                                    <isPropertyOf>
-                                                      <rdf:Description rdf:ID="Schunk_MPG_64">
-                                                        <hasIdentifier>
-                                                          <Identifier rdf:ID="ID_Schunk_MPG_64"/>
-                                                        </hasIdentifier>
-                                                        <hasSkill>
-                                                          <OpenFingers rdf:ID="OpenFingers_1">
-                                                            <isSkillOf rdf:resource="#Schunk_MPG_64"/>
-                                                            <isSkillOf>
-                                                              <rdf:Description rdf:ID="Schunk_MPG_20">
-    <hasProperty>
-      <Repeatability rdf:ID="Repeatability_0.01">
-        <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-        <isPropertyOf>
-          <ScaraRobot rdf:ID="ScaraRobot_Staeubli_RS40B">
-            <hasSkill>
-              <Circular rdf:ID="Circular_29">
-                <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                <isSkillOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-                <isSkillOf>
-                  <ArticulatedRobot rdf:ID="ArticulatedRobot_CLOOS_R410">
-                    <hasProperty>
-                      <IntelligentCtrl rdf:ID="IntelligentCtrl_1">
-                        <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
-                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                        >yes</value>
-                        <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
-                        <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                        <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                        <isPropertyOf>
-                          <SmartCamera rdf:ID="Sick_IVC-2DM1111">
-                            <hasProperty>
-                              <Length rdf:ID="Length_161">
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                >161.0</value>
-                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                <isPropertyOf>
-                                  <SmartCamera rdf:ID="Sick_IVC-2DM1122">
-                                    <hasProperty>
-                                      <EnclosureRatingIP rdf:ID="EnclosureRatingIP_65">
-                                        <isPropertyOf>
-                                          <OpticColorSensor rdf:ID="Sensopart_FL64C">
-                                            <hasProperty>
-                                              <Weight rdf:ID="Weight_0.4">
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >0.4</value>
-                                                <isPropertyOf>
-                                                  <OpticContrastScanner rdf:ID="Sick_KT10-2P1115">
-                                                    <hasProperty>
-                                                      <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.08">
-                                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                                        <value
-                                                         rdf:datatype=
-                                                        "http://www.w3.org/2001/XMLSchema#float"
-                                                        >0.08</value>
-                                                        <isPropertyOf>
-                                                          <OpticColorSensor rdf:ID="Sick_CS81-P1112">
-                                                            <hasProperty>
-                                                              <MaxVoltageSupply rdf:ID="MaxVoltageSupply_30.0">
-    <hasEditable rdf:resource="#isEditable_false"/>
-    <isPropertyOf>
-      <OpticReflexSwitch rdf:ID="Sick_WL18-3P430">
-        <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
-        <hasSkill>
-          <DetectObject rdf:ID="DetectObject_1">
-            <isSkillOf>
-              <OpticThroughBeamSwitch rdf:ID="Sick_WSWE18-3P430">
-                <hasProperty>
-                  <MaxMeasurementRange rdf:ID="MaxMeasurementRange_20">
-                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                    >20.0</value>
-                    <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                    <hasEditable rdf:resource="#isEditable_false"/>
-                  </MaxMeasurementRange>
-                </hasProperty>
-                <hasProperty>
-                  <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_60">
-                    <hasEditable rdf:resource="#isEditable_false"/>
-                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                    >60.0</value>
-                    <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                    <isPropertyOf>
-                      <OpticProximitySwitch rdf:ID="Sick_WT18-3P430">
-                        <hasProperty>
-                          <Weight rdf:ID="Weight_0.04">
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >0.04</value>
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                            <isPropertyOf>
-                              <OpticDistanceSensor rdf:ID="Sick_DT10-P10B5">
-                                <hasProperty>
-                                  <MinMeasurementRange rdf:ID="MinMeasurementRange_0.05">
-                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                    >0.05</value>
-                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                    <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                                  </MinMeasurementRange>
-                                </hasProperty>
-                                <hasProperty>
-                                  <PowerConsumption rdf:ID="PowerConsumption_1.2">
-                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                    >1.2</value>
-                                  </PowerConsumption>
-                                </hasProperty>
-                                <hasSkill>
-                                  <MeasureDistance rdf:ID="MeasureDistance_1">
-                                    <isSkillOf rdf:resource="#Sick_DT10-P10B5"/>
-                                    <isSkillOf>
-                                      <OpticDistanceSensor rdf:ID="Sick_DME5000-112">
-                                        <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
-                                        <hasIdentifier>
-                                          <Identifier rdf:ID="ID_Sick_DME5000-112">
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#string"
-                                            >Sick_DME5000-112</value>
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                          </Identifier>
-                                        </hasIdentifier>
-                                        <hasProperty>
-                                          <MinAmbientTemperature rdf:ID="MinAmbientTemperature_-10">
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >-10.0</value>
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                            <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                                            <isPropertyOf>
-                                              <OpticContrastScanner rdf:ID="Sick_KT5W_2P1116D">
-                                                <hasProperty rdf:resource="#Weight_0.4"/>
-                                                <hasProperty rdf:resource="#MinAmbientTemperature_-10"/>
-                                                <hasProperty>
-                                                  <ElectricalInterface rdf:ID="ElectricalInterface_ConnectorM12-5Pins">
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#string"
-                                                    >Connector M12, 5 Pins</value>
-                                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                                    <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                                                    <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                                                    <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                                                    <isPropertyOf>
-                                                      <LightGrid rdf:ID="Sick_MLG2-0280F511">
-                                                        <hasProperty>
-                                                          <MinVoltageSupply rdf:ID="MinVoltageSupply_15">
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#float"
-                                                            >15.0</value>
-                                                            <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
-                                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                                          </MinVoltageSupply>
-                                                        </hasProperty>
-                                                        <hasSkill>
-                                                          <DetectObject rdf:ID="DetectObject_15">
-                                                            <isSkillOf rdf:resource="#Sick_MLG2-0280F511"/>
-                                                          </DetectObject>
-                                                        </hasSkill>
-                                                        <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-5Pins"/>
-                                                        <hasProperty>
-                                                          <ResponseTime rdf:ID="ResponseTime_0.003">
-                                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                                            <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#float"
-                                                            >0.0030</value>
-                                                          </ResponseTime>
-                                                        </hasProperty>
-                                                        <hasIdentifier>
-                                                          <Identifier rdf:ID="ID_Sick_MLG2-0280F511">
-                                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#string"
-                                                            >Sick_MLG2-0280F511</value>
-                                                          </Identifier>
-                                                        </hasIdentifier>
-                                                        <hasProperty>
-                                                          <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_55">
-                                                            <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                                                            <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                                                            <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                                            <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                                                            <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
-                                                            <isPropertyOf>
-                                                              <OpticColorSensor rdf:ID="Sick_CSM1-N1114">
-    <hasProperty>
-      <EnclosureRatingIP rdf:ID="EnclosureRatingIP_67">
-        <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-        <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-        <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-        <isPropertyOf>
-          <OpticLuminescenceScanner rdf:ID="Sick_LUT3-610">
-            <hasProperty>
-              <SwitchingFrequency rdf:ID="SwitchingFrequency_1500">
-                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                >1500.0</value>
-                <hasEditable rdf:resource="#isEditable_false"/>
-                <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-                <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-              </SwitchingFrequency>
-            </hasProperty>
-            <hasSkill>
-              <DetectLuminescence rdf:ID="DetectLuminescence_1">
-                <isSkillOf rdf:resource="#Sick_LUT3-610"/>
-              </DetectLuminescence>
-            </hasSkill>
-            <hasProperty>
-              <ScanningDistance rdf:ID="ScanningDistance_0.01">
-                <hasEditable rdf:resource="#isEditable_false"/>
-                <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                >0.01</value>
-              </ScanningDistance>
-            </hasProperty>
-            <hasProperty>
-              <LightSpotSize rdf:ID="LightSpotSize_0.002x0.006">
-                <hasEditable rdf:resource="#isEditable_false"/>
-                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                >0.002x0.006</value>
-                <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-              </LightSpotSize>
-            </hasProperty>
-            <hasProperty>
-              <LightType rdf:ID="LightType_UV">
-                <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                >UV</value>
-                <hasEditable rdf:resource="#isEditable_false"/>
-              </LightType>
-            </hasProperty>
-            <hasIdentifier>
-              <Identifier rdf:ID="ID_Sick_LUT3-610">
-                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                >Sick_LUT3-610</value>
-                <hasEditable rdf:resource="#isEditable_false"/>
-              </Identifier>
-            </hasIdentifier>
-            <hasProperty>
-              <ElectricalInterface rdf:ID="ElectricalInterface_ConnectorM12-4Pins">
-                <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                >Connector M12, 4 Pins</value>
-                <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
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-                                          <Weight rdf:ID="Weight_1.6">
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                            <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >1.6</value>
-                                          </Weight>
-                                        </hasProperty>
-                                        <hasProperty>
-                                          <Repeatability rdf:ID="Repeatability_0.0005">
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                            <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >5.0E-4</value>
-                                          </Repeatability>
-                                        </hasProperty>
-                                        <hasProperty>
-                                          <LightSpotSize rdf:ID="LightSpotSize_0.13">
-                                            <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >0.13</value>
-                                          </LightSpotSize>
-                                        </hasProperty>
-                                        <hasProperty>
-                                          <SwitchingFrequency rdf:ID="SwitchingFrequency_1000">
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >1000.0</value>
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                            <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                            <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                                          </SwitchingFrequency>
-                                        </hasProperty>
-                                        <hasProperty>
-                                          <Accuracy rdf:ID="Accuracy_0.002">
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >0.0020</value>
-                                            <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                          </Accuracy>
-                                        </hasProperty>
-                                        <hasProperty>
-                                          <MaxMeasurementRange rdf:ID="MaxMeasurementRange_70">
-                                            <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >70.0</value>
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                          </MaxMeasurementRange>
-                                        </hasProperty>
-                                        <hasProperty rdf:resource="#MaxAmbientTemperature_55"/>
-                                        <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
-                                        <hasProperty>
-                                          <MinMeasurementRange rdf:ID="MinMeasurementRange_0.15">
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                            <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >0.15</value>
-                                          </MinMeasurementRange>
-                                        </hasProperty>
-                                        <hasProperty>
-                                          <LightType rdf:ID="LightType_LaserRed">
-                                            <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#string"
-                                            >LaserRed</value>
-                                          </LightType>
-                                        </hasProperty>
-                                        <hasSkill rdf:resource="#MeasureDistance_1"/>
-                                      </OpticDistanceSensor>
-                                    </isSkillOf>
-                                  </MeasureDistance>
-                                </hasSkill>
-                                <hasProperty rdf:resource="#SwitchingFrequency_1000"/>
-                                <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
-                                <hasProperty>
-                                  <Accuracy rdf:ID="Accuracy_0.003">
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                    >0.0030</value>
-                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                  </Accuracy>
-                                </hasProperty>
-                                <hasProperty>
-                                  <LightSpotSize rdf:ID="LightSpotSize_0.02">
-                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                    >0.02</value>
-                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                  </LightSpotSize>
-                                </hasProperty>
-                                <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-5Pins"/>
-                                <hasProperty rdf:resource="#LightType_LEDred"/>
-                                <hasProperty rdf:resource="#Weight_0.04"/>
-                                <hasProperty>
-                                  <ResponseTime rdf:ID="ResponseTime_0.02">
-                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                    >0.02</value>
-                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                  </ResponseTime>
-                                </hasProperty>
-                                <hasIdentifier>
-                                  <Identifier rdf:ID="ID_Sick_DT10-P10B5">
-                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                    >Sick_DT10-P10B5</value>
-                                  </Identifier>
-                                </hasIdentifier>
-                                <hasProperty>
-                                  <Repeatability rdf:ID="Repeatability_0.003">
-                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                    >0.0030</value>
-                                  </Repeatability>
-                                </hasProperty>
-                                <hasProperty>
-                                  <ElectricalInterface rdf:ID="ElectricalInterface_AnalogueOutput4-20mA">
-                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                    >4...20 mA</value>
-                                  </ElectricalInterface>
-                                </hasProperty>
-                                <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-                                <hasProperty>
-                                  <MinVoltageSupply rdf:ID="MinVoltageSupply_10.0">
-                                    <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                    <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                    >10.0</value>
-                                    <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                                    <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                    <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                    <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                  </MinVoltageSupply>
-                                </hasProperty>
-                                <hasProperty rdf:resource="#MinAmbientTemperature_-25"/>
-                                <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
-                                <hasProperty>
-                                  <MaxMeasurementRange rdf:ID="MaxMeasurementRange_0.4">
-                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                    >0.4</value>
-                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                  </MaxMeasurementRange>
-                                </hasProperty>
-                                <hasProperty>
-                                  <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_50">
-                                    <rdfs:comment rdf:datatype=
-                                    "http://www.w3.org/2001/XMLSchema#string"
-                                    >in degrees celsius</rdfs:comment>
-                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                    <isPropertyOf>
-                                      <LaserScanner2D rdf:ID="Sick_LMS200-30106">
-                                        <hasProperty>
-                                          <ResponseTime rdf:ID="ResponseTime_0.026">
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >0.026</value>
-                                            <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                          </ResponseTime>
-                                        </hasProperty>
-                                        <hasSkill>
-                                          <MeasureVolume rdf:ID="MeasureVolume_1">
-                                            <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                          </MeasureVolume>
-                                        </hasSkill>
-                                        <hasProperty>
-                                          <LaserClass rdf:ID="LaserClass_1">
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                            <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#string"
-                                            >1</value>
-                                          </LaserClass>
-                                        </hasProperty>
-                                        <hasSkill>
-                                          <Count rdf:ID="Count_1">
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                            <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                          </Count>
-                                        </hasSkill>
-                                        <hasProperty rdf:resource="#MaxAmbientTemperature_50"/>
-                                        <hasProperty>
-                                          <PowerConsumption rdf:ID="PowerConsumption_20">
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                            <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >20.0</value>
-                                          </PowerConsumption>
-                                        </hasProperty>
-                                        <hasSkill>
-                                          <MeasurePositionOfObject rdf:ID="DeterminePositionOfObject_1">
-                                            <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                            <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                          </MeasurePositionOfObject>
-                                        </hasSkill>
-                                        <hasSkill>
-                                          <MeasureDistance rdf:ID="MeasureDistance_2">
-                                            <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                          </MeasureDistance>
-                                        </hasSkill>
-                                        <hasProperty>
-                                          <Weight rdf:ID="Weight_4.5">
-                                            <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >4.5</value>
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                          </Weight>
-                                        </hasProperty>
-                                        <hasProperty>
-                                          <MinVoltageSupply rdf:ID="MinVoltageSupply_20.4">
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >20.4</value>
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                            <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                          </MinVoltageSupply>
-                                        </hasProperty>
-                                        <hasProperty>
-                                          <MaxMeasurementRange rdf:ID="MaxMeasurementRange_80">
-                                            <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >80.0</value>
-                                          </MaxMeasurementRange>
-                                        </hasProperty>
-                                        <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
-                                        <hasSkill>
-                                          <Scan rdf:ID="Scan_2D">
-                                            <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                          </Scan>
-                                        </hasSkill>
-                                        <hasProperty>
-                                          <Resolution rdf:ID="AngleResolution_0.5">
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >0.5</value>
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                            <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                          </Resolution>
-                                        </hasProperty>
-                                        <hasIdentifier>
-                                          <Identifier rdf:ID="ID_Sick_LMS200-30106">
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#string"
-                                            >Sick_LMS200-30106</value>
-                                          </Identifier>
-                                        </hasIdentifier>
-                                        <hasSkill>
-                                          <DetectCollision rdf:ID="DetectCollision_1">
-                                            <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                          </DetectCollision>
-                                        </hasSkill>
-                                        <hasProperty>
-                                          <MaxVoltageSupply rdf:ID="MaxVoltageSupply_27.6">
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                            <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >27.6</value>
-                                          </MaxVoltageSupply>
-                                        </hasProperty>
-                                        <hasSkill>
-                                          <ClassifyObject rdf:ID="ClassifyObject_2">
-                                            <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                          </ClassifyObject>
-                                        </hasSkill>
-                                        <hasProperty>
-                                          <Resolution rdf:ID="DepthResolution_0.01">
-                                            <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >0.01</value>
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                          </Resolution>
-                                        </hasProperty>
-                                        <hasProperty>
-                                          <MaxScanAngle rdf:ID="MaxScanAngle_180">
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >180.0</value>
-                                            <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                          </MaxScanAngle>
-                                        </hasProperty>
-                                        <hasProperty>
-                                          <MinAmbientTemperature rdf:ID="MinAmbientTemperature_0">
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >0.0</value>
-                                            <rdfs:comment rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#string"
-                                            >in degrees celsius</rdfs:comment>
-                                            <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-                                            <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                            <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                          </MinAmbientTemperature>
-                                        </hasProperty>
-                                      </LaserScanner2D>
-                                    </isPropertyOf>
-                                    <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                    <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                    >50.0</value>
-                                  </MaxAmbientTemperature>
-                                </hasProperty>
-                              </OpticDistanceSensor>
-                            </isPropertyOf>
-                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                            <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                            <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                          </Weight>
-                        </hasProperty>
-                        <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
-                        <hasProperty rdf:resource="#LightType_LEDred"/>
-                        <hasProperty>
-                          <ResponseTime rdf:ID="ResponseTime_0.0007">
-                            <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                            <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >7.0E-4</value>
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                          </ResponseTime>
-                        </hasProperty>
-                        <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-                        <hasProperty>
-                          <LightSpotSize rdf:ID="LightSpotSize_0.015">
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >0.015</value>
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                          </LightSpotSize>
-                        </hasProperty>
-                        <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
-                        <hasSkill rdf:resource="#DetectObject_1"/>
-                        <hasProperty>
-                          <MaxMeasurementRange rdf:ID="MaxMeasurementRange_0.6">
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >0.6</value>
-                            <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                          </MaxMeasurementRange>
-                        </hasProperty>
-                        <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
-                        <hasProperty rdf:resource="#MinMeasurementRange_0.05"/>
-                        <hasProperty rdf:resource="#MaxAmbientTemperature_60"/>
-                        <hasProperty>
-                          <MinAmbientTemperature rdf:ID="MinAmbientTemperature_-40">
-                            <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >-40.0</value>
-                          </MinAmbientTemperature>
-                        </hasProperty>
-                        <hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
-                        <hasProperty>
-                          <SwitchingFrequency rdf:ID="SwitchingFrequency_700">
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >700.0</value>
-                            <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                          </SwitchingFrequency>
-                        </hasProperty>
-                        <hasProperty>
-                          <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.04">
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >0.04</value>
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                          </MaxCurrentConsumption>
-                        </hasProperty>
-                        <hasIdentifier>
-                          <Identifier rdf:ID="ID_Sick_WT18-3P430">
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                            >Sick_WT18-3P430</value>
-                          </Identifier>
-                        </hasIdentifier>
-                      </OpticProximitySwitch>
-                    </isPropertyOf>
-                    <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                  </MaxAmbientTemperature>
-                </hasProperty>
-                <hasProperty rdf:resource="#SwitchingFrequency_1000"/>
-                <hasIdentifier>
-                  <Identifier rdf:ID="ID_Sick_WSWE18-3P430">
-                    <hasEditable rdf:resource="#isEditable_false"/>
-                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                    >Sick_WSWE18-3P430</value>
-                  </Identifier>
-                </hasIdentifier>
-                <hasProperty>
-                  <MinMeasurementRange rdf:ID="MinMeasurementRange_0">
-                    <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                    <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                    >0.0</value>
-                    <hasEditable rdf:resource="#isEditable_false"/>
-                  </MinMeasurementRange>
-                </hasProperty>
-                <hasSkill rdf:resource="#DetectObject_1"/>
-                <hasProperty rdf:resource="#LightType_LEDred"/>
-                <hasProperty rdf:resource="#Weight_0.04"/>
-                <hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
-                <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-                <hasProperty>
-                  <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.055">
-                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                    >0.055</value>
-                    <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                    <hasEditable rdf:resource="#isEditable_false"/>
-                  </MaxCurrentConsumption>
-                </hasProperty>
-                <hasProperty rdf:resource="#ResponseTime_0.0005"/>
-                <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
-                <hasProperty>
-                  <LightSpotSize rdf:ID="LightSpotSize_0.450">
-                    <hasEditable rdf:resource="#isEditable_false"/>
-                    <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                    >0.45</value>
-                  </LightSpotSize>
-                </hasProperty>
-                <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
-                <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
-                <hasProperty rdf:resource="#MinAmbientTemperature_-40"/>
-              </OpticThroughBeamSwitch>
-            </isSkillOf>
-            <isSkillOf rdf:resource="#Sick_WT18-3P430"/>
-            <isSkillOf rdf:resource="#Sick_WL18-3P430"/>
-          </DetectObject>
-        </hasSkill>
-        <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
-        <hasProperty rdf:resource="#LightType_LEDred"/>
-        <hasProperty rdf:resource="#MinMeasurementRange_0"/>
-        <hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
-        <hasIdentifier>
-          <Identifier rdf:ID="ID_Sick_WL18-3P430">
-            <hasEditable rdf:resource="#isEditable_false"/>
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-            >Sick_WL18-3P430</value>
-          </Identifier>
-        </hasIdentifier>
-        <hasProperty rdf:resource="#ResponseTime_0.0005"/>
-        <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
-        <hasProperty rdf:resource="#MaxAmbientTemperature_60"/>
-        <hasProperty rdf:resource="#MinAmbientTemperature_-40"/>
-        <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-        <hasProperty>
-          <LightSpotSize rdf:ID="LightSpotSize_0.040">
-            <hasEditable rdf:resource="#isEditable_false"/>
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-            >0.04</value>
-            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-          </LightSpotSize>
-        </hasProperty>
-        <hasProperty>
-          <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.03">
-            <hasEditable rdf:resource="#isEditable_false"/>
-            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-            >0.03</value>
-          </MaxCurrentConsumption>
-        </hasProperty>
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-        <hasProperty rdf:resource="#SwitchingFrequency_1000"/>
-      </OpticReflexSwitch>
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-    <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-    <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-    <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-    <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
-    <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-    <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-    <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-    <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>         </MaxVoltageSupply>
-                                                            </hasProperty>
-                                                            <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
-                                                            <hasProperty rdf:resource="#MaxCurrentConsumption_0.08"/>
-                                                            <hasProperty rdf:resource="#Weight_0.4"/>
-                                                            <hasProperty rdf:resource="#ScanningDistance_0.0125"/>
-                                                            <hasProperty rdf:resource="#MinAmbientTemperature_-10"/>
-                                                            <hasSkill rdf:resource="#DetectColor_1"/>
-                                                            <hasProperty rdf:resource="#LightType_LEDgreen"/>
-                                                            <hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
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-    >0.004x0.002</value>
-    <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-    <hasEditable rdf:resource="#isEditable_false"/>           </LightSpotSize>
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-                                                            <hasProperty rdf:resource="#LightType_LEDblue"/>
-                                                            <hasProperty rdf:resource="#LightType_LEDred"/>
-                                                            <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-5Pins"/>
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-                                                              <Identifier rdf:ID="ID_Sick_CS81-P1112">
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-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Sick_CS81-P1112</value>                                  </Identifier>
-                                                            </hasIdentifier>
-                                                            <hasProperty rdf:resource="#MaxAmbientTemperature_55"/>
-                                                            <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-                                                          </OpticColorSensor>
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-                                                        <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-                                                        <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                                                        <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
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-                                                    </hasProperty>
-                                                    <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
-                                                    <hasIdentifier>
-                                                      <Identifier rdf:ID="ID_Sick_KT10-2P1115">
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-                                                         rdf:datatype=
-                                                        "http://www.w3.org/2001/XMLSchema#string"
-                                                        >Sick_KT10-2P1115</value>
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-                                                    <hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
-                                                    <hasSkill rdf:resource="#DetectContrast_1"/>
-                                                    <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
-                                                    <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-                                                    <hasProperty>
-                                                      <ResponseTime rdf:ID="ResponseTime_0.00001">
-                                                        <value
-                                                         rdf:datatype=
-                                                        "http://www.w3.org/2001/XMLSchema#float"
-                                                        >1.0E-5</value>
-                                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                                        <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                                                      </ResponseTime>
-                                                    </hasProperty>
-                                                    <hasProperty rdf:resource="#LightType_LEDred"/>
-                                                    <hasProperty rdf:resource="#LightType_LEDblue"/>
-                                                    <hasProperty rdf:resource="#MinAmbientTemperature_-10"/>
-                                                    <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-5Pins"/>
-                                                    <hasProperty rdf:resource="#MaxAmbientTemperature_55"/>
-                                                    <hasProperty rdf:resource="#Weight_0.4"/>
-                                                    <hasProperty>
-                                                      <LightSpotSize rdf:ID="LightSpotSize_0.004x0.0008">
-                                                        <value
-                                                         rdf:datatype=
-                                                        "http://www.w3.org/2001/XMLSchema#string"
-                                                        >0.004x0.0008</value>
-                                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                                        <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                                                      </LightSpotSize>
-                                                    </hasProperty>
-                                                    <hasProperty rdf:resource="#LightType_LEDgreen"/>
-                                                    <hasProperty rdf:resource="#ScanningDistance_0.01"/>
-                                                    <hasProperty>
-                                                      <SwitchingFrequency rdf:ID="SwitchingFrequency_25000">
-                                                        <hasEditable rdf:resource="#isEditable_false"/>
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-                                                         rdf:datatype=
-                                                        "http://www.w3.org/2001/XMLSchema#float"
-                                                        >25000.0</value>
-                                                        <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                                                      </SwitchingFrequency>
-                                                    </hasProperty>
-                                                  </OpticContrastScanner>
-                                                </isPropertyOf>
-                                                <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                                                <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                                                <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                                <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-                                                <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                              </Weight>
-                                            </hasProperty>
-                                            <hasProperty rdf:resource="#Height_53"/>
-                                            <hasProperty rdf:resource="#MinVoltageSupply_12.0"/>
-                                            <hasProperty>
-                                              <ResponseTime rdf:ID="ResponseTime_0.0009">
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                                <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >9.0E-4</value>
-                                              </ResponseTime>
-                                            </hasProperty>
-                                            <hasProperty rdf:resource="#ResponseTime_0.0007"/>
-                                            <hasProperty>
-                                              <Width rdf:ID="Width_80">
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >80.0</value>
-                                                <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                                              </Width>
-                                            </hasProperty>
-                                            <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-                                            <hasProperty>
-                                              <LightType rdf:ID="LightType_LED">
-                                                <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#string"
-                                                >LED</value>
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                              </LightType>
-                                            </hasProperty>
-                                            <hasProperty rdf:resource="#MaxCurrentConsumption_0.08"/>
-                                            <hasProperty rdf:resource="#MaxAmbientTemperature_55"/>
-                                            <hasIdentifier>
-                                              <Identifier rdf:ID="ID_Sensopart_FL64C">
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#string"
-                                                >Sensopart_FL64C</value>
-                                              </Identifier>
-                                            </hasIdentifier>
-                                            <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorNPN"/>
-                                            <hasProperty>
-                                              <Material rdf:ID="Material_Polycarbonat">
-                                                <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#string"
-                                                >Polycarbonat</value>
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                              </Material>
-                                            </hasProperty>
-                                            <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
-                                            <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
-                                            <hasProperty rdf:resource="#Height_43"/>
-                                            <hasProperty>
-                                              <Width rdf:ID="Width_12">
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-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >12.0</value>
-                                                <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
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-                                            <hasProperty rdf:resource="#MaxCurrentConsumption_0.06"/>
-                                            <hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
-                                            <hasProperty>
-                                              <MaxVoltageSupply rdf:ID="MaxVoltageSupply_26.4">
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >26.4</value>
-                                                <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
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-                                            </hasProperty>
-                                            <hasSkill rdf:resource="#DetectColor_3"/>
-                                            <hasProperty>
-                                              <MinAmbientTemperature rdf:ID="MinAmbientTemperature_5">
-                                                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                                                <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                                                <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >5.0</value>
-                                                <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                                                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
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-                                                <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                                <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
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-                                            <hasProperty rdf:resource="#Length_66.25"/>
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-                                        <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
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-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                        >65</value>
-                                        <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                                        <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
-                                        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
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-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >1.0</value>
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-                                    <hasSkill rdf:resource="#Read2DMatrixCode_1"/>
-                                    <hasSkill>
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-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                    <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
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-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
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-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
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-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                        >Connector M12, 8 Pins</value>
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-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
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-                                        >55.0</value>
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-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
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-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                        >1024x768</value>
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-                            <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
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-                            <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-8Pins"/>
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-                        <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                        <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
-                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-                        >6</value>
-                      </DegreesOfFreedom>
-                    </hasProperty>
-                    <hasProperty>
-                      <Payload rdf:ID="Payload_10">
-                        <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
-                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-                        >10</value>
-                      </Payload>
-                    </hasProperty>
-                    <hasIdentifier>
-                      <Identifier rdf:ID="ID_CLOOS_R410">
-                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                        >CLOOS_R410</value>
-                      </Identifier>
-                    </hasIdentifier>
-                    <hasSkill rdf:resource="#Circular_29"/>
-                    <hasProperty>
-                      <MaxVoltageSupply rdf:ID="MaxVoltageSupply_450">
-                        <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
-                        <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
-                        <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
-                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-                        >450</value>
-                      </MaxVoltageSupply>
-                    </hasProperty>
-                    <hasProperty rdf:resource="#TypeOfActuation_Electric"/>
-                    <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
-                    <hasProperty rdf:resource="#EnclosureRatingIP_54"/>
-                    <hasSkill rdf:resource="#AsFastAsPossible_28"/>
-                    <hasProperty rdf:resource="#BusInterface_RS232"/>
-                    <hasProperty>
-                      <MinVoltageSupply rdf:ID="MinVoltageSupply_350">
-                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-                        >350</value>
-                        <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
-                        <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
-                        <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
-                      </MinVoltageSupply>
-                    </hasProperty>
-                    <hasProperty>
-                      <Repeatability rdf:ID="Repeatability_0.1">
-                        <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
-                        <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
-                        <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                        <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
-                        <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                        >0.1</value>
-                        <hasEditable rdf:resource="#isEditable_false"/>
-                      </Repeatability>
-                    </hasProperty>
-                    <hasProperty>
-                      <Weight rdf:ID="Weight_205">
-                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-                        >205</value>
-                        <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
-                        <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
-                        <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
-                      </Weight>
-                    </hasProperty>
-                    <hasProperty>
-                      <MinAmbientTemperature rdf:ID="MinAmbientTemperature_-15">
-                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                        >-15.0</value>
-                        <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
-                        <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
-                        <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
-                      </MinAmbientTemperature>
-                    </hasProperty>
-                    <hasSkill>
-                      <Karthesian rdf:ID="Karthesian_30">
-                        <isSkillOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
-                        <isSkillOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-                        <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                        <isSkillOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
-                        <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                        <isSkillOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
-                        <isSkillOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-                      </Karthesian>
-                    </hasSkill>
-                  </ArticulatedRobot>
-                </isSkillOf>
-                <isSkillOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
-                <isSkillOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
-                <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                <isSkillOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-              </Circular>
-            </hasSkill>
-            <hasProperty>
-              <Weight rdf:ID="Weight_40.5">
-                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                >40.5</value>
-                <hasEditable rdf:resource="#isEditable_false"/>
-                <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-                <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-              </Weight>
-            </hasProperty>
-            <hasIdentifier>
-              <Identifier rdf:ID="ID_Staeubli_RS40B">
-                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                >Staeubli_RS40B</value>
-                <hasEditable rdf:resource="#isEditable_false"/>
-              </Identifier>
-            </hasIdentifier>
-            <hasProperty>
-              <DegreesOfFreedom rdf:ID="DegreesOfFreedom_4">
-                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                <hasEditable rdf:resource="#isEditable_false"/>
-                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-                >4</value>
-              </DegreesOfFreedom>
-            </hasProperty>
-            <hasProperty rdf:resource="#TypeOfActuation_Electric"/>
-            <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
-            <hasProperty rdf:resource="#EnclosureRatingIP_54"/>
-            <hasSkill rdf:resource="#Karthesian_30"/>
-            <hasSkill rdf:resource="#AsFastAsPossible_28"/>
-            <hasProperty rdf:resource="#MaxAmbientTemperature_40"/>
-            <hasProperty>
-              <Reachability rdf:ID="Reachability_400">
-                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-                >400</value>
-                <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                <hasEditable rdf:resource="#isEditable_false"/>
-              </Reachability>
-            </hasProperty>
-            <hasProperty rdf:resource="#Repeatability_0.01"/>
-            <hasProperty rdf:resource="#NumberOfJoints_4"/>
-            <hasProperty>
-              <Payload rdf:ID="Payload_2.0">
-                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                >2.0</value>
-                <hasEditable rdf:resource="#isEditable_false"/>
-                <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-                <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-              </Payload>
-            </hasProperty>
-          </ScaraRobot>
-        </isPropertyOf>
-        <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-        >0.01</value>
-        <hasEditable rdf:resource="#isEditable_false"/>
-      </Repeatability>
-    </hasProperty>
-    <hasProperty>
-      <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_90">
-        <hasEditable rdf:resource="#isEditable_false"/>
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-        >90.0</value>
-        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-        <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-      </MaxAmbientTemperature>
-    </hasProperty>
-    <hasProperty>
-      <MaxLiftWay rdf:ID="MaxLiftWay_2.0">
-        <hasEditable rdf:resource="#isEditable_false"/>
-        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-        <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-        >2.0</value>
-      </MaxLiftWay>
-    </hasProperty>
-    <hasProperty>
-      <Weight rdf:ID="Weight_0.038">
-        <hasEditable rdf:resource="#isEditable_false"/>
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-        >0.038</value>
-        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-      </Weight>
-    </hasProperty>
-    <hasProperty>
-      <MaxLiftWeight rdf:ID="MaxLiftWeight_0.14">
-        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-        >0.14</value>
-        <hasEditable rdf:resource="#isEditable_false"/>
-      </MaxLiftWeight>
-    </hasProperty>
-    <hasProperty rdf:resource="#Repeatability_0.1"/>
-    <hasProperty rdf:resource="#Weight_0.04"/>
-    <hasProperty>
-      <Weight rdf:ID="Weight_985">
-        <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-        >985.0</value>
-        <hasEditable rdf:resource="#isEditable_false"/>
-      </Weight>
-    </hasProperty>
-    <hasProperty>
-      <Weight rdf:ID="Weight_98">
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-        >98.0</value>
-        <hasEditable rdf:resource="#isEditable_false"/>
-        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-      </Weight>
-    </hasProperty>
-    <hasProperty>
-      <NumberOfFingers rdf:ID="NumberOfFingers_2">
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >2</value>
-        <hasEditable rdf:resource="#isEditable_false"/>
-        <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-      </NumberOfFingers>
-    </hasProperty>
-    <hasProperty>
-      <Payload rdf:ID="Payload_45.0">
-        <hasEditable rdf:resource="#isEditable_false"/>
-        <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-        >45.0</value>
-      </Payload>
-    </hasProperty>
-    <hasProperty>
-      <CycleTime rdf:ID="CycleTime_0.03">
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-        >0.03</value>
-        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-        <hasEditable rdf:resource="#isEditable_false"/>
-      </CycleTime>
-    </hasProperty>
-    <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-    <hasSkill rdf:resource="#OpenFingers_1"/>
-    <hasIdentifier>
-      <Identifier rdf:ID="ID_Schunk_MPG_20">
-        <hasEditable>
-          <isEditable rdf:ID="isEditable_true">
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-            >1</value>
-          </isEditable>
-        </hasEditable>
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >Schunk_MPG_20</value>
-      </Identifier>
-    </hasIdentifier>
-    <hasProperty>
-      <Repeatability rdf:ID="Repeatability_0.02">
-        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-        <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-        <hasEditable rdf:resource="#isEditable_false"/>
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-        >0.02</value>
-      </Repeatability>
-    </hasProperty>
-    <hasProperty>
-      <Payload rdf:ID="Payload_0.14">
-        <hasEditable rdf:resource="#isEditable_false"/>
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-        >0.14</value>
-        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-      </Payload>
-    </hasProperty>
-    <hasProperty>
-      <Weight rdf:ID="Weight_51">
-        <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-        <hasEditable rdf:resource="#isEditable_false"/>
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-        >51.0</value>
-      </Weight>
-    </hasProperty>
-    <hasProperty>
-      <MaxForce rdf:ID="MaximumForce_24">
-        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-        >24.0</value>
-        <hasEditable rdf:resource="#isEditable_false"/>
-      </MaxForce>
-    </hasProperty>
-    <hasProperty rdf:resource="#Weight_40.5"/>
-    <hasProperty rdf:resource="#Payload_2.0"/>
-    <hasProperty>
-      <Repeatability rdf:ID="Repeatability_0.03">
-        <hasEditable rdf:resource="#isEditable_false"/>
-        <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-        <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-        >0.03</value>
-      </Repeatability>
-    </hasProperty>
-    <hasProperty>
-      <Payload rdf:ID="Payload_5.0">
-        <hasEditable rdf:resource="#isEditable_false"/>
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-        >5.0</value>
-        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-        <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-      </Payload>
-    </hasProperty>
-    <hasProperty rdf:resource="#EnclosureRatingIP_54"/>
-    <hasProperty rdf:resource="#Weight_0.4"/>
-    <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
-    <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
-    <hasSkill>
-      <CloseFingers rdf:ID="CloseFingers_25">
-        <isSkillOf rdf:resource="#Schunk_MPG_20"/>
-        <isSkillOf rdf:resource="#Schunk_MPG_64"/>
-      </CloseFingers>
-    </hasSkill>
-    <hasProperty>
-      <EnclosureRatingIP rdf:ID="EnclosureRatingIP_30">
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >30</value>
-        <hasEditable rdf:resource="#isEditable_false"/>
-        <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-      </EnclosureRatingIP>
-    </hasProperty>                                            </rdf:Description>
-                                                            </isSkillOf>
-                                                          </OpenFingers>
-                                                        </hasSkill>
-                                                        <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"/>
-                                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                                          </Payload>
-                                                        </hasProperty>
-                                                        <hasProperty>
-                                                          <Weight rdf:ID="Weight_0.6">
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#float"
-                                                            >0.6</value>
-                                                            <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                                          </Weight>
-                                                        </hasProperty>
-                                                        <hasProperty rdf:resource="#Repeatability_0.1"/>
-                                                        <hasProperty rdf:resource="#EnclosureRatingIP_30"/>
-                                                        <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
-                                                        <hasProperty rdf:resource="#Repeatability_0.03"/>
-                                                        <hasProperty rdf:resource="#EnclosureRatingIP_54"/>
-                                                        <hasProperty rdf:resource="#MaxLiftWay_2.0"/>
-                                                        <hasProperty rdf:resource="#Repeatability_0.02"/>
-                                                        <hasProperty rdf:resource="#NumberOfFingers_2"/>
-                                                        <hasProperty>
-                                                          <CycleTime rdf:ID="CycleTime_0.01">
-                                                            <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#float"
-                                                            >0.01</value>
-                                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                                          </CycleTime>
-                                                        </hasProperty>
-                                                        <hasSkill rdf:resource="#CloseFingers_25"/>
-                                                        <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
-                                                        <hasProperty rdf:resource="#MaxAmbientTemperature_90"/>
-                                                        <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-                                                        <hasProperty rdf:resource="#Repeatability_0.01"/>
-                                                      </rdf:Description>
-                                                    </isPropertyOf>
-                                                    <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-                                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
-                                                    <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#string"
-                                                    >30</value>
-                                                  </EnclosureRatingIP>
-                                                </hasProperty>
-                                                <hasProperty rdf:resource="#MaxAmbientTemperature_45"/>
-                                                <hasProperty rdf:resource="#TypeOfActuation_Electric"/>
-                                                <hasProperty rdf:resource="#MinVoltageSupply_350"/>
-                                                <hasProperty rdf:resource="#PowerConsumption_3"/>
-                                                <hasSkill rdf:resource="#Circular_29"/>
-                                                <hasProperty>
-                                                  <Reachability rdf:ID="Reachability_2215">
-                                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#integer"
-                                                    >2215</value>
-                                                  </Reachability>
-                                                </hasProperty>
-                                                <hasProperty rdf:resource="#MinAmbientTemperature_-15"/>
-                                                <hasIdentifier>
-                                                  <Identifier rdf:ID="ID_CLOOS_R350">
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#string"
-                                                    >CLOOS_R350</value>
-                                                  </Identifier>
-                                                </hasIdentifier>
-                                                <hasProperty>
-                                                  <Payload rdf:ID="Payload_15">
-                                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
-                                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#integer"
-                                                    >15</value>
-                                                  </Payload>
-                                                </hasProperty>
-                                                <hasProperty rdf:resource="#IntelligentCtrl_1"/>
-                                                <hasSkill rdf:resource="#Karthesian_30"/>
-                                                <hasProperty rdf:resource="#Weight_205"/>
-                                                <hasProperty rdf:resource="#NumberOfJoints_6"/>
-                                                <hasProperty rdf:resource="#Repeatability_0.1"/>
-                                                <hasProperty rdf:resource="#MaxVoltageSupply_450"/>
-                                                <hasSkill rdf:resource="#AsFastAsPossible_28"/>
-                                                <hasProperty rdf:resource="#BusInterface_RS232"/>
-                                                <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
-                                                <hasProperty rdf:resource="#DegreesOfFreedom_6"/>
-                                              </ArticulatedRobot>
-                                            </isPropertyOf>
-                                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                                            <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
-                                          </MaxAmbientTemperature>
-                                        </hasProperty>
-                                        <hasProperty rdf:resource="#IntelligentCtrl_1"/>
-                                        <hasSkill rdf:resource="#Karthesian_30"/>
-                                        <hasProperty>
-                                          <MinVoltageSupply rdf:ID="MinVoltageSupply_200">
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >200.0</value>
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                                          </MinVoltageSupply>
-                                        </hasProperty>
-                                        <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
-                                        <hasIdentifier>
-                                          <Identifier rdf:ID="ID_ABB_IRB-4400">
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#string"
-                                            >ID_ABB_IRB-4400</value>
-                                          </Identifier>
-                                        </hasIdentifier>
-                                        <hasProperty rdf:resource="#EnclosureRatingIP_54"/>
-                                        <hasProperty>
-                                          <Reachability rdf:ID="Reachability_1960">
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#integer"
-                                            >1960</value>
-                                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                                          </Reachability>
-                                        </hasProperty>
-                                        <hasProperty rdf:resource="#DegreesOfFreedom_6"/>
-                                        <hasProperty rdf:resource="#Repeatability_0.1"/>
-                                        <hasProperty rdf:resource="#MaxAmbientTemperature_40"/>
-                                        <hasProperty rdf:resource="#Reachability_400"/>
-                                        <hasSkill rdf:resource="#AsFastAsPossible_28"/>
-                                        <hasProperty rdf:resource="#DegreesOfFreedom_4"/>
-                                        <hasProperty rdf:resource="#Weight_985"/>
-                                        <hasProperty rdf:resource="#NumberOfJoints_6"/>
-                                        <hasSkill rdf:resource="#Circular_29"/>
-                                        <hasProperty>
-                                          <MaxVoltageSupply rdf:ID="MaxVoltageSupply_600">
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >600.0</value>
-                                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                          </MaxVoltageSupply>
-                                        </hasProperty>
-                                        <hasProperty rdf:resource="#NumberOfJoints_4"/>
-                                        <hasProperty>
-                                          <Reachability rdf:ID="Reachability_800">
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#integer"
-                                            >800</value>
-                                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                                            <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-                                          </Reachability>
-                                        </hasProperty>
-                                        <hasProperty rdf:resource="#Payload_45.0"/>
-                                      </ArticulatedRobot>
-                                    </isSkillOf>
-                                    <isSkillOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
-                                    <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                                    <isSkillOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-                                    <isSkillOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
-                                    <isSkillOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
-                                    <isSkillOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-                                  </AsFastAsPossible>
-                                </hasSkill>
-                                <hasSkill rdf:resource="#Circular_29"/>
-                                <hasProperty rdf:resource="#Weight_205"/>
-                                <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
-                                <hasProperty rdf:resource="#MinVoltageSupply_350"/>
-                                <hasSkill rdf:resource="#Karthesian_30"/>
-                                <hasProperty rdf:resource="#Payload_15"/>
-                                <hasProperty rdf:resource="#PowerConsumption_3"/>
-                                <hasProperty rdf:resource="#TypeOfActuation_Electric"/>
-                                <hasProperty rdf:resource="#IntelligentCtrl_1"/>
-                                <hasProperty rdf:resource="#Repeatability_0.1"/>
-                                <hasProperty>
-                                  <Reachability rdf:ID="Reachability_2100">
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-                                    >2100</value>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
-                                  </Reachability>
-                                </hasProperty>
-                                <hasProperty rdf:resource="#MaxVoltageSupply_450"/>
-                                <hasProperty rdf:resource="#BusInterface_RS232"/>
-                                <hasProperty rdf:resource="#NumberOfJoints_6"/>
-                                <hasProperty rdf:resource="#EnclosureRatingIP_54"/>
-                                <hasProperty rdf:resource="#MinAmbientTemperature_-15"/>
-                                <hasProperty rdf:resource="#DegreesOfFreedom_6"/>
-                                <hasProperty rdf:resource="#MaxAmbientTemperature_45"/>
-                              </ArticulatedRobot>
-                            </isPropertyOf>
-                            <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                            <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-                            <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                            >Electric</value>
-                            <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
-                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                          </TypeOfActuation>
-                        </hasProperty>
-                        <hasSkill rdf:resource="#Circular_29"/>
-                        <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>
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                          </Reachability>
-                        </hasProperty>
-                        <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
-                        <hasProperty rdf:resource="#Payload_5.0"/>
-                        <hasProperty rdf:resource="#NumberOfJoints_4"/>
-                        <hasProperty rdf:resource="#Reachability_800"/>
-                        <hasProperty rdf:resource="#DegreesOfFreedom_6"/>
-                        <hasProperty rdf:resource="#MaxAmbientTemperature_45"/>
-                        <hasProperty rdf:resource="#Reachability_400"/>
-                        <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-                        <hasProperty rdf:resource="#Reachability_1960"/>
-                        <hasSkill rdf:resource="#Karthesian_30"/>
-                        <hasProperty rdf:resource="#IntelligentCtrl_1"/>
-                        <hasIdentifier>
-                          <Identifier rdf:ID="ID_ABB_IRB-140">
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                            >ID_ABB_IRB-140</value>
-                          </Identifier>
-                        </hasIdentifier>
-                        <hasProperty rdf:resource="#MinVoltageSupply_200"/>
-                        <hasProperty rdf:resource="#DegreesOfFreedom_4"/>
-                        <hasProperty rdf:resource="#Repeatability_0.03"/>
-                        <hasProperty rdf:resource="#NumberOfJoints_6"/>
-                        <hasProperty rdf:resource="#MaxVoltageSupply_600"/>
-                        <hasSkill rdf:resource="#AsFastAsPossible_28"/>
-                      </ArticulatedRobot>
-                    </isPropertyOf>
-                    <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-                    <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-                    <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-                    >4</value>
-                  </NumberOfJoints>
-                </hasProperty>
-                <hasProperty rdf:resource="#Weight_51"/>
-                <hasProperty rdf:resource="#TypeOfActuation_Electric"/>
-                <hasProperty rdf:resource="#Reachability_800"/>
-                <hasProperty rdf:resource="#Payload_2.0"/>
-                <hasIdentifier>
-                  <Identifier rdf:ID="ID_Staeubli_RS80">
-                    <hasEditable rdf:resource="#isEditable_false"/>
-                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                    >Staeubli_RS80</value>
-                  </Identifier>
-                </hasIdentifier>
-                <hasProperty rdf:resource="#EnclosureRatingIP_54"/>
-                <hasProperty rdf:resource="#MaxAmbientTemperature_40"/>
-                <hasSkill rdf:resource="#Karthesian_30"/>
-                <hasSkill rdf:resource="#Circular_29"/>
-                <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
-                <hasProperty rdf:resource="#Repeatability_0.01"/>
-                <hasSkill rdf:resource="#AsFastAsPossible_28"/>
-              </ScaraRobot>
-            </isPropertyOf>
-            <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-            <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-            <hasEditable rdf:resource="#isEditable_false"/>
-          </MaxAmbientTemperature>
-        </hasProperty>
-        <hasProperty>
-          <ResponseTime rdf:ID="ResponseTime_0.005">
-            <hasEditable rdf:resource="#isEditable_false"/>
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-            >0.0050</value>
-            <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-          </ResponseTime>
-        </hasProperty>
-        <hasProperty>
-          <MaxVoltageSupply rdf:ID="MaxVoltageSupply_24">
-            <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-            >24.0</value>
-            <hasEditable rdf:resource="#isEditable_false"/>
-          </MaxVoltageSupply>
-        </hasProperty>
-        <hasProperty rdf:resource="#MinAmbientTemperature_0"/>
-        <hasIdentifier>
-          <Identifier rdf:ID="ID_Sick_CVS2-P112">
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-            >Sick_CVS2-P112</value>
-            <hasEditable rdf:resource="#isEditable_false"/>
-          </Identifier>
-        </hasIdentifier>
-        <hasProperty>
-          <ScanningDistance rdf:ID="ScanningDistance_0.24">
-            <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-            >0.24</value>
-            <hasEditable rdf:resource="#isEditable_false"/>
-          </ScanningDistance>
-        </hasProperty>
-        <hasProperty>
-          <LightType rdf:ID="LightType_LEDwhite">
-            <hasEditable rdf:resource="#isEditable_false"/>
-            <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-            >LEDwhite</value>
-          </LightType>
-        </hasProperty>
-        <hasProperty>
-          <FieldOfView rdf:ID="FieldOfView_50x60">
-            <hasEditable rdf:resource="#isEditable_false"/>
-            <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-            >50x60</value>
-          </FieldOfView>
-        </hasProperty>
-        <hasProperty>
-          <Weight rdf:ID="Weight_0.18">
-            <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-            <hasEditable rdf:resource="#isEditable_false"/>
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-            >0.18</value>
-          </Weight>
-        </hasProperty>
-        <hasProperty rdf:resource="#MinVoltageSupply_12.0"/>
-        <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-        <hasSkill>
-          <SortObjects rdf:ID="SortObjectColor_15">
-            <isSkillOf rdf:resource="#Sick_CVS2-P112"/>
-          </SortObjects>
-        </hasSkill>
-        <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
-        <hasProperty rdf:resource="#MaxCurrentConsumption_0.2"/>
-        <hasProperty>
-          <Resolution rdf:ID="Resolution_208x238">
-            <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
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-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-            >208x238</value>
-          </Resolution>
-        </hasProperty>
-      </VisionSensor>
-    </isPropertyOf>
-    <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
-    <hasEditable rdf:resource="#isEditable_false"/>
-  </MaxCurrentConsumption>
-  <Material rdf:ID="Material-ZincPressureCasting">
-    <hasEditable rdf:resource="#isEditable_false"/>
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Zinc Pressure Casting</value>
-  </Material>
-  <Atomic rdf:ID="Atomic_11"/>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
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-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
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-                <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                >7.0</rdf:first>
-                <rdf:rest rdf:parseType="Resource">
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-                      <rdf:rest rdf:parseType="Resource">
-                        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
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-                        <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:rest>
-                      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
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-            </rdf:rest>
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-      >pneumatic</rdf:first>
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-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
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-          >electric</rdf:first>
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-    >35.0</value>
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-  <WormDiameter rdf:ID="WormDiameter_M5">
-    <hasEditable rdf:resource="#isEditable_false"/>
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >M5</value>
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-  <MaxForce rdf:ID="MaximumForce_4.7">
-    <hasEditable rdf:resource="#isEditable_false"/>
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-    >4.7</value>
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-        >outside</rdf:first>
-        <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-      </rdf:rest>
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >inside</rdf:first>
-    </owl:oneOf>
-  </owl:DataRange>
-  <AdjustVacuumToGrip rdf:ID="AdjustVacuumToGrip_16">
-    <isSubskillOf>
-      <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK_2DOF_Part3">
-        <hasSubskill rdf:resource="#AdjustVacuumToGrip_16"/>
-        <hasSubskill>
-          <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK_2DOF_Part2">
-            <isSubskillOf rdf:resource="#AMMS_IPA_PICK_2DOF_Part3"/>
-            <hasSubskill>
-              <Displace rdf:ID="IPA_AMMS_MoveDown">
-                <isSubskillOf rdf:resource="#AMMS_IPA_PICK_2DOF_Part2"/>
-              </Displace>
-            </hasSubskill>
-            <hasSubskill>
-              <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK_2DOF_Part1">
-                <hasSubskill>
-                  <Displace rdf:ID="IPA_AMMS_MoveFront">
-                    <isSubskillOf rdf:resource="#AMMS_IPA_PICK_2DOF_Part1"/>
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-                </hasSubskill>
-                <isSubskillOf rdf:resource="#AMMS_IPA_PICK_2DOF_Part2"/>
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-            </hasSubskill>
-          </CompoundManipulationAndHandlingFunction>
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-        <isSubskillOf>
-          <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK_2DOF">
-            <isSkillOf>
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-                <hasSkill rdf:resource="#AMMS_IPA_PICK_2DOF"/>
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-            </isSkillOf>
-            <isSkillOf>
-              <rdf:Description rdf:ID="VacuumGripper_1">
-                <hasSkill rdf:resource="#AMMS_IPA_PICK_2DOF"/>
-                <hasIdentifier>
-                  <Identifier rdf:ID="ID_IPA_AMMS_SimpleGripper-2DOF">
-                    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                    >IPA-2DOF Picker from AMMS.</rdfs:comment>
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-                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                    >IPA_AMMS_SimpleGripper-2DOF</value>
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-            </isSkillOf>
-            <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-            >Pick operation for IPA-2DOF Picker from AMMS.
-Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
-            <hasSubskill rdf:resource="#AMMS_IPA_PICK_2DOF_Part3"/>
-          </CompoundManipulationAndHandlingFunction>
-        </isSubskillOf>
-      </CompoundManipulationAndHandlingFunction>
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-  <AdjustVacuumToRelease rdf:ID="AdjustVacuumToRelease_1"/>
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-  <WormDiameter rdf:ID="WormDiameter_G1-2">
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-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
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-  <MinAmbientTemperature rdf:ID="MinAmbientTemperature_-20">
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-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-    >-20.0</value>
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-      <rdf:rest rdf:parseType="Resource">
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >belts</rdf:first>
-        <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"
-              >harmonic</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"
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-            <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>
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-      </rdf:rest>
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >torque</rdf:first>
-    </owl:oneOf>
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-  <Displace rdf:ID="IPA_AMMS_MoveUp"/>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >cylindrical</rdf:first>
-        <rdf:rest rdf:parseType="Resource">
-          <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-          >spherical</rdf:first>
-          <rdf:rest rdf:parseType="Resource">
-            <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-            >articulated</rdf:first>
-            <rdf:rest rdf:parseType="Resource">
-              <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-              >scara</rdf:first>
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-      </rdf:rest>
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >carthesian</rdf:first>
-    </owl:oneOf>
-  </owl:DataRange>
-  <Material rdf:ID="Material_Silicon">
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Silicon SI 55+-5</value>
-    <hasEditable rdf:resource="#isEditable_false"/>
-  </Material>
-  <owl:AllDifferent/>
-  <owl:DataRange>
-    <owl:oneOf rdf:parseType="Resource">
-      <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-      >joint</rdf:first>
-      <rdf:rest rdf:parseType="Resource">
-        <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >tool</rdf:first>
-        <rdf:rest rdf:parseType="Resource">
-          <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-          >world</rdf:first>
-          <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
-        </rdf:rest>
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-  <owl:DataRange>
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-      >hydraulic</rdf:first>
-      <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:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
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-          >electric</rdf:first>
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-    >2DOF-Gripper of the IPA AMMS Demonstrator.</rdfs:comment>
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-  <Material rdf:ID="Material_Perbunan">
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diff --git a/testontologies/v1.13.owl b/testontologies/v1.13.owl
deleted file mode 100644
index c1a818142b0fb9601480e8e5c9ec09c685972bd1..0000000000000000000000000000000000000000
--- a/testontologies/v1.13.owl
+++ /dev/null
@@ -1,11830 +0,0 @@
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-    xmlns:p1="http://www.owl-ontologies.com/assert.owl#"
-    xmlns="http://www.owl-ontologies.com/siaras.owl#"
-    xmlns:owl="http://www.w3.org/2002/07/owl#"
-    xmlns:dc="http://purl.org/dc/elements/1.1/"
-    xmlns:xsd="http://www.w3.org/2001/XMLSchema#"
-    xmlns:daml="http://www.daml.org/2001/03/daml+oil#"
-    xmlns:rdfs="http://www.w3.org/2000/01/rdf-schema#"
-  xml:base="http://www.owl-ontologies.com/siaras.owl">
-  <owl:Ontology rdf:about=""/>
-  <owl:Class rdf:ID="UltrasonicDistanceSensor">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >distanceMeasurements.pdf
-SICK
-pag 4</rdfs:comment>
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-    <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>
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-      <owl:Class rdf:ID="DetectColor"/>
-    </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:11
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 3</rdfs:comment>
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-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
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-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 2</rdfs:comment>
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-      <owl:Class rdf:ID="Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Diameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Width"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaxVoltageSupply"/>
-    </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="MechanicalResistance"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#PhysicalPropertiesSensor">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxCurrentConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Diameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Width"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Length"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="LightSpotSize">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaxMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MinMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="LaserClass"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="LightType"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Diameter in mm.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaxScanAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="FieldOfView"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ScanningDistance"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="InsideOrOutsidePicking">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaxLiftWay"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaxLiftWeight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MaximumVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="TypeOfVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SizeOfGripper"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxCurrentConsumption">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Diameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Width"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in amperes</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Length"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Mill">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lathe"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Rub"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Thrust"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Saw"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lap"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#File"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cut"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thermal-Separate"/>
-    </owl:disjointWith>
-    <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>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Grind"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="Device">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:8</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:allValuesFrom>
-          <owl:Class rdf:about="#Skill"/>
-        </owl:allValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:allValuesFrom>
-          <owl:Class rdf:ID="Property"/>
-        </owl:allValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#PhysicalProperties"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#MainFunction"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="PhysicalObject"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Workpiece"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="VisionSensor">
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="OpticSensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="OpticLuminescenceScanner"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticSwitch"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticContrastScanner"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="LightGrid"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticColorSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="OpticDistanceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SmartCamera"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="LaserScanner2D"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Length">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Width"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Diameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CheckPosition">
-    <owl:disjointWith rdf:resource="#CheckPresence"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Count"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CheckSurfaceForIrregularities"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Check"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Diameter">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Width"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxVoltageSupply"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#CloseClaws">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Grasp"/>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:ID="PincerGripper"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#AdjustVacuumToGrip"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#AdjustCurrentToGrip"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CloseFingers"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Workpiece">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalObject"/>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:allValuesFrom>
-          <owl:Class rdf:about="#Property"/>
-        </owl:allValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Device"/>
-  </owl:Class>
-  <owl:Class rdf:ID="MechanicalConnector">
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="ToolInterface"/>
-    </rdfs:subClassOf>
-    <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:disjointWith>
-      <owl:Class rdf:ID="ElectricalConnector"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#CheckSurfaceForIrregularities">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Check"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Count"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CheckPosition"/>
-    <owl:disjointWith rdf:resource="#CheckPresence"/>
-    <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="Part">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Assembly"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="ObjectBase"/>
-    </rdfs:subClassOf>
-  </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:about="#Varnish">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Powder-coat"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electroplate"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Hot-galvanise"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Put colour or any other material onto the surface, either by spraying or painting.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Coat"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="TactileSensor">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="TorqueForceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CapacitveSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MagneticSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#UltrasonicSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="InductiveSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="EncoderSensor"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Sensor"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticContrastScanner">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticLuminescenceScanner"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticDistanceSensor"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#OpticSensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticColorSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SmartCamera"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightGrid"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticSwitch"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserScanner2D"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#VisionSensor"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 3</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:ID="Fold">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Buckle, squeeze or crop thin, malleable and/or flexible materials like sheet metals and plates.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Roll"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Forge"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Bend"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Flang"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="True"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Bead"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Form"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Deep-Draw"/>
-    </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="Extrude"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticSwitch">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticDistanceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticLuminescenceScanner"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#VisionSensor"/>
-    <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightGrid"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SmartCamera"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserScanner2D"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticColorSensor"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#OpticSensor"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="SimpleControl">
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="ControlSystem"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="NumericalCtrl"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="IntelligentCtrl"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="PlaybackCtrl"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="MeasureDistance">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureMotionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureVolume"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureTorque"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureDiameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureArea"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MeasureSpeed"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Measure"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Skill">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:allValuesFrom rdf:resource="#Device"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="http://www.w3.org/2002/07/owl#Thing"/>
-    <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:about="#ObjectBase"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Operation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Task"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Property"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#CloseFingers">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#AdjustVacuumToGrip"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CloseClaws"/>
-    <owl:disjointWith rdf:resource="#AdjustCurrentToGrip"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:ID="FingerGripper"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Grasp"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#AdditionalFunction">
-    <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:about="#CompoundSkills"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MainFunction"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiagnosticFunction"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureVolume">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Measure"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureTorque"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureArea"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureMotionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureSpeed"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAngle"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MinMeasurementRange">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FieldOfView"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxScanAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >In mm.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ScanningDistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightType"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="CalibrateImage">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ExtractEdges"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CompressImageData"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="TransformImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="DecompressImageData"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="FilterImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SegmentImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="BlobAnalysis"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="ImageAnalysis"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="Communication">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Cost"/>
-    </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:ID="Identifier"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Geometry"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Arrangement"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="DeviceProperty"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="Accuracy">
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="QualityCriteria"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Repeatability"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Resolution"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="PathVelocityFluctuation"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="WireDrawEncoder">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#EncoderSensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="WheelEncoder"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="LinearEncoder"/>
-    </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="#EncoderSensor">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CapacitveSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TactileSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TorqueForceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MagneticSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InductiveSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#UltrasonicSensor"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Sensor"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="ScaraRobot">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ArticulatedRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SpecialKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CartesianRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="HexapodRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SimpleKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ParallelKinematicRobot"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Robot"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Industrial type, but special kinematic arrangement. Well-known manufacturer: Bosch-Rexrodt.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Partition">
-    <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:about="#Branch"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Divide"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Unify"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Assign"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Merge"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ModifyAmount"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="LoadParameterSet">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Reset"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SetParameterValue"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Calibrate"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SaveParameterSet"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#AdditionalFunction"/>
-  </owl:Class>
-  <owl:Class rdf:ID="ParallelGripper">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="AngleGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PincerGripper"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#CapacitveSensor">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MagneticSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TactileSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TorqueForceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#EncoderSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#UltrasonicSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InductiveSensor"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Sensor"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="Atomic">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Sequence"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Parallel"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Operation"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxVoltageSupply">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Width"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Height"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in volts</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureArea">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureTorque"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureSpeed"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasurePositionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureTemperature"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Measure"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureMotionOfObject"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#ScanningDistance">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserClass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxScanAngle"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightType"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FieldOfView"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Height">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </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="#Width"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Shape"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticSensor">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Sensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#TactileSensor"/>
-    <owl:disjointWith rdf:resource="#CapacitveSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InductiveSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MagneticSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TorqueForceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#UltrasonicSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#EncoderSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Shape">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Width"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DegreesOfFreedom"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#DegreesOfFreedom">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Width"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weight"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#ExtractEdges">
-    <owl:disjointWith rdf:resource="#CalibrateImage"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SegmentImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TransformImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FilterImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CompressImageData"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DecompressImageData"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#BlobAnalysis"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ImageAnalysis"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="MountedDevicePosition">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Arrangement"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="MountedDeviceOrientation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CoordinateReferenceSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="WorkFrame"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="StoreInOrder">
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Store"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="StorePartlyOrdered"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="StoreUnOrdered"/>
-    </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.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#WheelEncoder">
-    <rdfs:subClassOf rdf:resource="#EncoderSensor"/>
-    <owl:disjointWith rdf:resource="#WireDrawEncoder"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LinearEncoder"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Calibrate">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SetParameterValue"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SaveParameterSet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reset"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LoadParameterSet"/>
-    <rdfs:subClassOf rdf:resource="#AdditionalFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#SizeOfGripper">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWay"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWeight"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#TypeOfFingers">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </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="#MaxLiftWay"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="isEditable">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This attribute indicates whether the property is supposed to be provided each time a skill is invoked or just once.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Property"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DeviceProperty"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SkillProperty"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Task">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Operation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Property"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ObjectBase"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Skill"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Detect">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Read"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Classify"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Measure"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Scan"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Check"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ImageAnalysis"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="SensorFunction"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 2-5</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:ID="ClassifyObject">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="SortObjects"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Classify"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Weight">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Width"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Material"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in kg</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Rub">
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Saw"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lap"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lathe"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Thrust"/>
-    <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="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#File"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thermal-Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Grind"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cut"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#LaserClass">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FieldOfView"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxMeasurementRange"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxScanAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ScanningDistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LightType"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Crush">
-    <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="#Extrude"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Form"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Roll"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#True"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Stretch-Form"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bend"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
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-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Relative change of length by pressure force.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#PhysicalObject">
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-      <owl:Class rdf:about="#Property"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ObjectBase"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Operation"/>
-    </owl:disjointWith>
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-    <owl:disjointWith rdf:resource="#Task"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is basically the world.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Unify">
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-      <owl:Class rdf:about="#Divide"/>
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-      <owl:Class rdf:about="#Branch"/>
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-    <owl:disjointWith>
-      <owl:Class rdf:about="#Assign"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Partition"/>
-    <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>
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-      <owl:Class rdf:about="#ModifyAmount"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#DetectLuminescence">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 5</rdfs:comment>
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-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
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-    <owl:disjointWith rdf:resource="#DetectColor"/>
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-      <owl:Class rdf:about="#Stretch-Form"/>
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-      <owl:Class rdf:about="#Bead"/>
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-    <owl:disjointWith>
-      <owl:Class rdf:about="#Extrude"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is a malleable procedure. The material is feed between at least two rotating rolls. There are various types of rollling.</rdfs:comment>
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-      <owl:Class rdf:about="#True"/>
-    </owl:disjointWith>
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-      <owl:Class rdf:about="#Press"/>
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-      <owl:Class rdf:about="#Bend"/>
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-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Form"/>
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-    <owl:disjointWith rdf:resource="#Crush"/>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
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-    <owl:disjointWith>
-      <owl:Class rdf:about="#Forge"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Deep-Draw"/>
-    </owl:disjointWith>
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-  <owl:Class rdf:about="#Position">
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-      <owl:Class rdf:about="#Feed"/>
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-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pan"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part from an undefined to a well-defined position. The part's orientation is not important here.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Convey"/>
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-      <owl:Class rdf:about="#Orient"/>
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-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Turn"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Displace"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pass"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrange"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Resolution">
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Repeatability"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PathVelocityFluctuation"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#LinearEncoder">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >distanceMeasurements.pdf
-SICK
-pag 4</rdfs:comment>
-    <owl:disjointWith rdf:resource="#WireDrawEncoder"/>
-    <owl:disjointWith rdf:resource="#WheelEncoder"/>
-    <rdfs:subClassOf rdf:resource="#EncoderSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxMeasurementRange">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >In mm.</rdfs:comment>
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-      <owl:Class rdf:about="#MaxScanAngle"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
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-      <owl:Class rdf:about="#LightType"/>
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-    <owl:disjointWith>
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-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
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-      <owl:Class rdf:about="#Check"/>
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-      <owl:Class rdf:about="#MeasurePositionOfObject"/>
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-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
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-      <owl:Class rdf:about="#MeasureForce"/>
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-      <owl:Class rdf:about="#MeasureAngle"/>
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-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
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-      <owl:Class rdf:about="#MeasureMotionOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureSpeed"/>
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-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
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-  <owl:Class rdf:ID="AdjustCurrentToRelease">
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-      <owl:Class rdf:ID="AdjustVacuumToRelease"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="OpenFingers"/>
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-    <owl:disjointWith>
-      <owl:Class rdf:ID="OpenClaws"/>
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-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:allValuesFrom>
-          <owl:Class rdf:about="#MagnetGripper"/>
-        </owl:allValuesFrom>
-      </owl:Restriction>
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-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="Release"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="ReadBarCode">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Task and Skills of Optical Sensors v1.1
-part:7</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Read"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Read2DMatrixCode"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ReadOpticalCharacters"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="InductiveProximitySwitch">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#InductiveSensor"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 2</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:ID="CommunicationProtocol">
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-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="ElectricalInterface"/>
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-    <rdfs:subClassOf rdf:resource="#Communication"/>
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-  <owl:Class rdf:about="#AngleGripper">
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-      <owl:Class rdf:about="#PincerGripper"/>
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-  <owl:Class rdf:about="#Pass">
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-      <owl:Class rdf:about="#Move"/>
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-    <owl:disjointWith>
-      <owl:Class rdf:about="#Turn"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Feed"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pan"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Orient"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrange"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part from one to another positition along an undefined trajectory. The part's orientation remains unchanged.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Position"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Displace"/>
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-  <owl:Class rdf:ID="Gripper">
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-          <owl:Class rdf:about="#ControlSystem"/>
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-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
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-    <owl:disjointWith>
-      <owl:Class rdf:ID="Displacement"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
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-        <owl:someValuesFrom rdf:resource="#Communication"/>
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-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#Grasp"/>
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-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
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-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#Cost"/>
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-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
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-          <owl:Class rdf:about="#Arrangement"/>
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-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
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-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#Release"/>
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-    <rdfs:subClassOf>
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-      <owl:Class rdf:ID="Anneal"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Temper"/>
-    </owl:disjointWith>
-    <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>
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="ModifyWorkpieceProperties"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#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>
-    <rdfs:subClassOf>
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-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#ArticulatedRobot">
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-      <owl:Class rdf:about="#SimpleKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CartesianRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ScaraRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ParallelKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SpecialKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#HexapodRobot"/>
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-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Robot"/>
-    </rdfs:subClassOf>
-    <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:Class>
-  <owl:Class rdf:about="#Form">
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-      <owl:Class rdf:ID="ManufacturingFunction"/>
-    </rdfs:subClassOf>
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-      <owl:Class rdf:about="#ModifyWorkpieceProperties"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Join"/>
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-    <owl:disjointWith>
-      <owl:Class rdf:about="#Mold"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Coat"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Create workpieces from solid raw pieces. The shape is permanently modified. The volumina remains the same.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#TorqueForceSensor">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#UltrasonicSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CapacitveSensor"/>
-    <owl:disjointWith rdf:resource="#OpticSensor"/>
-    <owl:disjointWith>
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-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#EncoderSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MagneticSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TactileSensor"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Sensor"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:ID="Manufacturing">
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-      <owl:Class rdf:about="#ManipulationAndHandling"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Sensor"/>
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-        <owl:someValuesFrom>
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-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
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-    <rdfs:subClassOf rdf:resource="#Device"/>
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-  <owl:Class rdf:ID="ResponseTime">
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-      <owl:Class rdf:ID="SwitchingFrequency"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CycleTime"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in seconds</rdfs:comment>
-    <rdfs:subClassOf>
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-  <owl:Class rdf:about="#MeasurePositionOfObject">
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-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureMotionOfObject"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Measure"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureSpeed"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Lap">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Saw"/>
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-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
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-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cut"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Grind"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lathe"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thermal-Separate"/>
-    </owl:disjointWith>
-    <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 rdf:resource="#Mill"/>
-    <owl:disjointWith rdf:resource="#File"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Thrust"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="CircularParallelGripper">
-    <rdfs:subClassOf rdf:resource="#ParallelGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="LineParallelGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="GeneralParallelGripper"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="CompountSensorFunction">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#CompoundSkills"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CompoundManipulationAndHandlingFunction"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="CompoundManufacturingFunction"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Check">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Scan"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Read"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Classify"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Detect"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Measure"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#SensorFunction"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-Check if a part fulfils given conditions.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:ID="WormDiameter">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Worm"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#MechanicalConnector"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Parallel">
-    <owl:disjointWith rdf:resource="#Atomic"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Sequence"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Operation"/>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >2</owl:cardinality>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasOperation"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxLiftWeight">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in kg</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWay"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaterialOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Forge">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Extrude"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#True"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Deep-Draw"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bend"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Stretch-Form"/>
-    </owl:disjointWith>
-    <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>
-    <rdfs:subClassOf rdf:resource="#Form"/>
-    <owl:disjointWith rdf:resource="#Crush"/>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureMotionOfObject">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureTemperature"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Measure"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureSpeed"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasurePositionOfObject"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAngle"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#LightType">
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#ScanningDistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxScanAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FieldOfView"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#HexapodRobot">
-    <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:disjointWith rdf:resource="#ArticulatedRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SpecialKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SimpleKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ParallelKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CartesianRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ScaraRobot"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Robot"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#MountedDeviceOrientation">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Arrangement"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkFrame"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CoordinateReferenceSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MountedDevicePosition"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ParallelKinematicRobot">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Special kinematic arrangement like the one built in SMErobot.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Robot"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SpecialKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ScaraRobot"/>
-    <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
-    <owl:disjointWith rdf:resource="#HexapodRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CartesianRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SimpleKinematicRobot"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Arrange">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pan"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Displace"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Pass"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Feed"/>
-    </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 rdf:resource="#Position"/>
-    <owl:disjointWith rdf:resource="#Convey"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Orient"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Turn"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#SaveParameterSet">
-    <rdfs:subClassOf rdf:resource="#AdditionalFunction"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SetParameterValue"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reset"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LoadParameterSet"/>
-    <owl:disjointWith rdf:resource="#Calibrate"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MaterialOfGripper">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWay"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfVacuum"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Reset">
-    <owl:disjointWith rdf:resource="#LoadParameterSet"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SetParameterValue"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Calibrate"/>
-    <owl:disjointWith rdf:resource="#SaveParameterSet"/>
-    <rdfs:subClassOf rdf:resource="#AdditionalFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#FilterImage">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SegmentImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CompressImageData"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#BlobAnalysis"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ExtractEdges"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DecompressImageData"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TransformImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CalibrateImage"/>
-    <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Identifier">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrangement"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >For the identifier there are two applications in the later implementation:
-1. Identifier of either a device or a workpiece.
-2. Reference to device identifier or a workpiece identifier as a link, e.g. a URI.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Geometry"/>
-    </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="#Cost"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Communication"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#DeviceProperty"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Material">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Payload"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Width"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Height"/>
-  </owl:Class>
-  <owl:Class rdf:about="#PathVelocityFluctuation">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Repeatability"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Repeatability">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Precision"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#QualityCriteria"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#DetectCollision">
-    <owl:disjointWith rdf:resource="#DetectColor"/>
-    <owl:disjointWith rdf:resource="#DetectLuminescence"/>
-    <owl:disjointWith rdf:resource="#DetectObject"/>
-    <owl:disjointWith rdf:resource="#DetectContrast"/>
-    <rdfs:subClassOf rdf:resource="#Detect"/>
-  </owl:Class>
-  <owl:Class rdf:about="#OpenClaws">
-    <owl:disjointWith rdf:resource="#AdjustCurrentToRelease"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpenFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#AdjustVacuumToRelease"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#PincerGripper"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Release"/>
-    </rdfs:subClassOf>
-  </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>
-      <owl:Class rdf:ID="Secure"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Release"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Attach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="Detach"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#QualityCriteria">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#SkillProperty"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Timing"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Measure">
-    <owl:disjointWith rdf:resource="#Detect"/>
-    <owl:disjointWith rdf:resource="#Check"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Read"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Classify"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Scan"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ImageAnalysis"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#SensorFunction"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-Gather a value as a multiple of a reference value.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Property">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ObjectBase"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Task"/>
-    <owl:disjointWith rdf:resource="#PhysicalObject"/>
-    <owl:disjointWith rdf:resource="#Skill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Operation"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Displace">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Orient"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Turn"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move translationally a part along a straight line. The part's orientiation remains unchanged.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Position"/>
-    <owl:disjointWith rdf:resource="#Arrange"/>
-    <owl:disjointWith rdf:resource="#Convey"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Feed"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Pan"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Pass"/>
-  </owl:Class>
-  <owl:Class rdf:about="#StoreUnOrdered">
-    <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="#StoreInOrder"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StorePartlyOrdered"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Store"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#LineParallelGripper">
-    <owl:disjointWith rdf:resource="#CircularParallelGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#GeneralParallelGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#ParallelGripper"/>
-  </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"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Anneal"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ModifyWorkpieceProperties"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#SortObjects">
-    <owl:disjointWith rdf:resource="#ClassifyObject"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Task and Skills of Optical Sensors v1.1
-part:7</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Classify"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Displacement">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This subclass contains devices which are supposed to move a workpiece, but which are not a robot. An example is a conveyor belt.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ManipulationAndHandling"/>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#Cost"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Gripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Robot"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Detach">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS Detaching an end-effector from a robot (opposite to Attach)</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Attach"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Grasp"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Release"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Secure"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#BlobAnalysis">
-    <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SegmentImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TransformImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DecompressImageData"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CalibrateImage"/>
-    <owl:disjointWith rdf:resource="#ExtractEdges"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CompressImageData"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#FilterImage"/>
-  </owl:Class>
-  <owl:Class rdf:about="#DecompressImageData">
-    <owl:disjointWith rdf:resource="#BlobAnalysis"/>
-    <owl:disjointWith rdf:resource="#FilterImage"/>
-    <owl:disjointWith rdf:resource="#CalibrateImage"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SegmentImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TransformImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ExtractEdges"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CompressImageData"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Assign">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ModifyAmount"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Merge"/>
-    <owl:disjointWith rdf:resource="#Partition"/>
-    <owl:disjointWith rdf:resource="#Unify"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Branch"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Divide"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Create subsets of defined size or amount and move these subsets to a defined location.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#ModifyAmount">
-    <rdfs:subClassOf>
-      <owl:Class rdf:ID="ManipulationAndHandlingFunction"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Store"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Move"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Secure"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#WorkFrame">
-    <owl:disjointWith rdf:resource="#MountedDevicePosition"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CoordinateReferenceSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Arrangement"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#TypeOfVacuum">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxLiftWay"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Payload">
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalProperties"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in kg</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Width"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#UltrasonicSensor">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Sensor"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#EncoderSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MagneticSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CapacitveSensor"/>
-    <owl:disjointWith rdf:resource="#TactileSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#InductiveSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpticSensor"/>
-    <owl:disjointWith rdf:resource="#TorqueForceSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#InductiveSensor">
-    <owl:disjointWith rdf:resource="#TorqueForceSensor"/>
-    <owl:disjointWith rdf:resource="#OpticSensor"/>
-    <owl:disjointWith rdf:resource="#EncoderSensor"/>
-    <owl:disjointWith rdf:resource="#UltrasonicSensor"/>
-    <owl:disjointWith rdf:resource="#TactileSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MagneticSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#CapacitveSensor"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Sensor"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#ElectricalConnector">
-    <owl:disjointWith rdf:resource="#MechanicalConnector"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </rdfs:subClassOf>
-    <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="#Attach">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Secure"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Grasp"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Release"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Detach"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS: Attaching an end effector to a robot (opposite to Detach)</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxLiftWay">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TypeOfMagnet"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticProximitySwitch">
-    <owl:disjointWith rdf:resource="#OpticReflexSwitch"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticThroughBeamSwitch"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#OpticSwitch"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MagnetGripper">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FingerGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:ID="VacuumGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PincerGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#AdjustCurrentToGrip"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#AdjustCurrentToRelease"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="#Gripper"/>
-  </owl:Class>
-  <owl:Class rdf:about="#DiagnosticFunction">
-    <owl:disjointWith rdf:resource="#AdditionalFunction"/>
-    <owl:disjointWith rdf:resource="#MainFunction"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CompoundSkills"/>
-    </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>
-    <rdfs:subClassOf rdf:resource="#Skill"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Worm">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Can be inside or outside.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#WormDiameter"/>
-    <rdfs:subClassOf rdf:resource="#MechanicalConnector"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ElectrolyticSegregate">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cast"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Sinter"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Mold"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Join">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ManufacturingFunction"/>
-    </rdfs:subClassOf>
-    <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>
-      <owl:Class rdf:about="#ModifyWorkpieceProperties"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Form"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Coat"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Mold"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Separate"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Extrude">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Stretch-Form"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Form"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bend"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is mainly used to create profiles, tubes and wires.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith rdf:resource="#Crush"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#True"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Forge"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Deep-Draw"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Fold"/>
-  </owl:Class>
-  <owl:Class rdf:about="#PhysicalProperties">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#DeviceProperty"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Geometry"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Arrangement"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cost"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Communication"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Identifier"/>
-  </owl:Class>
-  <owl:Class rdf:ID="BarcodeReader">
-    <rdfs:subClassOf rdf:resource="#VisionSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CycleTime">
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SwitchingFrequency"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Timing"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in seconds</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Grind">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thermal-Separate"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Increase the surface performance, flatten the surface.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Saw"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lathe"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cut"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Separate"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#File"/>
-    <owl:disjointWith rdf:resource="#Thrust"/>
-    <owl:disjointWith rdf:resource="#Rub"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ObjectBase">
-    <owl:disjointWith rdf:resource="#PhysicalObject"/>
-    <owl:disjointWith rdf:resource="#Property"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Operation"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Skill"/>
-    <owl:disjointWith rdf:resource="#Task"/>
-  </owl:Class>
-  <owl:Class rdf:about="#SegmentImage">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#TransformImage"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CompressImageData"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#FilterImage"/>
-    <owl:disjointWith rdf:resource="#ExtractEdges"/>
-    <owl:disjointWith rdf:resource="#CalibrateImage"/>
-    <owl:disjointWith rdf:resource="#BlobAnalysis"/>
-    <owl:disjointWith rdf:resource="#DecompressImageData"/>
-    <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Fill">
-    <owl:disjointWith rdf:resource="#Solder"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Rivet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weld"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bolt"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Clinch"/>
-    </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:disjointWith>
-      <owl:Class rdf:about="#Glue"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Assemble"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#TypeOfMagnet">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MaxLiftWay"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DiameterOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-  </owl:Class>
-  <owl:Class rdf:about="#PlaybackCtrl">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumericalCtrl"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#IntelligentCtrl"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SimpleControl"/>
-    <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:Class>
-  <owl:Class rdf:about="#Separate">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Modify the workpiece by breaking the coherence at some location.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ManufacturingFunction"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Form"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Coat"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ModifyWorkpieceProperties"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Join"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Mold"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#SkillProperty">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#DeviceProperty"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#isEditable"/>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-  </owl:Class>
-  <owl:Class rdf:about="#NumericalCtrl">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </rdfs:subClassOf>
-    <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 rdf:resource="#PlaybackCtrl"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#IntelligentCtrl"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SimpleControl"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Width">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MinAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Operation">
-    <owl:disjointWith rdf:resource="#Skill"/>
-    <owl:disjointWith rdf:resource="#PhysicalObject"/>
-    <owl:disjointWith rdf:resource="#Property"/>
-    <owl:disjointWith rdf:resource="#ObjectBase"/>
-    <owl:disjointWith rdf:resource="#Task"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Stretch-Form">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#True"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Form"/>
-    <owl:disjointWith rdf:resource="#Forge"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Deep-Draw"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Extrude"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Press"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bend"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Crush"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#CartesianRobot">
-    <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>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Robot"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#ParallelKinematicRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SpecialKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SimpleKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#HexapodRobot"/>
-    <owl:disjointWith rdf:resource="#ScaraRobot"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Precision">
-    <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
-    <owl:disjointWith rdf:resource="#Accuracy"/>
-    <owl:disjointWith rdf:resource="#Resolution"/>
-    <owl:disjointWith rdf:resource="#Repeatability"/>
-    <rdfs:subClassOf rdf:resource="#QualityCriteria"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Release">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Secure"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5
-Invert the grasping.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Grasp"/>
-    <owl:disjointWith rdf:resource="#Attach"/>
-    <owl:disjointWith rdf:resource="#Detach"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Pan">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Turn"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Orient"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Convey"/>
-    <owl:disjointWith rdf:resource="#Arrange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Feed"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part from one to another orientation and position by rotation around an axis which does not intersect with the part.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Position"/>
-    <owl:disjointWith rdf:resource="#Pass"/>
-    <owl:disjointWith rdf:resource="#Displace"/>
-  </owl:Class>
-  <owl:Class rdf:about="#DiameterOfGripper">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MaxLiftWay"/>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ShapeOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in mm</rdfs:comment>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#ModifyWorkpieceProperties">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Coat"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Separate"/>
-    <owl:disjointWith rdf:resource="#Form"/>
-    <owl:disjointWith rdf:resource="#Join"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Mold"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ManufacturingFunction"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Modify some physical properties of the workpiece.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#MinAmbientTemperature">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in degrees celsius</rdfs:comment>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PowerConsumption"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-  </owl:Class>
-  <owl:Class rdf:about="#VacuumGripper">
-    <owl:disjointWith rdf:resource="#MagnetGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PincerGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FingerGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#AdjustVacuumToGrip"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="#Gripper"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#AdjustVacuumToRelease"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#LightGrid">
-    <rdfs:subClassOf rdf:resource="#OpticSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticDistanceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SmartCamera"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticLuminescenceScanner"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#VisionSensor"/>
-    <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticColorSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserScanner2D"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpticSwitch"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Coat">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Put a permanent layer of formless material onto the workpiece.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ManufacturingFunction"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Form"/>
-    <owl:disjointWith rdf:resource="#Join"/>
-    <owl:disjointWith rdf:resource="#Separate"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Mold"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ModifyWorkpieceProperties"/>
-  </owl:Class>
-  <owl:Class rdf:about="#PowerConsumption">
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in kVA</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxAmbientTemperature"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureTemperature">
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureSpeed"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasurePositionOfObject"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxAmbientTemperature">
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PowerConsumption"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in degrees celsius</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticColorSensor">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserScanner2D"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#OpticSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticLuminescenceScanner"/>
-    </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:disjointWith rdf:resource="#OpticContrastScanner"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SmartCamera"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#VisionSensor"/>
-    <owl:disjointWith rdf:resource="#LightGrid"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticDistanceSensor"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpticSwitch"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Secure">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ManipulationAndHandlingFunction"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#ModifyAmount"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Move"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Store"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#ReadOpticalCharacters">
-    <owl:disjointWith rdf:resource="#ReadBarCode"/>
-    <owl:disjointWith rdf:resource="#Read2DMatrixCode"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Read"/>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Task and Skills of Optical Sensors v1.1
-part:7</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Orient">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Feed"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Turn"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Displace"/>
-    <owl:disjointWith rdf:resource="#Position"/>
-    <owl:disjointWith rdf:resource="#Pass"/>
-    <owl:disjointWith rdf:resource="#Arrange"/>
-    <owl:disjointWith rdf:resource="#Pan"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Move a part from an undefined to a well-defined orientation. The part's position is not important here.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Convey"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Assemble">
-    <owl:disjointWith rdf:resource="#Solder"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weld"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Join"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Putting together two workpieces.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Fill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Clinch"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bolt"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Rivet"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Glue"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureSpeed">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-    <owl:disjointWith rdf:resource="#MeasurePositionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureTemperature"/>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#PhysicalInterface">
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#EnclosureRatingIP"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PowerConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#ShapeOfClaws">
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWay"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaximumVacuum"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Glue">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Connect workpieces with the help of a glue. This is done by physical interaction of the glue at the workpieces' interfaces.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Solder"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Rivet"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Assemble"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weld"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bolt"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Join"/>
-    <owl:disjointWith rdf:resource="#Fill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Clinch"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#AdjustVacuumToGrip">
-    <rdfs:subClassOf rdf:resource="#Grasp"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#VacuumGripper"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#CloseFingers"/>
-    <owl:disjointWith rdf:resource="#CloseClaws"/>
-    <owl:disjointWith rdf:resource="#AdjustCurrentToGrip"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Electroplate">
-    <rdfs:subClassOf rdf:resource="#Coat"/>
-    <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:disjointWith>
-      <owl:Class rdf:about="#Powder-coat"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Hot-galvanise"/>
-    <owl:disjointWith rdf:resource="#Varnish"/>
-  </owl:Class>
-  <owl:Class rdf:about="#IntelligentCtrl">
-    <owl:disjointWith rdf:resource="#NumericalCtrl"/>
-    <owl:disjointWith rdf:resource="#PlaybackCtrl"/>
-    <owl:disjointWith rdf:resource="#SimpleControl"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This includes calculating up functions for setting positions and trajectories.</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#MaximumVacuum">
-    <owl:disjointWith rdf:resource="#MaxLiftWay"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfClaws"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:ID="StartDrillRotation">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Drill"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticDistanceSensor">
-    <owl:disjointWith rdf:resource="#OpticColorSensor"/>
-    <owl:disjointWith rdf:resource="#OpticSwitch"/>
-    <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SmartCamera"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightGrid"/>
-    <rdfs:subClassOf rdf:resource="#OpticSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#OpticLuminescenceScanner"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserScanner2D"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#VisionSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Cut">
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Divide a workpiece into two parts.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thermal-Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Saw"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Thrust"/>
-    <rdfs:subClassOf rdf:resource="#Separate"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Electro-discharge-machine"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lathe"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#File"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Scan">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#SensorFunction"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Read"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Detect"/>
-    <owl:disjointWith rdf:resource="#Check"/>
-    <owl:disjointWith rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Classify"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Measure"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#Press">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bend"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#True"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <rdfs:subClassOf rdf:resource="#Form"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bead"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Deep-Draw"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <owl:disjointWith rdf:resource="#Forge"/>
-    <owl:disjointWith rdf:resource="#Crush"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Modify the surface of a solid body with the help of a stamp. The feed rate is very slow, although the pressure is very high.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Extrude"/>
-  </owl:Class>
-  <owl:Class rdf:about="#TransformImage">
-    <owl:disjointWith rdf:resource="#CalibrateImage"/>
-    <owl:disjointWith rdf:resource="#DecompressImageData"/>
-    <owl:disjointWith rdf:resource="#SegmentImage"/>
-    <owl:disjointWith rdf:resource="#BlobAnalysis"/>
-    <owl:disjointWith rdf:resource="#FilterImage"/>
-    <owl:disjointWith rdf:resource="#ExtractEdges"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CompressImageData"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Bead">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bend"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Press"/>
-    <rdfs:subClassOf rdf:resource="#Form"/>
-    <owl:disjointWith rdf:resource="#Extrude"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Create channel-shaped deepenings which are meant to increase the stiffness.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith rdf:resource="#Forge"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#True"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Deep-Draw"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Crush"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Rivet">
-    <owl:disjointWith rdf:resource="#Assemble"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bolt"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Solder"/>
-    <owl:disjointWith rdf:resource="#Glue"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Clinch"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Fill"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Connect workpieces with the help of a deformed, cylindrical connection element.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weld"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Join"/>
-  </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="#ControlSystem"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#Arrangement"/>
-        </owl:someValuesFrom>
-      </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:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#QualityCriteria"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#Communication"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#ToolInterface"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ManipulationAndHandling"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Gripper"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Introdution to Robotics
-(Analysis, System, Applications)
-Saeed B. Niku</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Displacement"/>
-    <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>
-  </owl:Class>
-  <owl:Class rdf:about="#ManipulationAndHandlingFunction">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ManufacturingFunction"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SensorFunction"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#MainFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureForce">
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith rdf:resource="#MeasureTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureDiameter"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith rdf:resource="#MeasurePositionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureSpeed"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Bend">
-    <rdfs:subClassOf rdf:resource="#Form"/>
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Deep-Draw"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Forge"/>
-    <owl:disjointWith rdf:resource="#Extrude"/>
-    <owl:disjointWith rdf:resource="#Bead"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#True"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Put a bending moment to the material which causes a malleable, i.e. permanent deformation.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Press"/>
-    <owl:disjointWith rdf:resource="#Crush"/>
-  </owl:Class>
-  <owl:Class rdf:about="#OpenFingers">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#AdjustVacuumToRelease"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpenClaws"/>
-    <owl:disjointWith rdf:resource="#AdjustCurrentToRelease"/>
-    <rdfs:subClassOf rdf:resource="#Release"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#FingerGripper"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#SensorFunction">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:6-7
-(breakdown of properties)</rdfs:comment>
-    <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:subClassOf rdf:resource="#MainFunction"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ManufacturingFunction"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ManipulationAndHandlingFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Turn">
-    <owl:disjointWith rdf:resource="#Displace"/>
-    <owl:disjointWith rdf:resource="#Pass"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Move"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Position"/>
-    <owl:disjointWith rdf:resource="#Orient"/>
-    <owl:disjointWith rdf:resource="#Pan"/>
-    <owl:disjointWith rdf:resource="#Arrange"/>
-    <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>
-      <owl:Class rdf:about="#Feed"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Convey"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Deep-Draw">
-    <owl:disjointWith rdf:resource="#Press"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Change the shape of a sheet metal or plate by pressing into a hollow piece. 
-This is one of the most important procedures in mass production and small series production.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Flang"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Forge"/>
-    <owl:disjointWith rdf:resource="#Crush"/>
-    <owl:disjointWith rdf:resource="#Bead"/>
-    <rdfs:subClassOf rdf:resource="#Form"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#True"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <owl:disjointWith rdf:resource="#Extrude"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Clinch">
-    <owl:disjointWith rdf:resource="#Rivet"/>
-    <owl:disjointWith rdf:resource="#Solder"/>
-    <owl:disjointWith rdf:resource="#Glue"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weld"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Fill"/>
-    <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 rdf:resource="#Assemble"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Bolt"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Join"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Sensor">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#Timing"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#QualityCriteria"/>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#Communication"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#Cost"/>
-        </owl:someValuesFrom>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Manufacturing"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasProperty"/>
-        </owl:onProperty>
-        <owl:someValuesFrom>
-          <owl:Class rdf:about="#Arrangement"/>
-        </owl:someValuesFrom>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ManipulationAndHandling"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Device"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:someValuesFrom rdf:resource="#PhysicalPropertiesSensor"/>
-        <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>
-  </owl:Class>
-  <owl:Class rdf:about="#Electro-discharge-machine">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Saw"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Separate"/>
-    <owl:disjointWith rdf:resource="#Thrust"/>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith rdf:resource="#Cut"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Lathe"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >A spark removes material from the workpiece.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thermal-Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith rdf:resource="#File"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Arrangement">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#DeviceProperty"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ControlSystem"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Geometry"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cost"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#Identifier"/>
-    <owl:disjointWith rdf:resource="#Communication"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CoordinateReferenceSystem">
-    <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#WorkCoordinates"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-    <owl:disjointWith rdf:resource="#MountedDevicePosition"/>
-    <rdfs:subClassOf rdf:resource="#Arrangement"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Cast">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >From fluid metallic material a solid workpiece is created.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Sinter"/>
-    <owl:disjointWith rdf:resource="#ElectrolyticSegregate"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Mold"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#SpecialKinematicRobot">
-    <rdfs:subClassOf rdf:resource="#Robot"/>
-    <owl:disjointWith rdf:resource="#HexapodRobot"/>
-    <owl:disjointWith rdf:resource="#CartesianRobot"/>
-    <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
-    <owl:disjointWith rdf:resource="#ScaraRobot"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SimpleKinematicRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ParallelKinematicRobot"/>
-    <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:Class>
-  <owl:Class rdf:about="#Lathe">
-    <owl:disjointWith rdf:resource="#File"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Saw"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <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>
-      <owl:Class rdf:about="#Thermal-Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Electro-discharge-machine"/>
-    <owl:disjointWith rdf:resource="#Cut"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <rdfs:subClassOf rdf:resource="#Separate"/>
-    <owl:disjointWith rdf:resource="#Thrust"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Saw">
-    <owl:disjointWith rdf:resource="#Lathe"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Hone"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >A steel plate with teeth attached to it removes thin chippings by moving into the material. This is widely used for wood, stone, metal, plastics and other solid materials.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Cut"/>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith rdf:resource="#File"/>
-    <owl:disjointWith rdf:resource="#Thrust"/>
-    <owl:disjointWith rdf:resource="#Electro-discharge-machine"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Separate"/>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thermal-Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Mill"/>
-  </owl:Class>
-  <owl:Class rdf:about="#GeneralParallelGripper">
-    <rdfs:subClassOf rdf:resource="#ParallelGripper"/>
-    <owl:disjointWith rdf:resource="#LineParallelGripper"/>
-    <owl:disjointWith rdf:resource="#CircularParallelGripper"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Sequence">
-    <owl:disjointWith rdf:resource="#Atomic"/>
-    <owl:disjointWith rdf:resource="#Parallel"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasAtomicOperation"/>
-        </owl:onProperty>
-        <owl:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:cardinality>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="#Operation"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:cardinality>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasOperation"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#EnclosureRatingIP">
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PowerConsumption"/>
-    <owl:disjointWith rdf:resource="#PhysicalInterface"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureDiameter">
-    <owl:disjointWith rdf:resource="#MeasurePositionOfObject"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAcceleration"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureForce"/>
-    <owl:disjointWith rdf:resource="#MeasureSpeed"/>
-    <owl:disjointWith rdf:resource="#MeasureTemperature"/>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CollectStatisticalData">
-    <rdfs:subClassOf rdf:resource="#DiagnosticFunction"/>
-    <owl:disjointWith rdf:resource="#PerformSelfTest"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Branch">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Divide"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Merge"/>
-    <owl:disjointWith rdf:resource="#Unify"/>
-    <owl:disjointWith rdf:resource="#Assign"/>
-    <owl:disjointWith rdf:resource="#Partition"/>
-    <rdfs:subClassOf rdf:resource="#ModifyAmount"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Divide a material flow into subflows.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#ManipulationAndHandling">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#ManipulationAndHandlingFunction"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="#Device"/>
-    <owl:disjointWith rdf:resource="#Sensor"/>
-    <owl:disjointWith rdf:resource="#Manufacturing"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureAcceleration">
-    <owl:disjointWith rdf:resource="#MeasurePositionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureTemperature"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureAngle"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith rdf:resource="#MeasureSpeed"/>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-    <owl:disjointWith rdf:resource="#MeasureForce"/>
-    <owl:disjointWith rdf:resource="#MeasureDiameter"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Anneal">
-    <owl:disjointWith rdf:resource="#Age"/>
-    <owl:disjointWith rdf:resource="#Temper"/>
-    <rdfs:subClassOf rdf:resource="#ModifyWorkpieceProperties"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Set specific material properties by heating, holding the heat for a specific time and cooling down.</rdfs:comment>
-  </owl:Class>
-  <owl:Class rdf:about="#NumberOfClaws">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Reach"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWay"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ControlSystem">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#ToolInterface"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cost"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Identifier"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Geometry"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#Communication"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#DeviceProperty"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#ToolInterface">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >How to connect a tool to a robot.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cost"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Communication"/>
-    <owl:disjointWith rdf:resource="#Identifier"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Geometry"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#DeviceProperty"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Hone">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Separate"/>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Smooth finishing of metallic surfaces, mostly wholes to increase size, shape or surface performance.</rdfs:comment>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Thrust"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Thermal-Separate"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith rdf:resource="#Lathe"/>
-    <owl:disjointWith rdf:resource="#Electro-discharge-machine"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Cut"/>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <owl:disjointWith rdf:resource="#File"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Divide">
-    <owl:disjointWith rdf:resource="#Merge"/>
-    <owl:disjointWith rdf:resource="#Assign"/>
-    <owl:disjointWith rdf:resource="#Partition"/>
-    <owl:disjointWith rdf:resource="#Unify"/>
-    <owl:disjointWith rdf:resource="#Branch"/>
-    <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>
-    <rdfs:subClassOf rdf:resource="#ModifyAmount"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Thermal-Separate">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Plane"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <rdfs:subClassOf rdf:resource="#Separate"/>
-    <owl:disjointWith rdf:resource="#Cut"/>
-    <owl:disjointWith rdf:resource="#Thrust"/>
-    <owl:disjointWith rdf:resource="#Lathe"/>
-    <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 rdf:resource="#Electro-discharge-machine"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Hone"/>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith rdf:resource="#File"/>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <owl:disjointWith rdf:resource="#Saw"/>
-  </owl:Class>
-  <owl:Class rdf:about="#AdjustVacuumToRelease">
-    <rdfs:subClassOf rdf:resource="#Release"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#isSkillOf"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#VacuumGripper"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#AdjustCurrentToRelease"/>
-    <owl:disjointWith rdf:resource="#OpenClaws"/>
-    <owl:disjointWith rdf:resource="#OpenFingers"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Timing">
-    <owl:disjointWith rdf:resource="#QualityCriteria"/>
-    <rdfs:subClassOf rdf:resource="#SkillProperty"/>
-  </owl:Class>
-  <owl:Class rdf:ID="StopDrillRotation">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#Drill"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#CompoundManufacturingFunction">
-    <owl:disjointWith rdf:resource="#CompountSensorFunction"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#CompoundManipulationAndHandlingFunction"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#CompoundSkills"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#SetParameterValue">
-    <owl:disjointWith rdf:resource="#Reset"/>
-    <owl:disjointWith rdf:resource="#LoadParameterSet"/>
-    <owl:disjointWith rdf:resource="#SaveParameterSet"/>
-    <owl:disjointWith rdf:resource="#Calibrate"/>
-    <rdfs:subClassOf rdf:resource="#AdditionalFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Reach">
-    <owl:disjointWith rdf:resource="#MaxLiftWay"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#StiffnessOfGripper"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Classify">
-    <rdfs:subClassOf rdf:resource="#SensorFunction"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Structured Description of Skills and Device 1.0
-pag:5</rdfs:comment>
-    <owl:disjointWith rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith rdf:resource="#Detect"/>
-    <owl:disjointWith rdf:resource="#Scan"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Read"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Measure"/>
-    <owl:disjointWith rdf:resource="#Check"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Plane">
-    <owl:disjointWith rdf:resource="#Cut"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf rdf:resource="#Separate"/>
-    <owl:disjointWith rdf:resource="#Hone"/>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith rdf:resource="#Electro-discharge-machine"/>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <owl:disjointWith rdf:resource="#Thrust"/>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Broach"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Lathe"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is mainly used for wooden workpieces to remove chipping from the workpiece.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#File"/>
-  </owl:Class>
-  <owl:Class rdf:about="#WorkCoordinates">
-    <owl:disjointWith rdf:resource="#MountedDevicePosition"/>
-    <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
-    <owl:disjointWith rdf:resource="#WorkFrame"/>
-    <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
-    <rdfs:subClassOf rdf:resource="#Arrangement"/>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticLuminescenceScanner">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 5</rdfs:comment>
-    <owl:disjointWith rdf:resource="#OpticColorSensor"/>
-    <owl:disjointWith rdf:resource="#LightGrid"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserScanner2D"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpticSwitch"/>
-    <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
-    <owl:disjointWith rdf:resource="#VisionSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#SmartCamera"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpticDistanceSensor"/>
-    <rdfs:subClassOf rdf:resource="#OpticSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#SimpleKinematicRobot">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Simple, sometimes small machines with reduced capabilities, e.g. with only 1 DOF. These can be devices which are arranged to more complex machines.
-Sometimes, the tool is already included in the robot, e.g. a gripper is already connected.</rdfs:comment>
-    <rdfs:subClassOf rdf:resource="#Robot"/>
-    <owl:disjointWith rdf:resource="#ScaraRobot"/>
-    <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#HexapodRobot"/>
-    <owl:disjointWith rdf:resource="#CartesianRobot"/>
-    <owl:disjointWith rdf:resource="#ParallelKinematicRobot"/>
-    <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
-  </owl:Class>
-  <owl:Class rdf:about="#PhysicalPropertiesRobot">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MechanicalResistance"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PowerConsumption"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#PhysicalInterface"/>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureAngle">
-    <owl:disjointWith rdf:resource="#MeasureSpeed"/>
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith rdf:resource="#MeasureTemperature"/>
-    <owl:disjointWith rdf:resource="#MeasureAcceleration"/>
-    <owl:disjointWith rdf:resource="#MeasureDiameter"/>
-    <owl:disjointWith rdf:resource="#MeasurePositionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureForce"/>
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MeasureOrientationOfObject"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#Store">
-    <owl:disjointWith rdf:resource="#Secure"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Move"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ModifyAmount"/>
-    <rdfs:subClassOf rdf:resource="#ManipulationAndHandlingFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Bolt">
-    <owl:disjointWith rdf:resource="#Solder"/>
-    <owl:disjointWith rdf:resource="#Assemble"/>
-    <rdfs:subClassOf rdf:resource="#Join"/>
-    <owl:disjointWith rdf:resource="#Fill"/>
-    <owl:disjointWith rdf:resource="#Glue"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Weld"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Rivet"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Bolts are removable elements to create a connection between two or more workpieces.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Clinch"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Powder-coat">
-    <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="#Varnish"/>
-    <owl:disjointWith rdf:resource="#Electroplate"/>
-    <owl:disjointWith rdf:resource="#Hot-galvanise"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Mold">
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#ManufacturingFunction"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#ModifyWorkpieceProperties"/>
-    <owl:disjointWith rdf:resource="#Separate"/>
-    <owl:disjointWith rdf:resource="#Coat"/>
-    <owl:disjointWith rdf:resource="#Form"/>
-    <owl:disjointWith rdf:resource="#Join"/>
-    <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="#StiffnessOfGripper">
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfMovableClaws"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWay"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MechanicalResistance">
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesRobot"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#PhysicalInterface"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#PowerConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-  </owl:Class>
-  <owl:Class rdf:about="#SmartCamera">
-    <owl:disjointWith rdf:resource="#OpticSwitch"/>
-    <owl:disjointWith rdf:resource="#VisionSensor"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#LaserScanner2D"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#OpticColorSensor"/>
-    <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >SIARAS (FP6-017146)
-Tasks and Skills of Ocptical Sensor 1.1
-Cap: 7</rdfs:comment>
-    <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
-    <owl:disjointWith rdf:resource="#OpticDistanceSensor"/>
-    <owl:disjointWith rdf:resource="#LightGrid"/>
-    <rdfs:subClassOf rdf:resource="#OpticSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Flang">
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <owl:disjointWith rdf:resource="#Extrude"/>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith rdf:resource="#Bead"/>
-    <owl:disjointWith rdf:resource="#Press"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#True"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Crush"/>
-    <owl:disjointWith rdf:resource="#Forge"/>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Orthogonal bending up of the border of metal sheets. This is used for creating pipe connections and is widely used in the manufacturing of air channels.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <rdfs:subClassOf rdf:resource="#Form"/>
-    <owl:disjointWith rdf:resource="#Deep-Draw"/>
-  </owl:Class>
-  <owl:Class rdf:about="#NumberOfMovableClaws">
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfFingers"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWay"/>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Broach">
-    <owl:disjointWith rdf:resource="#Electro-discharge-machine"/>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >The workpiece is given the tool's contour. This is used where contours are necessary which cannot be created by milling or lathing.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Cut"/>
-    <owl:disjointWith rdf:resource="#Plane"/>
-    <rdfs:subClassOf rdf:resource="#Separate"/>
-    <owl:disjointWith rdf:resource="#File"/>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <owl:disjointWith rdf:resource="#Thrust"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Drill"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith rdf:resource="#Hone"/>
-    <owl:disjointWith rdf:resource="#Lathe"/>
-  </owl:Class>
-  <owl:Class rdf:about="#PhysicalPropertiesGripper">
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <owl:disjointWith rdf:resource="#PhysicalInterface"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesRobot"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#PowerConsumption"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#MaxForce"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Move">
-    <owl:disjointWith rdf:resource="#Secure"/>
-    <owl:disjointWith rdf:resource="#ModifyAmount"/>
-    <owl:disjointWith rdf:resource="#Store"/>
-    <rdfs:subClassOf rdf:resource="#ManipulationAndHandlingFunction"/>
-  </owl:Class>
-  <owl:Class rdf:ID="ElasticFingerGripper">
-    <owl:disjointWith>
-      <owl:Class rdf:ID="JointFingerGripper"/>
-    </owl:disjointWith>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#FingerGripper"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#Geometry">
-    <owl:disjointWith rdf:resource="#Communication"/>
-    <owl:disjointWith rdf:resource="#Identifier"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#Cost"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#PhysicalProperties"/>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#DeviceProperty"/>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#ManufacturingFunction">
-    <owl:disjointWith rdf:resource="#SensorFunction"/>
-    <owl:disjointWith rdf:resource="#ManipulationAndHandlingFunction"/>
-    <rdfs:subClassOf rdf:resource="#MainFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Cost">
-    <owl:disjointWith rdf:resource="#Identifier"/>
-    <owl:disjointWith rdf:resource="#Arrangement"/>
-    <owl:disjointWith rdf:resource="#Geometry"/>
-    <owl:disjointWith rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#ControlSystem"/>
-    <owl:disjointWith rdf:resource="#Communication"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in euros</rdfs:comment>
-    <rdfs:subClassOf>
-      <owl:Class rdf:about="#DeviceProperty"/>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#ToolInterface"/>
-  </owl:Class>
-  <owl:Class rdf:about="#FingerGripper">
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#CloseFingers"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#OpenFingers"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="#Gripper"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#PincerGripper"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#MagnetGripper"/>
-    <owl:disjointWith rdf:resource="#VacuumGripper"/>
-  </owl:Class>
-  <owl:Class rdf:about="#StorePartlyOrdered">
-    <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>
-    <rdfs:subClassOf rdf:resource="#Store"/>
-    <owl:disjointWith rdf:resource="#StoreUnOrdered"/>
-    <owl:disjointWith rdf:resource="#StoreInOrder"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MeasureOrientationOfObject">
-    <owl:disjointWith rdf:resource="#MeasureArea"/>
-    <owl:disjointWith rdf:resource="#MeasureForce"/>
-    <owl:disjointWith rdf:resource="#MeasureSpeed"/>
-    <rdfs:subClassOf rdf:resource="#Measure"/>
-    <owl:disjointWith rdf:resource="#MeasureVolume"/>
-    <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureDistance"/>
-    <owl:disjointWith rdf:resource="#MeasurePositionOfObject"/>
-    <owl:disjointWith rdf:resource="#MeasureAcceleration"/>
-    <owl:disjointWith rdf:resource="#MeasureTemperature"/>
-    <owl:disjointWith rdf:resource="#MeasureDiameter"/>
-    <owl:disjointWith rdf:resource="#MeasureTorque"/>
-    <owl:disjointWith rdf:resource="#MeasureAngle"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MagneticSensor">
-    <rdfs:subClassOf rdf:resource="#Sensor"/>
-    <owl:disjointWith rdf:resource="#CapacitveSensor"/>
-    <owl:disjointWith rdf:resource="#InductiveSensor"/>
-    <owl:disjointWith rdf:resource="#UltrasonicSensor"/>
-    <owl:disjointWith rdf:resource="#TactileSensor"/>
-    <owl:disjointWith rdf:resource="#EncoderSensor"/>
-    <owl:disjointWith rdf:resource="#TorqueForceSensor"/>
-    <owl:disjointWith rdf:resource="#OpticSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#PincerGripper">
-    <owl:disjointWith rdf:resource="#FingerGripper"/>
-    <owl:disjointWith rdf:resource="#MagnetGripper"/>
-    <owl:disjointWith rdf:resource="#VacuumGripper"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#CloseClaws"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <rdfs:subClassOf rdf:resource="#Gripper"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:about="#hasSkill"/>
-        </owl:onProperty>
-        <owl:someValuesFrom rdf:resource="#OpenClaws"/>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-  </owl:Class>
-  <owl:Class rdf:about="#CompoundSkills">
-    <owl:disjointWith rdf:resource="#AdditionalFunction"/>
-    <owl:disjointWith rdf:resource="#MainFunction"/>
-    <owl:disjointWith rdf:resource="#DiagnosticFunction"/>
-    <rdfs:subClassOf rdf:resource="#Skill"/>
-  </owl:Class>
-  <owl:Class rdf:about="#OpticThroughBeamSwitch">
-    <owl:disjointWith rdf:resource="#OpticReflexSwitch"/>
-    <owl:disjointWith rdf:resource="#OpticProximitySwitch"/>
-    <rdfs:subClassOf rdf:resource="#OpticSwitch"/>
-    <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="#Reachability">
-    <owl:disjointWith>
-      <owl:Class rdf:about="#NumberOfJoints"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesRobot"/>
-  </owl:Class>
-  <owl:Class rdf:about="#ElectricalInterface">
-    <rdfs:subClassOf rdf:resource="#Communication"/>
-    <owl:disjointWith rdf:resource="#CommunicationProtocol"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#BusInterface"/>
-    </owl:disjointWith>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxForce">
-    <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#Shape"/>
-    <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#MinVoltageSupply"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesRobot"/>
-    <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
-    <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
-    <owl:disjointWith rdf:resource="#PowerConsumption"/>
-    <owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
-    <owl:disjointWith rdf:resource="#Height"/>
-    <owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#Length"/>
-    <owl:disjointWith rdf:resource="#Weight"/>
-    <owl:disjointWith rdf:resource="#Diameter"/>
-    <owl:disjointWith rdf:resource="#PhysicalInterface"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in Newton</rdfs:comment>
-    <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
-    <owl:disjointWith rdf:resource="#MechanicalResistance"/>
-    <owl:disjointWith rdf:resource="#Payload"/>
-    <owl:disjointWith rdf:resource="#Material"/>
-    <owl:disjointWith rdf:resource="#Width"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Weld">
-    <owl:disjointWith rdf:resource="#Clinch"/>
-    <owl:disjointWith rdf:resource="#Glue"/>
-    <owl:disjointWith rdf:resource="#Bolt"/>
-    <rdfs:subClassOf rdf:resource="#Join"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This is a permanent connection of workpieces by using heat and/or pressure. The material keeps its properties when welded.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Rivet"/>
-    <owl:disjointWith rdf:resource="#Fill"/>
-    <owl:disjointWith rdf:resource="#Assemble"/>
-    <owl:disjointWith rdf:resource="#Solder"/>
-  </owl:Class>
-  <owl:Class rdf:about="#MaxScanAngle">
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#ScanningDistance"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith>
-      <owl:Class rdf:about="#FieldOfView"/>
-    </owl:disjointWith>
-    <owl:disjointWith rdf:resource="#LightType"/>
-  </owl:Class>
-  <owl:Class rdf:about="#True">
-    <owl:disjointWith rdf:resource="#Crush"/>
-    <owl:disjointWith rdf:resource="#Flang"/>
-    <owl:disjointWith rdf:resource="#Roll"/>
-    <owl:disjointWith rdf:resource="#Extrude"/>
-    <owl:disjointWith rdf:resource="#Fold"/>
-    <rdfs:subClassOf rdf:resource="#Form"/>
-    <owl:disjointWith rdf:resource="#Press"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Machine finishing after e.g. folding</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Bead"/>
-    <owl:disjointWith rdf:resource="#Stretch-Form"/>
-    <owl:disjointWith rdf:resource="#Deep-Draw"/>
-    <owl:disjointWith rdf:resource="#Bend"/>
-    <owl:disjointWith rdf:resource="#Forge"/>
-  </owl:Class>
-  <owl:Class rdf:about="#NumberOfFingers">
-    <owl:disjointWith rdf:resource="#MaximumVacuum"/>
-    <owl:disjointWith rdf:resource="#Reach"/>
-    <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
-    <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
-    <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
-    <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
-    <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
-    <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
-    <owl:disjointWith rdf:resource="#TypeOfFingers"/>
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesGripper"/>
-    <owl:disjointWith rdf:resource="#SizeOfGripper"/>
-    <owl:disjointWith rdf:resource="#StiffnessOfGripper"/>
-    <owl:disjointWith rdf:resource="#NumberOfClaws"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWay"/>
-    <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
-    <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
-  </owl:Class>
-  <owl:Class rdf:about="#SwitchingFrequency">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >in Kilohertz</rdfs:comment>
-    <owl:disjointWith rdf:resource="#ResponseTime"/>
-    <owl:disjointWith rdf:resource="#CycleTime"/>
-    <rdfs:subClassOf rdf:resource="#Timing"/>
-  </owl:Class>
-  <owl:Class rdf:about="#BusInterface">
-    <owl:disjointWith rdf:resource="#CommunicationProtocol"/>
-    <owl:disjointWith rdf:resource="#ElectricalInterface"/>
-    <rdfs:subClassOf rdf:resource="#Communication"/>
-  </owl:Class>
-  <owl:Class rdf:about="#DeviceProperty">
-    <owl:disjointWith rdf:resource="#SkillProperty"/>
-    <owl:disjointWith rdf:resource="#isEditable"/>
-    <rdfs:subClassOf rdf:resource="#Property"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Feed">
-    <owl:disjointWith rdf:resource="#Turn"/>
-    <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="#Arrange"/>
-    <owl:disjointWith rdf:resource="#Pass"/>
-    <owl:disjointWith rdf:resource="#Orient"/>
-    <owl:disjointWith rdf:resource="#Displace"/>
-    <owl:disjointWith rdf:resource="#Convey"/>
-    <rdfs:subClassOf rdf:resource="#Move"/>
-    <owl:disjointWith rdf:resource="#Position"/>
-    <owl:disjointWith rdf:resource="#Pan"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Drill">
-    <owl:disjointWith rdf:resource="#Thrust"/>
-    <owl:disjointWith rdf:resource="#Broach"/>
-    <owl:disjointWith rdf:resource="#Lathe"/>
-    <owl:disjointWith rdf:resource="#Plane"/>
-    <owl:disjointWith rdf:resource="#Grind"/>
-    <owl:disjointWith rdf:resource="#Cut"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Create a circular whole in the workpiece.</rdfs:comment>
-    <owl:disjointWith rdf:resource="#Electro-discharge-machine"/>
-    <rdfs:subClassOf rdf:resource="#Separate"/>
-    <owl:disjointWith rdf:resource="#Lap"/>
-    <owl:disjointWith rdf:resource="#Thermal-Separate"/>
-    <owl:disjointWith rdf:resource="#Mill"/>
-    <owl:disjointWith rdf:resource="#Saw"/>
-    <owl:disjointWith rdf:resource="#File"/>
-    <owl:disjointWith rdf:resource="#Rub"/>
-    <owl:disjointWith rdf:resource="#Hone"/>
-  </owl:Class>
-  <owl:Class rdf:about="#NumberOfJoints">
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesRobot"/>
-    <owl:disjointWith rdf:resource="#Reachability"/>
-    <owl:disjointWith rdf:resource="#TypeOfActuation"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Assembly">
-    <rdfs:subClassOf rdf:resource="#ObjectBase"/>
-    <rdfs:subClassOf>
-      <owl:Restriction>
-        <owl:minCardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-        >1</owl:minCardinality>
-        <owl:onProperty>
-          <owl:ObjectProperty rdf:ID="hasObjectBase"/>
-        </owl:onProperty>
-      </owl:Restriction>
-    </rdfs:subClassOf>
-    <owl:disjointWith rdf:resource="#Part"/>
-  </owl:Class>
-  <owl:Class rdf:about="#LaserScanner2D">
-    <owl:disjointWith rdf:resource="#OpticDistanceSensor"/>
-    <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
-    <owl:disjointWith rdf:resource="#OpticColorSensor"/>
-    <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
-    <owl:disjointWith rdf:resource="#OpticSwitch"/>
-    <owl:disjointWith rdf:resource="#VisionSensor"/>
-    <owl:disjointWith rdf:resource="#SmartCamera"/>
-    <owl:disjointWith rdf:resource="#LightGrid"/>
-    <rdfs:subClassOf rdf:resource="#OpticSensor"/>
-  </owl:Class>
-  <owl:Class rdf:about="#JointFingerGripper">
-    <rdfs:subClassOf rdf:resource="#FingerGripper"/>
-    <owl:disjointWith rdf:resource="#ElasticFingerGripper"/>
-  </owl:Class>
-  <owl:Class rdf:about="#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>
-    <rdfs:subClassOf rdf:resource="#SensorFunction"/>
-    <owl:disjointWith rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith rdf:resource="#Check"/>
-    <owl:disjointWith rdf:resource="#Measure"/>
-    <owl:disjointWith rdf:resource="#Classify"/>
-    <owl:disjointWith rdf:resource="#Scan"/>
-    <owl:disjointWith rdf:resource="#Detect"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CompressImageData">
-    <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
-    <owl:disjointWith rdf:resource="#CalibrateImage"/>
-    <owl:disjointWith rdf:resource="#SegmentImage"/>
-    <owl:disjointWith rdf:resource="#ExtractEdges"/>
-    <owl:disjointWith rdf:resource="#TransformImage"/>
-    <owl:disjointWith rdf:resource="#FilterImage"/>
-    <owl:disjointWith rdf:resource="#DecompressImageData"/>
-    <owl:disjointWith rdf:resource="#BlobAnalysis"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Count">
-    <owl:disjointWith rdf:resource="#CheckSurfaceForIrregularities"/>
-    <owl:disjointWith rdf:resource="#CheckPosition"/>
-    <owl:disjointWith rdf:resource="#CheckPresence"/>
-    <rdfs:subClassOf rdf:resource="#Check"/>
-  </owl:Class>
-  <owl:Class rdf:about="#CompoundManipulationAndHandlingFunction">
-    <rdfs:subClassOf rdf:resource="#CompoundSkills"/>
-    <owl:disjointWith rdf:resource="#CompountSensorFunction"/>
-    <owl:disjointWith rdf:resource="#CompoundManufacturingFunction"/>
-  </owl:Class>
-  <owl:Class rdf:about="#Karthesian">
-    <rdfs:subClassOf rdf:resource="#Feed"/>
-    <owl:disjointWith rdf:resource="#AsFastAsPossible"/>
-    <owl:disjointWith rdf:resource="#Circular"/>
-  </owl:Class>
-  <owl:Class rdf:about="#FieldOfView">
-    <rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
-    <owl:disjointWith rdf:resource="#ScanningDistance"/>
-    <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#LightType"/>
-    <owl:disjointWith rdf:resource="#LightSpotSize"/>
-    <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
-    <owl:disjointWith rdf:resource="#LaserClass"/>
-    <owl:disjointWith rdf:resource="#MaxScanAngle"/>
-  </owl:Class>
-  <owl:ObjectProperty rdf:ID="isOperationOf">
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:about="#hasOperation"/>
-    </owl:inverseOf>
-    <rdfs:range>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Task"/>
-          <owl:Class rdf:about="#Operation"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:range>
-    <rdfs:domain rdf:resource="#Operation"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:ID="hasReference">
-    <rdfs:domain>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Workpiece"/>
-          <owl:Class rdf:about="#Device"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:domain>
-    <rdfs:range rdf:resource="#Identifier"/>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >This will be used for referencing devices in the later implementation, e.g. as a URI.</rdfs:comment>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasObjectBase">
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:ID="isObjectBaseOf"/>
-    </owl:inverseOf>
-    <rdfs:range rdf:resource="#ObjectBase"/>
-    <rdfs:domain>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Assembly"/>
-          <owl:Class rdf:about="#Workpiece"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:domain>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:ID="isSubskillOf">
-    <rdfs:domain rdf:resource="#Skill"/>
-    <rdfs:range rdf:resource="#CompoundSkills"/>
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:ID="hasSubskill"/>
-    </owl:inverseOf>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:ID="hasIdentifier">
-    <rdfs:domain>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Device"/>
-          <owl:Class rdf:about="#Workpiece"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:domain>
-    <rdfs:range rdf:resource="#Identifier"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#isObjectBaseOf">
-    <owl:inverseOf rdf:resource="#hasObjectBase"/>
-    <rdfs:range>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Assembly"/>
-          <owl:Class rdf:about="#Workpiece"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:range>
-    <rdfs:domain rdf:resource="#ObjectBase"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasSubskill">
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >To use an ordered list, according to the FAQ, rdf:List has to be added in Range (cf. http://protege.stanford.edu/doc/owl-faq.html#ordered). But it does not work so far.</rdfs:comment>
-    <owl:inverseOf rdf:resource="#isSubskillOf"/>
-    <rdfs:range rdf:resource="#Skill"/>
-    <rdfs:domain rdf:resource="#CompoundSkills"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:ID="hasDevice">
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:ID="isDeviceOf"/>
-    </owl:inverseOf>
-    <rdfs:range rdf:resource="#Device"/>
-    <rdfs:domain rdf:resource="#Atomic"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:ID="isAssemblyOf">
-    <rdfs:range>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#PhysicalObject"/>
-          <owl:Class rdf:about="#ObjectBase"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:range>
-    <rdfs:domain rdf:resource="#Assembly"/>
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:ID="hasAssembly"/>
-    </owl:inverseOf>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasProperty">
-    <rdfs:range rdf:resource="#Property"/>
-    <rdfs:domain>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Skill"/>
-          <owl:Class rdf:about="#Device"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:domain>
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:ID="isPropertyOf"/>
-    </owl:inverseOf>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:ID="hasWorkpiece">
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:ID="isWorkpieceOf"/>
-    </owl:inverseOf>
-    <rdfs:range rdf:resource="#Workpiece"/>
-    <rdfs:domain rdf:resource="#Operation"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:ID="isAtomicOperationOf">
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:about="#hasAtomicOperation"/>
-    </owl:inverseOf>
-    <rdfs:range rdf:resource="#Operation"/>
-    <rdfs:domain rdf:resource="#Atomic"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasAssembly">
-    <rdfs:domain>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#PhysicalObject"/>
-          <owl:Class rdf:about="#ObjectBase"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:domain>
-    <rdfs:range rdf:resource="#Assembly"/>
-    <owl:inverseOf rdf:resource="#isAssemblyOf"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:ID="canBePerformedBy">
-    <rdfs:domain rdf:resource="#Task"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#isSkillOf">
-    <rdfs:domain rdf:resource="#Skill"/>
-    <rdfs:range>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Atomic"/>
-          <owl:Class rdf:about="#Device"/>
-          <owl:Class rdf:about="#Skill"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:range>
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:about="#hasSkill"/>
-    </owl:inverseOf>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasOperation">
-    <owl:inverseOf rdf:resource="#isOperationOf"/>
-    <rdfs:range rdf:resource="#Operation"/>
-    <rdfs:domain>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Operation"/>
-          <owl:Class rdf:about="#Task"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:domain>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#isWorkpieceOf">
-    <owl:inverseOf rdf:resource="#hasWorkpiece"/>
-    <rdfs:range rdf:resource="#Operation"/>
-    <rdfs:domain rdf:resource="#Workpiece"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:ID="hasGeometry">
-    <rdfs:range rdf:resource="#Geometry"/>
-    <rdfs:domain rdf:resource="#PhysicalObject"/>
-    <owl:inverseOf>
-      <owl:ObjectProperty rdf:ID="isGeometryOf"/>
-    </owl:inverseOf>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#isGeometryOf">
-    <owl:inverseOf rdf:resource="#hasGeometry"/>
-    <rdfs:domain rdf:resource="#Geometry"/>
-    <rdfs:range rdf:resource="#PhysicalObject"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#isPropertyOf">
-    <owl:inverseOf rdf:resource="#hasProperty"/>
-    <rdfs:range>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Skill"/>
-          <owl:Class rdf:about="#Device"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:range>
-    <rdfs:domain rdf:resource="#Property"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#isDeviceOf">
-    <owl:inverseOf rdf:resource="#hasDevice"/>
-    <rdfs:range rdf:resource="#Atomic"/>
-    <rdfs:domain rdf:resource="#Device"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:ID="hasEditable">
-    <rdfs:domain>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#DeviceProperty"/>
-          <owl:Class rdf:about="#SkillProperty"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:domain>
-    <rdfs:range rdf:resource="#isEditable"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasSkill">
-    <rdfs:domain>
-      <owl:Class>
-        <owl:unionOf rdf:parseType="Collection">
-          <owl:Class rdf:about="#Device"/>
-          <owl:Class rdf:about="#Skill"/>
-          <owl:Class rdf:about="#Atomic"/>
-        </owl:unionOf>
-      </owl:Class>
-    </rdfs:domain>
-    <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>
-    <owl:inverseOf rdf:resource="#isSkillOf"/>
-  </owl:ObjectProperty>
-  <owl:ObjectProperty rdf:about="#hasAtomicOperation">
-    <owl:inverseOf rdf:resource="#isAtomicOperationOf"/>
-    <rdfs:domain rdf:resource="#Operation"/>
-    <rdfs:range rdf:resource="#Atomic"/>
-  </owl:ObjectProperty>
-  <owl:DatatypeProperty rdf:ID="value">
-    <rdfs:domain rdf:resource="#Property"/>
-  </owl:DatatypeProperty>
-  <OpticReflexSwitch rdf:ID="Sick_WL18-3P430">
-    <hasProperty>
-      <MaxVoltageSupply rdf:ID="MaxVoltageSupply_30.0">
-        <hasEditable>
-          <isEditable rdf:ID="isEditable_false">
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-            >0</value>
-          </isEditable>
-        </hasEditable>
-        <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-        >30.0</value>
-        <isPropertyOf>
-          <OpticDistanceSensor rdf:ID="Sick_DT10-P10B5">
-            <hasProperty>
-              <MinMeasurementRange rdf:ID="MinMeasurementRange_0.05">
-                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                >0.05</value>
-                <hasEditable rdf:resource="#isEditable_false"/>
-                <isPropertyOf>
-                  <OpticProximitySwitch rdf:ID="Sick_WT18-3P430">
-                    <hasProperty>
-                      <ElectricalInterface rdf:ID="ElectricalInterface_ConnectorM12-4Pins">
-                        <isPropertyOf>
-                          <SmartCamera rdf:ID="Sick_IVC-2DM1111">
-                            <hasProperty>
-                              <Length rdf:ID="Length_161">
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                >161.0</value>
-                                <isPropertyOf>
-                                  <SmartCamera rdf:ID="Sick_IVC-2DM1122">
-                                    <hasProperty>
-                                      <EnclosureRatingIP rdf:ID="EnclosureRatingIP_65">
-                                        <isPropertyOf>
-                                          <OpticColorSensor rdf:ID="Sensopart_FL64C">
-                                            <hasProperty>
-                                              <MinVoltageSupply rdf:ID="MinVoltageSupply_12.0">
-                                                <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                                                <isPropertyOf>
-                                                  <OpticLuminescenceScanner rdf:ID="Sick_LUT3-610">
-                                                    <hasProperty>
-                                                      <SwitchingFrequency rdf:ID="SwitchingFrequency_1500">
-                                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                                        <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-                                                        <isPropertyOf>
-                                                          <OpticColorSensor rdf:ID="Sick_CSM1-N1114">
-                                                            <hasProperty>
-                                                              <EnclosureRatingIP rdf:ID="EnclosureRatingIP_67">
-    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-    <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-    <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-    <isPropertyOf>
-      <OpticContrastScanner rdf:ID="Sick_KT10-2P1115">
-        <hasProperty>
-          <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.08">
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-            >0.08</value>
-            <hasEditable rdf:resource="#isEditable_false"/>
-            <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-            <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-            <isPropertyOf>
-              <SmartCamera rdf:ID="VisionComponents-VC4465">
-                <hasSkill>
-                  <Read2DMatrixCode rdf:ID="Read2DMatrixCode_1">
-                    <isSkillOf rdf:resource="#VisionComponents-VC4465"/>
-                    <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                  </Read2DMatrixCode>
-                </hasSkill>
-                <hasProperty>
-                  <MinVoltageSupply rdf:ID="MinVoltageSupply_19.2">
-                    <hasEditable rdf:resource="#isEditable_false"/>
-                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                    >19.2</value>
-                    <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-                    <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                    <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                    <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-                  </MinVoltageSupply>
-                </hasProperty>
-                <hasProperty>
-                  <Height rdf:ID="Height_53">
-                    <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                    <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                    >53.0</value>
-                    <hasEditable rdf:resource="#isEditable_false"/>
-                  </Height>
-                </hasProperty>
-                <hasProperty>
-                  <Length rdf:ID="Length_66.25">
-                    <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                    <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                    >66.25</value>
-                    <hasEditable rdf:resource="#isEditable_false"/>
-                  </Length>
-                </hasProperty>
-                <hasProperty rdf:resource="#MaxCurrentConsumption_0.08"/>
-                <hasProperty>
-                  <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.3">
-                    <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-                    <isPropertyOf>
-                      <OpticDistanceSensor rdf:ID="Sick_DME5000-112">
-                        <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
-                        <hasIdentifier>
-                          <Identifier rdf:ID="ID_Sick_DME5000-112">
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                            >Sick_DME5000-112</value>
-                          </Identifier>
-                        </hasIdentifier>
-                        <hasProperty>
-                          <MinAmbientTemperature rdf:ID="MinAmbientTemperature_-10">
-                            <isPropertyOf>
-                              <OpticColorSensor rdf:ID="Sick_CS81-P1112">
-                                <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
-                                <hasProperty>
-                                  <ElectricalInterface rdf:ID="ElectricalInterface_OpenCollectorPNP">
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                    >open collector PNP</value>
-                                    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                    <isPropertyOf>
-                                      <OpticThroughBeamSwitch rdf:ID="Sick_WSWE18-3P430">
-                                        <hasProperty>
-                                          <MaxMeasurementRange rdf:ID="MaxMeasurementRange_20">
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >20.0</value>
-                                          </MaxMeasurementRange>
-                                        </hasProperty>
-                                        <hasProperty>
-                                          <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_60">
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                            <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >60.0</value>
-                                          </MaxAmbientTemperature>
-                                        </hasProperty>
-                                        <hasProperty>
-                                          <SwitchingFrequency rdf:ID="SwitchingFrequency_1000">
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >1000.0</value>
-                                            <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                                            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                            <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                          </SwitchingFrequency>
-                                        </hasProperty>
-                                        <hasIdentifier>
-                                          <Identifier rdf:ID="ID_Sick_WSWE18-3P430">
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#string"
-                                            >Sick_WSWE18-3P430</value>
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                          </Identifier>
-                                        </hasIdentifier>
-                                        <hasProperty>
-                                          <MinMeasurementRange rdf:ID="MinMeasurementRange_0">
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >0.0</value>
-                                            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                          </MinMeasurementRange>
-                                        </hasProperty>
-                                        <hasSkill>
-                                          <DetectObject rdf:ID="DetectObject_1">
-                                            <isSkillOf rdf:resource="#Sick_WL18-3P430"/>
-                                            <isSkillOf rdf:resource="#Sick_WT18-3P430"/>
-                                            <isSkillOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                          </DetectObject>
-                                        </hasSkill>
-                                        <hasProperty>
-                                          <LightType rdf:ID="LightType_LEDred">
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#string"
-                                            >LEDred</value>
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                            <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-                                            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                            <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                            <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                                            <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                                            <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                          </LightType>
-                                        </hasProperty>
-                                        <hasProperty>
-                                          <Weight rdf:ID="Weight_0.04">
-                                            <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                                            <isPropertyOf>
-                                              <GeneralParallelGripper rdf:ID="Schunk_MPG_20">
-                                                <hasProperty>
-                                                  <Repeatability rdf:ID="Repeatability_0.01">
-                                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >0.01</value>
-                                                    <isPropertyOf>
-                                                      <rdf:Description rdf:ID="Schunk_MPG_64">
-                                                        <hasIdentifier>
-                                                          <Identifier rdf:ID="ID_Schunk_MPG_64"/>
-                                                        </hasIdentifier>
-                                                        <hasSkill>
-                                                          <OpenFingers rdf:ID="OpenFingers_1">
-                                                            <isSkillOf rdf:resource="#Schunk_MPG_20"/>
-                                                            <isSkillOf rdf:resource="#Schunk_MPG_64"/>
-                                                          </OpenFingers>
-                                                        </hasSkill>
-                                                        <hasProperty>
-                                                          <Payload rdf:ID="Payload_1.0">
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#float"
-                                                            >1.0</value>
-                                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                                            <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                                                          </Payload>
-                                                        </hasProperty>
-                                                        <hasProperty>
-                                                          <Weight rdf:ID="Weight_0.6">
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#float"
-                                                            >0.6</value>
-                                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                                            <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                                                          </Weight>
-                                                        </hasProperty>
-                                                        <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
-                                                        <hasProperty>
-                                                          <Repeatability rdf:ID="Repeatability_0.1">
-                                                            <isPropertyOf>
-                                                              <ArticulatedRobot rdf:ID="ArticulatedRobot_CLOOS_R350">
-    <hasProperty>
-      <EnclosureRatingIP rdf:ID="EnclosureRatingIP_54">
-        <hasEditable rdf:resource="#isEditable_false"/>
-        <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
-        <isPropertyOf>
-          <ScaraRobot rdf:ID="ScaraRobot_Staeubli_RS80">
-            <hasProperty>
-              <NumberOfJoints rdf:ID="NumberOfJoints_4">
-                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-                >4</value>
-                <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-                <isPropertyOf>
-                  <ScaraRobot rdf:ID="ScaraRobot_Staeubli_RS40B">
-                    <hasSkill>
-                      <Circular rdf:ID="Circular_29">
-                        <isSkillOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-                        <isSkillOf>
-                          <ArticulatedRobot rdf:ID="ArticulatedRobot_ABB_IRB-140">
-                            <hasProperty>
-                              <PowerConsumption rdf:ID="PowerConsumption_4.5">
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                >4.5</value>
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                              </PowerConsumption>
-                            </hasProperty>
-                            <hasProperty>
-                              <TypeOfActuation rdf:ID="TypeOfActuation_Electric">
-                                <isPropertyOf>
-                                  <SimpleKinematicRobot rdf:ID="IPA_AMMS_Carrier-2DOF">
-                                    <hasProperty>
-                                      <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_50">
-                                        <rdfs:comment rdf:datatype=
-                                        "http://www.w3.org/2001/XMLSchema#string"
-                                        >in degrees celsius</rdfs:comment>
-                                        <isPropertyOf>
-                                          <LaserScanner2D rdf:ID="Sick_LMS200-30106">
-                                            <hasProperty>
-                                              <ResponseTime rdf:ID="ResponseTime_0.026">
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >0.026</value>
-                                                <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                              </ResponseTime>
-                                            </hasProperty>
-                                            <hasProperty rdf:resource="#MaxAmbientTemperature_50"/>
-                                            <hasProperty>
-                                              <LaserClass rdf:ID="LaserClass_1">
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                                <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#string"
-                                                >1</value>
-                                              </LaserClass>
-                                            </hasProperty>
-                                            <hasSkill>
-                                              <MeasureVolume rdf:ID="MeasureVolume_1">
-                                                <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                              </MeasureVolume>
-                                            </hasSkill>
-                                            <hasSkill>
-                                              <Count rdf:ID="Count_1">
-                                                <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                                <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                                <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                              </Count>
-                                            </hasSkill>
-                                            <hasProperty>
-                                              <PowerConsumption rdf:ID="PowerConsumption_20">
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >20.0</value>
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                                <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                              </PowerConsumption>
-                                            </hasProperty>
-                                            <hasSkill>
-                                              <MeasurePositionOfObject rdf:ID="DeterminePositionOfObject_1">
-                                                <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                                <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                                <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                              </MeasurePositionOfObject>
-                                            </hasSkill>
-                                            <hasSkill>
-                                              <MeasureDistance rdf:ID="MeasureDistance_2">
-                                                <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                              </MeasureDistance>
-                                            </hasSkill>
-                                            <hasProperty>
-                                              <Weight rdf:ID="Weight_4.5">
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                                <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >4.5</value>
-                                              </Weight>
-                                            </hasProperty>
-                                            <hasProperty>
-                                              <MinVoltageSupply rdf:ID="MinVoltageSupply_20.4">
-                                                <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >20.4</value>
-                                              </MinVoltageSupply>
-                                            </hasProperty>
-                                            <hasProperty>
-                                              <MaxMeasurementRange rdf:ID="MaxMeasurementRange_80">
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >80.0</value>
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                                <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                              </MaxMeasurementRange>
-                                            </hasProperty>
-                                            <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
-                                            <hasSkill>
-                                              <Scan rdf:ID="Scan_2D">
-                                                <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                              </Scan>
-                                            </hasSkill>
-                                            <hasProperty>
-                                              <Resolution rdf:ID="AngleResolution_0.5">
-                                                <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >0.5</value>
-                                              </Resolution>
-                                            </hasProperty>
-                                            <hasIdentifier>
-                                              <Identifier rdf:ID="ID_Sick_LMS200-30106">
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#string"
-                                                >Sick_LMS200-30106</value>
-                                              </Identifier>
-                                            </hasIdentifier>
-                                            <hasSkill>
-                                              <DetectCollision rdf:ID="DetectCollision_1">
-                                                <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                              </DetectCollision>
-                                            </hasSkill>
-                                            <hasProperty>
-                                              <MaxVoltageSupply rdf:ID="MaxVoltageSupply_27.6">
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >27.6</value>
-                                                <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                              </MaxVoltageSupply>
-                                            </hasProperty>
-                                            <hasSkill>
-                                              <ClassifyObject rdf:ID="ClassifyObject_2">
-                                                <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
-                                              </ClassifyObject>
-                                            </hasSkill>
-                                            <hasProperty>
-                                              <Resolution rdf:ID="DepthResolution_0.01">
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >0.01</value>
-                                                <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                              </Resolution>
-                                            </hasProperty>
-                                            <hasProperty>
-                                              <MaxScanAngle rdf:ID="MaxScanAngle_180">
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >180.0</value>
-                                                <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                              </MaxScanAngle>
-                                            </hasProperty>
-                                            <hasProperty>
-                                              <MinAmbientTemperature rdf:ID="MinAmbientTemperature_0">
-                                                <rdfs:comment
-                                                 rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#string"
-                                                >in degrees celsius</rdfs:comment>
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                                <isPropertyOf>
-                                                  <VisionSensor rdf:ID="Sick_CVS2-P112">
-                                                    <hasProperty>
-                                                      <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_40">
-                                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                                        <value
-                                                         rdf:datatype=
-                                                        "http://www.w3.org/2001/XMLSchema#float"
-                                                        >40.0</value>
-                                                        <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-                                                        <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-                                                        <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-                                                        <isPropertyOf>
-                                                          <VacuumGripper rdf:ID="IPA_AMMS_SimpleGripper-2DOF">
-                                                            <hasProperty>
-                                                              <BusInterface rdf:ID="BusInterface_FastEthernet">
-    <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-    <hasEditable rdf:resource="#isEditable_false"/>
-    <isPropertyOf>
-      <ArticulatedRobot rdf:ID="ArticulatedRobot_CLOOS_R410">
-        <hasProperty>
-          <IntelligentCtrl rdf:ID="IntelligentCtrl_1">
-            <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-            >yes</value>
-            <isPropertyOf>
-              <ArticulatedRobot rdf:ID="ArticulatedRobot_ABB_IRB-2400">
-                <hasProperty rdf:resource="#IntelligentCtrl_1"/>
-                <hasProperty rdf:resource="#TypeOfActuation_Electric"/>
-                <hasProperty>
-                  <Reachability rdf:ID="Reachability_1280">
-                    <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
-                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-                    >1280</value>
-                    <hasEditable rdf:resource="#isEditable_false"/>
-                  </Reachability>
-                </hasProperty>
-                <hasSkill>
-                  <Displace rdf:ID="L_Move">
-                    <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                    <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
-                    <isSkillOf>
-                      <ArticulatedRobot rdf:ID="ArticulatedRobot_ABB_IRB-4400">
-                        <hasSkill>
-                          <Attach rdf:ID="Attach_SIARAS">
-                            <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
-                            <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                            <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                          </Attach>
-                        </hasSkill>
-                        <hasSkill>
-                          <Detach rdf:ID="Detach_SIARAS">
-                            <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
-                            <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                            <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                          </Detach>
-                        </hasSkill>
-                        <hasProperty rdf:resource="#TypeOfActuation_Electric"/>
-                        <hasProperty>
-                          <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_45">
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >45.0</value>
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
-                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                            <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
-                            <isPropertyOf>
-                              <ArticulatedRobot rdf:ID="ArticulatedRobot_CLOOS_R320">
-                                <hasIdentifier>
-                                  <Identifier rdf:ID="ID_CLOOS_R320">
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                    >CLOOS_R320</value>
-                                  </Identifier>
-                                </hasIdentifier>
-                                <hasSkill>
-                                  <AsFastAsPossible rdf:ID="AsFastAsPossible_28">
-                                    <isSkillOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-                                    <isSkillOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
-                                    <isSkillOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
-                                    <isSkillOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-                                    <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                                    <isSkillOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
-                                    <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                                    <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
-                                  </AsFastAsPossible>
-                                </hasSkill>
-                                <hasSkill rdf:resource="#Circular_29"/>
-                                <hasProperty>
-                                  <Weight rdf:ID="Weight_205">
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-                                    >205</value>
-                                  </Weight>
-                                </hasProperty>
-                                <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
-                                <hasProperty>
-                                  <MinVoltageSupply rdf:ID="MinVoltageSupply_350">
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-                                    >350</value>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
-                                  </MinVoltageSupply>
-                                </hasProperty>
-                                <hasSkill>
-                                  <Karthesian rdf:ID="Karthesian_30">
-                                    <isSkillOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-                                    <isSkillOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
-                                    <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                                    <isSkillOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
-                                    <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                                    <isSkillOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-                                    <isSkillOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
-                                    <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
-                                  </Karthesian>
-                                </hasSkill>
-                                <hasProperty>
-                                  <Payload rdf:ID="Payload_15">
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-                                    >15</value>
-                                  </Payload>
-                                </hasProperty>
-                                <hasProperty>
-                                  <PowerConsumption rdf:ID="PowerConsumption_3">
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-                                    >3</value>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
-                                  </PowerConsumption>
-                                </hasProperty>
-                                <hasProperty rdf:resource="#TypeOfActuation_Electric"/>
-                                <hasProperty rdf:resource="#IntelligentCtrl_1"/>
-                                <hasProperty rdf:resource="#Repeatability_0.1"/>
-                                <hasProperty>
-                                  <Reachability rdf:ID="Reachability_2100">
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-                                    >2100</value>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
-                                  </Reachability>
-                                </hasProperty>
-                                <hasProperty>
-                                  <MaxVoltageSupply rdf:ID="MaxVoltageSupply_450">
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-                                    >450</value>
-                                  </MaxVoltageSupply>
-                                </hasProperty>
-                                <hasProperty>
-                                  <BusInterface rdf:ID="BusInterface_RS232">
-                                    <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
-                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                    >RS232</value>
-                                  </BusInterface>
-                                </hasProperty>
-                                <hasProperty>
-                                  <NumberOfJoints rdf:ID="NumberOfJoints_6">
-                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-                                    >6</value>
-                                  </NumberOfJoints>
-                                </hasProperty>
-                                <hasProperty rdf:resource="#EnclosureRatingIP_54"/>
-                                <hasProperty>
-                                  <MinAmbientTemperature rdf:ID="MinAmbientTemperature_-15">
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                    >-15.0</value>
-                                  </MinAmbientTemperature>
-                                </hasProperty>
-                                <hasProperty>
-                                  <DegreesOfFreedom rdf:ID="DegreesOfFreedom_6">
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-                                    >6</value>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
-                                    <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                                  </DegreesOfFreedom>
-                                </hasProperty>
-                                <hasProperty rdf:resource="#MaxAmbientTemperature_45"/>
-                              </ArticulatedRobot>
-                            </isPropertyOf>
-                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
-                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                          </MaxAmbientTemperature>
-                        </hasProperty>
-                        <hasProperty rdf:resource="#IntelligentCtrl_1"/>
-                        <hasSkill rdf:resource="#Karthesian_30"/>
-                        <hasProperty>
-                          <MinVoltageSupply rdf:ID="MinVoltageSupply_200">
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
-                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >200.0</value>
-                          </MinVoltageSupply>
-                        </hasProperty>
-                        <hasProperty>
-                          <MinAmbientTemperature rdf:ID="MinAmbientTemperature_5">
-                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                            <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                            <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >5.0</value>
-                            <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
-                            <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                            <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-                          </MinAmbientTemperature>
-                        </hasProperty>
-                        <hasIdentifier>
-                          <Identifier rdf:ID="ID_ABB_IRB-4400">
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                            >ID_ABB_IRB-4400</value>
-                          </Identifier>
-                        </hasIdentifier>
-                        <hasProperty rdf:resource="#EnclosureRatingIP_54"/>
-                        <hasProperty>
-                          <Reachability rdf:ID="Reachability_1960">
-                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-                            >1960</value>
-                          </Reachability>
-                        </hasProperty>
-                        <hasProperty rdf:resource="#DegreesOfFreedom_6"/>
-                        <hasProperty rdf:resource="#Repeatability_0.1"/>
-                        <hasSkill rdf:resource="#AsFastAsPossible_28"/>
-                        <hasProperty>
-                          <Weight rdf:ID="Weight_985">
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >985.0</value>
-                            <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
-                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                          </Weight>
-                        </hasProperty>
-                        <hasProperty rdf:resource="#NumberOfJoints_6"/>
-                        <hasSkill rdf:resource="#Circular_29"/>
-                        <hasProperty>
-                          <MaxVoltageSupply rdf:ID="MaxVoltageSupply_600">
-                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
-                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >600.0</value>
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                          </MaxVoltageSupply>
-                        </hasProperty>
-                        <hasSkill rdf:resource="#L_Move"/>
-                        <hasProperty>
-                          <Payload rdf:ID="Payload_45.0">
-                            <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
-                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >45.0</value>
-                          </Payload>
-                        </hasProperty>
-                      </ArticulatedRobot>
-                    </isSkillOf>
-                  </Displace>
-                </hasSkill>
-                <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
-                <hasProperty rdf:resource="#NumberOfJoints_6"/>
-                <hasProperty rdf:resource="#MaxVoltageSupply_600"/>
-                <hasSkill rdf:resource="#Circular_29"/>
-                <hasSkill rdf:resource="#Attach_SIARAS"/>
-                <hasProperty>
-                  <Payload rdf:ID="Payload_25.0">
-                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                    >25.0</value>
-                    <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
-                    <isPropertyOf>
-                      <AngleGripper rdf:ID="AngleGripper_test">
-                        <hasProperty rdf:resource="#Payload_25.0"/>
-                        <hasIdentifier>
-                          <Identifier rdf:ID="ID_AngleGripper">
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                            >ID_AngleGripper</value>
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                          </Identifier>
-                        </hasIdentifier>
-                        <hasSkill>
-                          <CloseClaws rdf:ID="CloseClaws_SIARAS">
-                            <isSkillOf rdf:resource="#AngleGripper_test"/>
-                          </CloseClaws>
-                        </hasSkill>
-                        <hasSkill>
-                          <OpenClaws rdf:ID="OpenClaws_SIARAS">
-                            <isSkillOf rdf:resource="#AngleGripper_test"/>
-                          </OpenClaws>
-                        </hasSkill>
-                      </AngleGripper>
-                    </isPropertyOf>
-                    <hasEditable rdf:resource="#isEditable_false"/>
-                  </Payload>
-                </hasProperty>
-                <hasProperty rdf:resource="#MaxAmbientTemperature_45"/>
-                <hasProperty rdf:resource="#Repeatability_0.1"/>
-                <hasProperty rdf:resource="#DegreesOfFreedom_6"/>
-                <hasSkill rdf:resource="#AsFastAsPossible_28"/>
-                <hasProperty rdf:resource="#Payload_45.0"/>
-                <hasProperty rdf:resource="#MinVoltageSupply_200"/>
-                <hasIdentifier>
-                  <Identifier rdf:ID="ID_ABB_IRB-2400">
-                    <hasEditable rdf:resource="#isEditable_false"/>
-                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                    >ID_ABB_IRB-2400</value>
-                  </Identifier>
-                </hasIdentifier>
-                <hasProperty rdf:resource="#EnclosureRatingIP_54"/>
-                <hasSkill rdf:resource="#Karthesian_30"/>
-                <hasProperty rdf:resource="#Weight_985"/>
-                <hasSkill rdf:resource="#Detach_SIARAS"/>
-              </ArticulatedRobot>
-            </isPropertyOf>
-            <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
-            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-            <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-            <hasEditable rdf:resource="#isEditable_false"/>
-            <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-            <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
-          </IntelligentCtrl>
-        </hasProperty>
-        <hasProperty rdf:resource="#MaxAmbientTemperature_45"/>
-        <hasProperty>
-          <Reachability rdf:ID="Reachability_2500">
-            <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-            >2500</value>
-          </Reachability>
-        </hasProperty>
-        <hasProperty rdf:resource="#NumberOfJoints_6"/>
-        <hasProperty rdf:resource="#PowerConsumption_3"/>
-        <hasProperty rdf:resource="#DegreesOfFreedom_6"/>
-        <hasProperty>
-          <Payload rdf:ID="Payload_10">
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-            >10</value>
-            <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
-          </Payload>
-        </hasProperty>
-        <hasIdentifier>
-          <Identifier rdf:ID="ID_CLOOS_R410">
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-            >CLOOS_R410</value>
-          </Identifier>
-        </hasIdentifier>
-        <hasSkill rdf:resource="#Circular_29"/>
-        <hasProperty rdf:resource="#MaxVoltageSupply_450"/>
-        <hasProperty rdf:resource="#TypeOfActuation_Electric"/>
-        <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
-        <hasProperty rdf:resource="#EnclosureRatingIP_54"/>
-        <hasSkill rdf:resource="#AsFastAsPossible_28"/>
-        <hasProperty rdf:resource="#BusInterface_RS232"/>
-        <hasProperty rdf:resource="#MinVoltageSupply_350"/>
-        <hasProperty rdf:resource="#Repeatability_0.1"/>
-        <hasProperty rdf:resource="#Weight_205"/>
-        <hasProperty rdf:resource="#MinAmbientTemperature_-15"/>
-        <hasSkill rdf:resource="#Karthesian_30"/>
-      </ArticulatedRobot>
-    </isPropertyOf>
-    <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-    <isPropertyOf>
-      <VacuumGripper rdf:ID="IPA_AMMS_SimpleGripper-2DOF-Turnable">
-        <hasIdentifier>
-          <Identifier rdf:ID="ID_IPA_AMMS_SimpleGripper-2DOF-Turnable">
-            <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-            >ID of the IPA AMMS simple gripper with 2 DOF, but turnable by 90 degrees.</rdfs:comment>
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-            >IPA_AMMS_SimpleGripper-2DOF-Turnable</value>
-          </Identifier>
-        </hasIdentifier>
-        <hasSkill>
-          <Displace rdf:ID="IPA_AMMS_MoveFront">
-            <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF"/>
-            <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
-            <isSubskillOf>
-              <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PLACE_2DOF_Part1">
-                <isSubskillOf>
-                  <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PLACE_2DOF_Part2">
-                    <hasSubskill rdf:resource="#AMMS_IPA_PLACE_2DOF_Part1"/>
-                    <hasSubskill>
-                      <Displace rdf:ID="IPA_AMMS_MoveDown">
-                        <isSubskillOf rdf:resource="#AMMS_IPA_PLACE_2DOF_Part2"/>
-                        <isSubskillOf>
-                          <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK_2DOF_Part2">
-                            <hasSubskill>
-                              <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK_2DOF_Part1">
-                                <isSubskillOf rdf:resource="#AMMS_IPA_PICK_2DOF_Part2"/>
-                                <hasSubskill rdf:resource="#IPA_AMMS_MoveFront"/>
-                              </CompoundManipulationAndHandlingFunction>
-                            </hasSubskill>
-                            <hasSubskill rdf:resource="#IPA_AMMS_MoveDown"/>
-                            <isSubskillOf>
-                              <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK_2DOF_Part3">
-                                <isSubskillOf>
-                                  <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK_2DOF">
-                                    <rdfs:comment rdf:datatype=
-                                    "http://www.w3.org/2001/XMLSchema#string"
-                                    >Pick operation for IPA-2DOF Picker from AMMS.
-Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
-                                    <hasSubskill rdf:resource="#AMMS_IPA_PICK_2DOF_Part3"/>
-                                    <hasSubskill>
-                                      <Displace rdf:ID="IPA_AMMS_MoveUp">
-                                        <isSubskillOf>
-                                          <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PLACE_2DOF">
-                                            <hasSubskill>
-                                              <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PLACE_2DOF_Part3">
-                                                <isSubskillOf rdf:resource="#AMMS_IPA_PLACE_2DOF"/>
-                                                <hasSubskill rdf:resource="#AMMS_IPA_PLACE_2DOF_Part2"/>
-                                                <hasSubskill>
-                                                  <AdjustVacuumToRelease rdf:ID="VacuumRelease">
-                                                    <isSubskillOf rdf:resource="#AMMS_IPA_PLACE_2DOF_Part3"/>
-                                                    <isSubskillOf>
-                                                      <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICKANDPLACE_90DEG_Part8">
-                                                        <hasSubskill>
-                                                          <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICKANDPLACE_90DEG_Part7">
-                                                            <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part8"/>
-                                                            <hasSubskill>
-                                                              <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICKANDPLACE_90DEG_Part6">
-    <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part7"/>
-    <hasSubskill>
-      <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICKANDPLACE_90DEG_Part5">
-        <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part6"/>
-        <hasSubskill>
-          <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICKANDPLACE_90DEG_Part4">
-            <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part5"/>
-            <hasSubskill>
-              <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICKANDPLACE_90DEG_Part3">
-                <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part4"/>
-                <hasSubskill>
-                  <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICKANDPLACE_90DEG_Part2">
-                    <hasSubskill>
-                      <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICKANDPLACE_90DEG_Part1">
-                        <hasSubskill>
-                          <Displace rdf:ID="IPA_AMMS_TurnFront">
-                            <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part1"/>
-                            <isSubskillOf>
-                              <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK90DEGANDPLACE_Part5">
-                                <hasSubskill>
-                                  <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK90DEGANDPLACE_Part4">
-                                    <isSubskillOf rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part5"/>
-                                    <hasSubskill>
-                                      <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK90DEGANDPLACE_Part3">
-                                        <isSubskillOf rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part4"/>
-                                        <hasSubskill>
-                                          <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK90DEGANDPLACE_Part2">
-                                            <isSubskillOf rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part3"/>
-                                            <hasSubskill>
-                                              <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK90DEGANDPLACE_Part1">
-                                                <hasSubskill>
-                                                  <Displace rdf:ID="IPA_AMMS_TurnLeft">
-                                                    <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part6"/>
-                                                    <isSubskillOf rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part1"/>
-                                                  </Displace>
-                                                </hasSubskill>
-                                                <isSubskillOf rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part2"/>
-                                              </CompoundManipulationAndHandlingFunction>
-                                            </hasSubskill>
-                                            <hasSubskill rdf:resource="#IPA_AMMS_MoveDown"/>
-                                          </CompoundManipulationAndHandlingFunction>
-                                        </hasSubskill>
-                                        <hasSubskill>
-                                          <AdjustVacuumToGrip rdf:ID="VacuumGrip">
-                                            <isSubskillOf rdf:resource="#AMMS_IPA_PICK_2DOF_Part3"/>
-                                            <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part4"/>
-                                            <isSubskillOf rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part3"/>
-                                            <isSkillOf>
-                                              <VacuumGripper rdf:ID="VacuumGripper_SIARAS">
-                                                <hasProperty>
-                                                  <Payload rdf:ID="Payload_5.0">
-                                                    <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                                                    <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                                    <isPropertyOf rdf:resource="#VacuumGripper_SIARAS"/>
-                                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >5.0</value>
-                                                  </Payload>
-                                                </hasProperty>
-                                                <hasProperty>
-                                                  <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.4">
-                                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >0.4</value>
-                                                    <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                                    <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                                    <isPropertyOf rdf:resource="#VacuumGripper_SIARAS"/>
-                                                  </MaxCurrentConsumption>
-                                                </hasProperty>
-                                                <hasSkill rdf:resource="#VacuumGrip"/>
-                                                <hasSkill rdf:resource="#VacuumRelease"/>
-                                                <hasIdentifier>
-                                                  <Identifier rdf:ID="ID_VG_SIARAS">
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#string"
-                                                    >ID_VG_SIARAS</value>
-                                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                                  </Identifier>
-                                                </hasIdentifier>
-                                              </VacuumGripper>
-                                            </isSkillOf>
-                                            <isSkillOf>
-                                              <VacuumGripper rdf:ID="Schmalz_FSGA_20_SI-55_M5-AG">
-                                                <hasIdentifier>
-                                                  <Identifier rdf:ID="ID_Schmalz_FSGA_20_SI-55_M5-AG">
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#string"
-                                                    >Schmalz_FSGA_20_SI-55_M5-AG</value>
-                                                  </Identifier>
-                                                </hasIdentifier>
-                                                <hasSkill rdf:resource="#VacuumGrip"/>
-                                                <hasSkill rdf:resource="#VacuumRelease"/>
-                                                <hasProperty>
-                                                  <DiameterOfGripper rdf:ID="DiameterOfGripper_20">
-                                                    <isPropertyOf rdf:resource="#Schmalz_FSGA_20_SI-55_M5-AG"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >20.0</value>
-                                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                                  </DiameterOfGripper>
-                                                </hasProperty>
-                                                <hasProperty>
-                                                  <Material rdf:ID="Material_Silicon">
-                                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#string"
-                                                    >Silicon SI 55+-5</value>
-                                                    <isPropertyOf rdf:resource="#Schmalz_FSGA_20_SI-55_M5-AG"/>
-                                                  </Material>
-                                                </hasProperty>
-                                                <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"/>
-                                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                                  </WormDiameter>
-                                                </hasProperty>
-                                                <hasProperty>
-                                                  <Worm rdf:ID="Worm_Outside">
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#string"
-                                                    >Outside</value>
-                                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                                    <isPropertyOf rdf:resource="#Schmalz_FSGA_20_SI-55_M5-AG"/>
-                                                  </Worm>
-                                                </hasProperty>
-                                                <hasProperty>
-                                                  <MaxForce rdf:ID="MaximumForce_4.7">
-                                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >4.7</value>
-                                                    <isPropertyOf rdf:resource="#Schmalz_FSGA_20_SI-55_M5-AG"/>
-                                                  </MaxForce>
-                                                </hasProperty>
-                                              </VacuumGripper>
-                                            </isSkillOf>
-                                            <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"
-                                                    >200.0</value>
-                                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                                    <isPropertyOf rdf:resource="#Schmalz_FSGPL_200_NBR-55_G1-2-IG"/>
-                                                  </DiameterOfGripper>
-                                                </hasProperty>
-                                                <hasProperty>
-                                                  <Worm rdf:ID="Worm_Inside">
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#string"
-                                                    >Inside</value>
-                                                    <isPropertyOf rdf:resource="#Schmalz_FSGPL_200_NBR-55_G1-2-IG"/>
-                                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                                  </Worm>
-                                                </hasProperty>
-                                                <hasProperty>
-                                                  <Material rdf:ID="Material_Perbunan">
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#string"
-                                                    >Perbunan NBR 55+-5</value>
-                                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                                    <isPropertyOf rdf:resource="#Schmalz_FSGPL_200_NBR-55_G1-2-IG"/>
-                                                  </Material>
-                                                </hasProperty>
-                                                <hasProperty>
-                                                  <MaxForce rdf:ID="MaximumForce_850">
-                                                    <isPropertyOf rdf:resource="#Schmalz_FSGPL_200_NBR-55_G1-2-IG"/>
-                                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >850.0</value>
-                                                  </MaxForce>
-                                                </hasProperty>
-                                                <hasProperty>
-                                                  <WormDiameter rdf:ID="WormDiameter_G1-2">
-                                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                                    <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>
-                                                <hasIdentifier>
-                                                  <Identifier rdf:ID="ID_Schmalz_FSGPL_200_NBR-55_G1-2-IG">
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#string"
-                                                    >Schmalz_FSGPL_200_NBR-55_G1-2-IG</value>
-                                                  </Identifier>
-                                                </hasIdentifier>
-                                                <hasSkill rdf:resource="#VacuumGrip"/>
-                                                <hasSkill rdf:resource="#VacuumRelease"/>
-                                              </VacuumGripper>
-                                            </isSkillOf>
-                                          </AdjustVacuumToGrip>
-                                        </hasSubskill>
-                                      </CompoundManipulationAndHandlingFunction>
-                                    </hasSubskill>
-                                    <hasSubskill rdf:resource="#IPA_AMMS_MoveUp"/>
-                                  </CompoundManipulationAndHandlingFunction>
-                                </hasSubskill>
-                                <hasSubskill rdf:resource="#IPA_AMMS_TurnFront"/>
-                                <isSubskillOf>
-                                  <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK90DEGANDPLACE_Part6">
-                                    <hasSubskill rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part5"/>
-                                    <hasSubskill rdf:resource="#IPA_AMMS_MoveFront"/>
-                                    <isSubskillOf>
-                                      <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK90DEGANDPLACE_Part7">
-                                        <hasSubskill rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part6"/>
-                                        <hasSubskill rdf:resource="#IPA_AMMS_MoveDown"/>
-                                        <isSubskillOf>
-                                          <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK90DEGANDPLACE_Part8">
-                                            <isSubskillOf>
-                                              <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK90DEGANDPLACE">
-                                                <hasSubskill rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part8"/>
-                                                <hasSubskill rdf:resource="#IPA_AMMS_MoveUp"/>
-                                                <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
-                                              </CompoundManipulationAndHandlingFunction>
-                                            </isSubskillOf>
-                                            <hasSubskill rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part7"/>
-                                            <hasSubskill rdf:resource="#VacuumRelease"/>
-                                          </CompoundManipulationAndHandlingFunction>
-                                        </isSubskillOf>
-                                      </CompoundManipulationAndHandlingFunction>
-                                    </isSubskillOf>
-                                  </CompoundManipulationAndHandlingFunction>
-                                </isSubskillOf>
-                              </CompoundManipulationAndHandlingFunction>
-                            </isSubskillOf>
-                          </Displace>
-                        </hasSubskill>
-                        <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part2"/>
-                      </CompoundManipulationAndHandlingFunction>
-                    </hasSubskill>
-                    <hasSubskill rdf:resource="#IPA_AMMS_MoveFront"/>
-                    <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part3"/>
-                  </CompoundManipulationAndHandlingFunction>
-                </hasSubskill>
-                <hasSubskill rdf:resource="#IPA_AMMS_MoveDown"/>
-              </CompoundManipulationAndHandlingFunction>
-            </hasSubskill>
-            <hasSubskill rdf:resource="#VacuumGrip"/>
-          </CompoundManipulationAndHandlingFunction>
-        </hasSubskill>
-        <hasSubskill rdf:resource="#IPA_AMMS_MoveUp"/>
-      </CompoundManipulationAndHandlingFunction>
-    </hasSubskill>
-    <hasSubskill rdf:resource="#IPA_AMMS_TurnLeft"/>          </CompoundManipulationAndHandlingFunction>
-                                                            </hasSubskill>
-                                                            <hasSubskill rdf:resource="#IPA_AMMS_MoveDown"/>
-                                                          </CompoundManipulationAndHandlingFunction>
-                                                        </hasSubskill>
-                                                        <hasSubskill rdf:resource="#VacuumRelease"/>
-                                                        <isSubskillOf>
-                                                          <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICKANDPLACE_90DEG">
-                                                            <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
-                                                            <hasSubskill rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part8"/>
-                                                            <hasSubskill rdf:resource="#IPA_AMMS_MoveUp"/>
-                                                          </CompoundManipulationAndHandlingFunction>
-                                                        </isSubskillOf>
-                                                      </CompoundManipulationAndHandlingFunction>
-                                                    </isSubskillOf>
-                                                    <isSubskillOf rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part8"/>
-                                                    <isSkillOf rdf:resource="#VacuumGripper_SIARAS"/>
-                                                    <isSkillOf rdf:resource="#Schmalz_FSGA_20_SI-55_M5-AG"/>
-                                                    <isSkillOf rdf:resource="#Schmalz_FSGPL_200_NBR-55_G1-2-IG"/>
-                                                  </AdjustVacuumToRelease>
-                                                </hasSubskill>
-                                              </CompoundManipulationAndHandlingFunction>
-                                            </hasSubskill>
-                                            <hasSubskill rdf:resource="#IPA_AMMS_MoveUp"/>
-                                            <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF"/>
-                                            <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
-                                          </CompoundManipulationAndHandlingFunction>
-                                        </isSubskillOf>
-                                        <isSubskillOf rdf:resource="#AMMS_IPA_PICK_2DOF"/>
-                                        <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part5"/>
-                                        <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG"/>
-                                        <isSubskillOf rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part4"/>
-                                        <isSubskillOf rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE"/>
-                                        <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF"/>
-                                        <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
-                                      </Displace>
-                                    </hasSubskill>
-                                    <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF"/>
-                                    <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
-                                  </CompoundManipulationAndHandlingFunction>
-                                </isSubskillOf>
-                                <hasSubskill rdf:resource="#AMMS_IPA_PICK_2DOF_Part2"/>
-                                <hasSubskill rdf:resource="#VacuumGrip"/>
-                              </CompoundManipulationAndHandlingFunction>
-                            </isSubskillOf>
-                          </CompoundManipulationAndHandlingFunction>
-                        </isSubskillOf>
-                        <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part3"/>
-                        <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part7"/>
-                        <isSubskillOf rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part2"/>
-                        <isSubskillOf rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part7"/>
-                        <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF"/>
-                        <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
-                      </Displace>
-                    </hasSubskill>
-                    <isSubskillOf rdf:resource="#AMMS_IPA_PLACE_2DOF_Part3"/>
-                  </CompoundManipulationAndHandlingFunction>
-                </isSubskillOf>
-                <hasSubskill rdf:resource="#IPA_AMMS_MoveFront"/>
-              </CompoundManipulationAndHandlingFunction>
-            </isSubskillOf>
-            <isSubskillOf rdf:resource="#AMMS_IPA_PICK_2DOF_Part1"/>
-            <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part2"/>
-            <isSubskillOf rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part6"/>
-          </Displace>
-        </hasSkill>
-        <hasSkill rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE"/>
-        <hasSkill rdf:resource="#AMMS_IPA_PICK_2DOF"/>
-        <hasSkill>
-          <Displace rdf:ID="IPA_AMMS_MoveBack">
-            <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF"/>
-            <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
-          </Displace>
-        </hasSkill>
-        <hasSkill rdf:resource="#IPA_AMMS_MoveUp"/>
-        <hasProperty rdf:resource="#MinAmbientTemperature_0"/>
-        <hasProperty>
-          <DegreesOfFreedom rdf:ID="DegreesOfFreedom_2">
-            <isPropertyOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF"/>
-            <isPropertyOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
-            <isPropertyOf rdf:resource="#IPA_AMMS_Carrier-2DOF"/>
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-            >2</value>
-          </DegreesOfFreedom>
-        </hasProperty>
-        <hasProperty rdf:resource="#MaxAmbientTemperature_40"/>
-        <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
-        <hasSkill rdf:resource="#AMMS_IPA_PLACE_2DOF"/>
-        <hasSkill rdf:resource="#IPA_AMMS_MoveDown"/>
-        <hasSkill rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG"/>
-        <hasProperty>
-          <MaxVoltageSupply rdf:ID="MaxVoltageSupply_24">
-            <hasEditable rdf:resource="#isEditable_false"/>
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-            >24.0</value>
-            <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-            <isPropertyOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF"/>
-            <isPropertyOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
-            <isPropertyOf>
-              <SimpleKinematicRobot rdf:ID="IPA_AMMS_FilterOrientator">
-                <hasSkill>
-                  <Turn rdf:ID="Turn_90">
-                    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                    >Turn a workpiece by 90 degrees cw. or ccw.</rdfs:comment>
-                    <isSkillOf rdf:resource="#IPA_AMMS_FilterOrientator"/>
-                  </Turn>
-                </hasSkill>
-                <hasIdentifier>
-                  <Identifier rdf:ID="ID_IPA_AMMS_FilterOrientator">
-                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                    >ID_IPA_AMMS_FilterOrientator</value>
-                  </Identifier>
-                </hasIdentifier>
-                <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                >Device to orient a polarisation filter in the right direction. This device is used in IPA's Advanced Modular Microproduction System.</rdfs:comment>
-                <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
-                <hasProperty rdf:resource="#MaxAmbientTemperature_50"/>
-                <hasProperty rdf:resource="#MaxVoltageSupply_24"/>
-                <hasProperty rdf:resource="#MinAmbientTemperature_0"/>
-                <hasProperty>
-                  <TypeOfActuation rdf:ID="TypeOfActuationPneumatic">
-                    <isPropertyOf rdf:resource="#IPA_AMMS_FilterOrientator"/>
-                    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                    >Pneumatic actuation.</rdfs:comment>
-                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                    >pneumatic</value>
-                  </TypeOfActuation>
-                </hasProperty>
-              </SimpleKinematicRobot>
-            </isPropertyOf>
-          </MaxVoltageSupply>
-        </hasProperty>
-      </VacuumGripper>
-    </isPropertyOf>
-    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
-    <isPropertyOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF"/>
-    <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-    <isPropertyOf rdf:resource="#IPA_AMMS_Carrier-2DOF"/>
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Fast Ethernet</value>
-    <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
-    <isPropertyOf rdf:resource="#IPA_AMMS_FilterOrientator"/> </BusInterface>
-                                                            </hasProperty>
-                                                            <hasSkill rdf:resource="#IPA_AMMS_MoveUp"/>
-                                                            <hasProperty rdf:resource="#MaxVoltageSupply_24"/>
-                                                            <hasSkill rdf:resource="#IPA_AMMS_MoveDown"/>
-                                                            <hasSkill rdf:resource="#IPA_AMMS_MoveFront"/>
-                                                            <hasSkill rdf:resource="#AMMS_IPA_PLACE_2DOF"/>
-                                                            <hasProperty rdf:resource="#MaxAmbientTemperature_40"/>
-                                                            <hasProperty rdf:resource="#MinAmbientTemperature_0"/>
-                                                            <hasSkill rdf:resource="#AMMS_IPA_PICK_2DOF"/>
-                                                            <hasProperty rdf:resource="#DegreesOfFreedom_2"/>
-                                                            <hasSkill rdf:resource="#IPA_AMMS_MoveBack"/>
-                                                            <hasIdentifier>
-                                                              <Identifier rdf:ID="ID_IPA_AMMS_SimpleGripper-2DOF">
-    <hasEditable>
-      <isEditable rdf:ID="isEditable_true">
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-        >1</value>
-      </isEditable>
-    </hasEditable>
-    <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >IPA-2DOF Picker from AMMS.</rdfs:comment>
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >IPA_AMMS_SimpleGripper-2DOF</value>                      </Identifier>
-                                                            </hasIdentifier>
-                                                            <rdfs:comment
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#string"
-                                                            >2DOF-Gripper of the IPA AMMS Demonstrator.</rdfs:comment>
-                                                          </VacuumGripper>
-                                                        </isPropertyOf>
-                                                        <isPropertyOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
-                                                      </MaxAmbientTemperature>
-                                                    </hasProperty>
-                                                    <hasProperty>
-                                                      <ResponseTime rdf:ID="ResponseTime_0.005">
-                                                        <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-                                                        <value
-                                                         rdf:datatype=
-                                                        "http://www.w3.org/2001/XMLSchema#float"
-                                                        >0.0050</value>
-                                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                                      </ResponseTime>
-                                                    </hasProperty>
-                                                    <hasProperty rdf:resource="#MaxVoltageSupply_24"/>
-                                                    <hasProperty rdf:resource="#MinAmbientTemperature_0"/>
-                                                    <hasIdentifier>
-                                                      <Identifier rdf:ID="ID_Sick_CVS2-P112">
-                                                        <value
-                                                         rdf:datatype=
-                                                        "http://www.w3.org/2001/XMLSchema#string"
-                                                        >Sick_CVS2-P112</value>
-                                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                                      </Identifier>
-                                                    </hasIdentifier>
-                                                    <hasProperty>
-                                                      <ScanningDistance rdf:ID="ScanningDistance_0.24">
-                                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                                        <value
-                                                         rdf:datatype=
-                                                        "http://www.w3.org/2001/XMLSchema#float"
-                                                        >0.24</value>
-                                                        <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-                                                      </ScanningDistance>
-                                                    </hasProperty>
-                                                    <hasProperty>
-                                                      <LightType rdf:ID="LightType_LEDwhite">
-                                                        <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-                                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                                        <value
-                                                         rdf:datatype=
-                                                        "http://www.w3.org/2001/XMLSchema#string"
-                                                        >LEDwhite</value>
-                                                      </LightType>
-                                                    </hasProperty>
-                                                    <hasProperty>
-                                                      <FieldOfView rdf:ID="FieldOfView_50x60">
-                                                        <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-                                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                                        <value
-                                                         rdf:datatype=
-                                                        "http://www.w3.org/2001/XMLSchema#string"
-                                                        >50x60</value>
-                                                      </FieldOfView>
-                                                    </hasProperty>
-                                                    <hasProperty>
-                                                      <Weight rdf:ID="Weight_0.18">
-                                                        <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-                                                        <value
-                                                         rdf:datatype=
-                                                        "http://www.w3.org/2001/XMLSchema#float"
-                                                        >0.18</value>
-                                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                                      </Weight>
-                                                    </hasProperty>
-                                                    <hasProperty rdf:resource="#MinVoltageSupply_12.0"/>
-                                                    <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-                                                    <hasSkill>
-                                                      <SortObjects rdf:ID="SortObjectColor_15">
-                                                        <isSkillOf rdf:resource="#Sick_CVS2-P112"/>
-                                                      </SortObjects>
-                                                    </hasSkill>
-                                                    <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
-                                                    <hasProperty>
-                                                      <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.2">
-                                                        <value
-                                                         rdf:datatype=
-                                                        "http://www.w3.org/2001/XMLSchema#float"
-                                                        >0.2</value>
-                                                        <isPropertyOf>
-                                                          <LightGrid rdf:ID="Sick_MLG2-0280F511">
-                                                            <hasProperty>
-                                                              <MinVoltageSupply rdf:ID="MinVoltageSupply_15">
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-    >15.0</value>
-    <hasEditable rdf:resource="#isEditable_false"/>
-    <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>        </MinVoltageSupply>
-                                                            </hasProperty>
-                                                            <hasSkill>
-                                                              <DetectObject rdf:ID="DetectObject_15">
-    <isSkillOf rdf:resource="#Sick_MLG2-0280F511"/>           </DetectObject>
-                                                            </hasSkill>
-                                                            <hasProperty>
-                                                              <ElectricalInterface rdf:ID="ElectricalInterface_ConnectorM12-5Pins">
-    <hasEditable rdf:resource="#isEditable_false"/>
-    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-    <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
-    <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-    <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-    <isPropertyOf>
-      <OpticContrastScanner rdf:ID="Sick_KT5W_2P1116D">
-        <hasProperty>
-          <Weight rdf:ID="Weight_0.4">
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-            >0.4</value>
-            <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-            <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-            <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-            <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-            <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-            <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-            <hasEditable rdf:resource="#isEditable_false"/>
-          </Weight>
-        </hasProperty>
-        <hasProperty rdf:resource="#MinAmbientTemperature_-10"/>
-        <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-5Pins"/>
-        <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-        <hasProperty>
-          <ScanningDistance rdf:ID="ScanningDistance_0.01">
-            <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-            <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-            <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-            <hasEditable rdf:resource="#isEditable_false"/>
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-            >0.01</value>
-          </ScanningDistance>
-        </hasProperty>
-        <hasIdentifier>
-          <Identifier rdf:ID="ID_Sick_KT5W_2P1116D">
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-            >Sick_KT5W_2P1116D</value>
-            <hasEditable rdf:resource="#isEditable_false"/>
-          </Identifier>
-        </hasIdentifier>
-        <hasProperty>
-          <LightSpotSize rdf:ID="LightSpotSize_0.0012x0.0042">
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-            >0.0012x0.0042</value>
-            <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-            <hasEditable rdf:resource="#isEditable_false"/>
-          </LightSpotSize>
-        </hasProperty>
-        <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
-        <hasProperty>
-          <ResponseTime rdf:ID="ResponseTime_0.00005">
-            <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-            <hasEditable rdf:resource="#isEditable_false"/>
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-            >5.0E-5</value>
-          </ResponseTime>
-        </hasProperty>
-        <hasProperty>
-          <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_55">
-            <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-            <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-            <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-            <hasEditable rdf:resource="#isEditable_false"/>
-            <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-            <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
-            <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-            >55.0</value>
-            <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-            <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-          </MaxAmbientTemperature>
-        </hasProperty>
-        <hasSkill>
-          <DetectContrast rdf:ID="DetectContrast_1">
-            <isSkillOf rdf:resource="#Sick_KT5W_2P1116D"/>
-            <isSkillOf rdf:resource="#Sick_KT10-2P1115"/>
-          </DetectContrast>
-        </hasSkill>
-        <hasProperty>
-          <SwitchingFrequency rdf:ID="SwitchingFrequency_10000">
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-            >10000.0</value>
-            <hasEditable rdf:resource="#isEditable_false"/>
-            <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-          </SwitchingFrequency>
-        </hasProperty>
-        <hasProperty>
-          <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.13">
-            <hasEditable rdf:resource="#isEditable_false"/>
-            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-            >0.13</value>
-            <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-          </MaxCurrentConsumption>
-        </hasProperty>
-      </OpticContrastScanner>
-    </isPropertyOf>
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Connector M12, 5 Pins</value>                            </ElectricalInterface>
-                                                            </hasProperty>
-                                                            <hasProperty>
-                                                              <ResponseTime rdf:ID="ResponseTime_0.003">
-    <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-    >0.0030</value>
-    <hasEditable rdf:resource="#isEditable_false"/>           </ResponseTime>
-                                                            </hasProperty>
-                                                            <hasIdentifier>
-                                                              <Identifier rdf:ID="ID_Sick_MLG2-0280F511">
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >Sick_MLG2-0280F511</value>
-    <hasEditable rdf:resource="#isEditable_false"/>           </Identifier>
-                                                            </hasIdentifier>
-                                                            <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
-                                                            <hasProperty rdf:resource="#MaxAmbientTemperature_55"/>
-                                                            <hasProperty>
-                                                              <LightType rdf:ID="LightType_LEDinfrared">
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >LEDinfrared</value>
-    <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
-    <hasEditable rdf:resource="#isEditable_false"/>           </LightType>
-                                                            </hasProperty>
-                                                            <hasProperty>
-                                                              <MaxMeasurementRange rdf:ID="MaxMeasurementRange_5">
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-    >5.0</value>
-    <hasEditable rdf:resource="#isEditable_false"/>
-    <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-    <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>        </MaxMeasurementRange>
-                                                            </hasProperty>
-                                                            <hasProperty rdf:resource="#MaxCurrentConsumption_0.2"/>
-                                                            <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
-                                                            <hasProperty>
-                                                              <MinAmbientTemperature rdf:ID="MinAmbientTemperature_-25">
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-    >-25.0</value>
-    <hasEditable rdf:resource="#isEditable_false"/>
-    <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-    <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>        </MinAmbientTemperature>
-                                                            </hasProperty>
-                                                          </LightGrid>
-                                                        </isPropertyOf>
-                                                        <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-                                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                                      </MaxCurrentConsumption>
-                                                    </hasProperty>
-                                                    <hasProperty>
-                                                      <Resolution rdf:ID="Resolution_208x238">
-                                                        <value
-                                                         rdf:datatype=
-                                                        "http://www.w3.org/2001/XMLSchema#string"
-                                                        >208x238</value>
-                                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                                        <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-                                                      </Resolution>
-                                                    </hasProperty>
-                                                  </VisionSensor>
-                                                </isPropertyOf>
-                                                <isPropertyOf rdf:resource="#IPA_AMMS_FilterOrientator"/>
-                                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >0.0</value>
-                                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                                <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                                <isPropertyOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
-                                                <isPropertyOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF"/>
-                                              </MinAmbientTemperature>
-                                            </hasProperty>
-                                          </LaserScanner2D>
-                                        </isPropertyOf>
-                                        <isPropertyOf rdf:resource="#IPA_AMMS_Carrier-2DOF"/>
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <isPropertyOf rdf:resource="#IPA_AMMS_FilterOrientator"/>
-                                        <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >50.0</value>
-                                      </MaxAmbientTemperature>
-                                    </hasProperty>
-                                    <hasProperty rdf:resource="#DegreesOfFreedom_2"/>
-                                    <hasSkill>
-                                      <Feed rdf:ID="Feed_2D_CollisionFree">
-                                        <rdfs:comment rdf:datatype=
-                                        "http://www.w3.org/2001/XMLSchema#string"
-                                        >Collision-free motion in a planar area.</rdfs:comment>
-                                        <isSkillOf rdf:resource="#IPA_AMMS_Carrier-2DOF"/>
-                                      </Feed>
-                                    </hasSkill>
-                                    <hasProperty>
-                                      <NumberOfJoints rdf:ID="NumberOfJoints_0">
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-                                        >0</value>
-                                        <isPropertyOf rdf:resource="#IPA_AMMS_Carrier-2DOF"/>
-                                      </NumberOfJoints>
-                                    </hasProperty>
-                                    <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
-                                    <hasSkill>
-                                      <Karthesian rdf:ID="Karthesian_2D">
-                                        <isSkillOf rdf:resource="#IPA_AMMS_Carrier-2DOF"/>
-                                        <rdfs:comment rdf:datatype=
-                                        "http://www.w3.org/2001/XMLSchema#string"
-                                        >Karthesian motion in a planar area.</rdfs:comment>
-                                      </Karthesian>
-                                    </hasSkill>
-                                    <rdfs:comment rdf:datatype=
-                                    "http://www.w3.org/2001/XMLSchema#string"
-                                    >This is a carrier of IPA's Advanced Modular Microproduction System. It can move around freely in two dimensions.</rdfs:comment>
-                                    <hasIdentifier>
-                                      <Identifier rdf:ID="ID_IPA_AMMS_Carrier-2DOF">
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                        >IPA_AMMS_Carrier-2DOF</value>
-                                      </Identifier>
-                                    </hasIdentifier>
-                                    <hasProperty>
-                                      <MaxVoltageSupply rdf:ID="MaxVoltageSupply_230">
-                                        <isPropertyOf rdf:resource="#IPA_AMMS_Carrier-2DOF"/>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-                                        >230</value>
-                                      </MaxVoltageSupply>
-                                    </hasProperty>
-                                    <hasProperty rdf:resource="#TypeOfActuation_Electric"/>
-                                    <hasProperty>
-                                      <MinVoltageSupply rdf:ID="MinVoltageSupply_210">
-                                        <isPropertyOf rdf:resource="#IPA_AMMS_Carrier-2DOF"/>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
-                                        >210</value>
-                                      </MinVoltageSupply>
-                                    </hasProperty>
-                                    <hasSkill>
-                                      <Circular rdf:ID="Circular_2D">
-                                        <rdfs:comment rdf:datatype=
-                                        "http://www.w3.org/2001/XMLSchema#string"
-                                        >Circular motion in a planar area.</rdfs:comment>
-                                        <isSkillOf rdf:resource="#IPA_AMMS_Carrier-2DOF"/>
-                                      </Circular>
-                                    </hasSkill>
-                                  </SimpleKinematicRobot>
-                                </isPropertyOf>
-                                <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
-                                <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-                                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                                <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-                                <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                >Electric</value>
-                                <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
-                                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                              </TypeOfActuation>
-                            </hasProperty>
-                            <hasProperty>
-                              <Weight rdf:ID="Weight_460">
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                >460.0</value>
-                              </Weight>
-                            </hasProperty>
-                            <hasSkill rdf:resource="#Circular_29"/>
-                            <hasProperty>
-                              <Reachability rdf:ID="Reachability_810">
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-                                >810</value>
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                              </Reachability>
-                            </hasProperty>
-                            <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
-                            <hasProperty rdf:resource="#Payload_5.0"/>
-                            <hasProperty rdf:resource="#DegreesOfFreedom_6"/>
-                            <hasProperty rdf:resource="#MaxAmbientTemperature_45"/>
-                            <hasSkill rdf:resource="#L_Move"/>
-                            <hasSkill rdf:resource="#Attach_SIARAS"/>
-                            <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-                            <hasSkill rdf:resource="#Detach_SIARAS"/>
-                            <hasSkill rdf:resource="#Karthesian_30"/>
-                            <hasProperty rdf:resource="#IntelligentCtrl_1"/>
-                            <hasIdentifier>
-                              <Identifier rdf:ID="ID_ABB_IRB-140">
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                >ID_ABB_IRB-140</value>
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                              </Identifier>
-                            </hasIdentifier>
-                            <hasProperty rdf:resource="#MinVoltageSupply_200"/>
-                            <hasSkill rdf:resource="#AsFastAsPossible_28"/>
-                            <hasProperty>
-                              <Repeatability rdf:ID="Repeatability_0.03">
-                                <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                                <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
-                                <hasEditable rdf:resource="#isEditable_false"/>
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                >0.03</value>
-                              </Repeatability>
-                            </hasProperty>
-                            <hasProperty rdf:resource="#NumberOfJoints_6"/>
-                            <hasProperty rdf:resource="#MaxVoltageSupply_600"/>
-                          </ArticulatedRobot>
-                        </isSkillOf>
-                        <isSkillOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
-                        <isSkillOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
-                        <isSkillOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
-                        <isSkillOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-                        <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                        <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
-                      </Circular>
-                    </hasSkill>
-                    <hasProperty>
-                      <Weight rdf:ID="Weight_40.5">
-                        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                        <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                        >40.5</value>
-                        <hasEditable rdf:resource="#isEditable_false"/>
-                      </Weight>
-                    </hasProperty>
-                    <hasIdentifier>
-                      <Identifier rdf:ID="ID_Staeubli_RS40B">
-                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                        >Staeubli_RS40B</value>
-                        <hasEditable rdf:resource="#isEditable_false"/>
-                      </Identifier>
-                    </hasIdentifier>
-                    <hasProperty>
-                      <DegreesOfFreedom rdf:ID="DegreesOfFreedom_4">
-                        <hasEditable rdf:resource="#isEditable_false"/>
-                        <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-                        >4</value>
-                      </DegreesOfFreedom>
-                    </hasProperty>
-                    <hasProperty rdf:resource="#TypeOfActuation_Electric"/>
-                    <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
-                    <hasProperty rdf:resource="#EnclosureRatingIP_54"/>
-                    <hasSkill rdf:resource="#AsFastAsPossible_28"/>
-                    <hasSkill rdf:resource="#Karthesian_30"/>
-                    <hasProperty rdf:resource="#MaxAmbientTemperature_40"/>
-                    <hasProperty>
-                      <Reachability rdf:ID="Reachability_400">
-                        <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-                        <hasEditable rdf:resource="#isEditable_false"/>
-                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-                        >400</value>
-                      </Reachability>
-                    </hasProperty>
-                    <hasProperty rdf:resource="#Repeatability_0.01"/>
-                    <hasProperty rdf:resource="#NumberOfJoints_4"/>
-                    <hasProperty>
-                      <Payload rdf:ID="Payload_2.0">
-                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                        >2.0</value>
-                        <hasEditable rdf:resource="#isEditable_false"/>
-                        <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-                        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                        <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-                      </Payload>
-                    </hasProperty>
-                  </ScaraRobot>
-                </isPropertyOf>
-                <hasEditable rdf:resource="#isEditable_false"/>
-              </NumberOfJoints>
-            </hasProperty>
-            <hasProperty>
-              <Weight rdf:ID="Weight_51">
-                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                >51.0</value>
-                <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-                <hasEditable rdf:resource="#isEditable_false"/>
-              </Weight>
-            </hasProperty>
-            <hasProperty rdf:resource="#TypeOfActuation_Electric"/>
-            <hasProperty>
-              <Reachability rdf:ID="Reachability_800">
-                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-                >800</value>
-                <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-                <hasEditable rdf:resource="#isEditable_false"/>
-              </Reachability>
-            </hasProperty>
-            <hasIdentifier>
-              <Identifier rdf:ID="ID_Staeubli_RS80">
-                <hasEditable rdf:resource="#isEditable_false"/>
-                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                >Staeubli_RS80</value>
-              </Identifier>
-            </hasIdentifier>
-            <hasProperty rdf:resource="#Payload_2.0"/>
-            <hasProperty rdf:resource="#EnclosureRatingIP_54"/>
-            <hasProperty rdf:resource="#MaxAmbientTemperature_40"/>
-            <hasSkill rdf:resource="#Karthesian_30"/>
-            <hasSkill rdf:resource="#Circular_29"/>
-            <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
-            <hasProperty rdf:resource="#Repeatability_0.01"/>
-            <hasSkill rdf:resource="#AsFastAsPossible_28"/>
-          </ScaraRobot>
-        </isPropertyOf>
-        <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-        <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-        <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
-        <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-        <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
-        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-        <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >30</value>
-      </EnclosureRatingIP>
-    </hasProperty>
-    <hasProperty rdf:resource="#MaxAmbientTemperature_45"/>
-    <hasProperty rdf:resource="#TypeOfActuation_Electric"/>
-    <hasProperty rdf:resource="#MinVoltageSupply_350"/>
-    <hasProperty rdf:resource="#PowerConsumption_3"/>
-    <hasSkill rdf:resource="#Circular_29"/>
-    <hasProperty>
-      <Reachability rdf:ID="Reachability_2215">
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
-        >2215</value>
-        <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
-      </Reachability>
-    </hasProperty>
-    <hasIdentifier>
-      <Identifier rdf:ID="ID_CLOOS_R350">
-        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-        >CLOOS_R350</value>
-      </Identifier>
-    </hasIdentifier>
-    <hasProperty rdf:resource="#Payload_15"/>
-    <hasProperty rdf:resource="#MinAmbientTemperature_-15"/>
-    <hasProperty rdf:resource="#IntelligentCtrl_1"/>
-    <hasSkill rdf:resource="#Karthesian_30"/>
-    <hasProperty rdf:resource="#Weight_205"/>
-    <hasProperty rdf:resource="#NumberOfJoints_6"/>
-    <hasProperty rdf:resource="#Repeatability_0.1"/>
-    <hasProperty rdf:resource="#MaxVoltageSupply_450"/>
-    <hasSkill rdf:resource="#AsFastAsPossible_28"/>
-    <hasProperty rdf:resource="#BusInterface_RS232"/>
-    <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
-    <hasProperty rdf:resource="#DegreesOfFreedom_6"/>         </ArticulatedRobot>
-                                                            </isPropertyOf>
-                                                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
-                                                            <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                                            <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
-                                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#float"
-                                                            >0.1</value>
-                                                            <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
-                                                            <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
-                                                            <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                                                          </Repeatability>
-                                                        </hasProperty>
-                                                        <hasProperty>
-                                                          <EnclosureRatingIP rdf:ID="EnclosureRatingIP_30">
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#string"
-                                                            >30</value>
-                                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                                            <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                                            <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                                                          </EnclosureRatingIP>
-                                                        </hasProperty>
-                                                        <hasProperty rdf:resource="#Repeatability_0.03"/>
-                                                        <hasProperty rdf:resource="#EnclosureRatingIP_54"/>
-                                                        <hasProperty>
-                                                          <MaxLiftWay rdf:ID="MaxLiftWay_2.0">
-                                                            <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                                                            <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#float"
-                                                            >2.0</value>
-                                                          </MaxLiftWay>
-                                                        </hasProperty>
-                                                        <hasProperty>
-                                                          <Repeatability rdf:ID="Repeatability_0.02">
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#float"
-                                                            >0.02</value>
-                                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                                            <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                                                            <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                                          </Repeatability>
-                                                        </hasProperty>
-                                                        <hasProperty>
-                                                          <NumberOfFingers rdf:ID="NumberOfFingers_2">
-                                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                                            <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>
-                                                          <CycleTime rdf:ID="CycleTime_0.01">
-                                                            <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#float"
-                                                            >0.01</value>
-                                                          </CycleTime>
-                                                        </hasProperty>
-                                                        <hasSkill>
-                                                          <CloseFingers rdf:ID="CloseFingers_25">
-                                                            <isSkillOf rdf:resource="#Schunk_MPG_64"/>
-                                                            <isSkillOf rdf:resource="#Schunk_MPG_20"/>
-                                                          </CloseFingers>
-                                                        </hasSkill>
-                                                        <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
-                                                        <hasProperty>
-                                                          <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_90">
-                                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                                            <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                                                            <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                                            <value
-                                                             rdf:datatype=
-                                                            "http://www.w3.org/2001/XMLSchema#float"
-                                                            >90.0</value>
-                                                          </MaxAmbientTemperature>
-                                                        </hasProperty>
-                                                        <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-                                                        <hasProperty rdf:resource="#Repeatability_0.01"/>
-                                                      </rdf:Description>
-                                                    </isPropertyOf>
-                                                    <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
-                                                    <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                                    <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
-                                                  </Repeatability>
-                                                </hasProperty>
-                                                <hasProperty rdf:resource="#MaxAmbientTemperature_90"/>
-                                                <hasProperty rdf:resource="#MaxLiftWay_2.0"/>
-                                                <hasProperty>
-                                                  <Weight rdf:ID="Weight_0.038">
-                                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                                    <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >0.038</value>
-                                                  </Weight>
-                                                </hasProperty>
-                                                <hasProperty>
-                                                  <MaxLiftWeight rdf:ID="MaxLiftWeight_0.14">
-                                                    <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >0.14</value>
-                                                  </MaxLiftWeight>
-                                                </hasProperty>
-                                                <hasProperty rdf:resource="#Repeatability_0.1"/>
-                                                <hasProperty rdf:resource="#Weight_0.04"/>
-                                                <hasProperty rdf:resource="#Weight_985"/>
-                                                <hasProperty>
-                                                  <Weight rdf:ID="Weight_98">
-                                                    <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >98.0</value>
-                                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                                  </Weight>
-                                                </hasProperty>
-                                                <hasProperty rdf:resource="#NumberOfFingers_2"/>
-                                                <hasProperty rdf:resource="#Payload_45.0"/>
-                                                <hasProperty>
-                                                  <CycleTime rdf:ID="CycleTime_0.03">
-                                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >0.03</value>
-                                                    <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                                  </CycleTime>
-                                                </hasProperty>
-                                                <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-                                                <hasSkill rdf:resource="#OpenFingers_1"/>
-                                                <hasIdentifier>
-                                                  <Identifier rdf:ID="ID_Schunk_MPG_20">
-                                                    <hasEditable rdf:resource="#isEditable_true"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#string"
-                                                    >Schunk_MPG_20</value>
-                                                  </Identifier>
-                                                </hasIdentifier>
-                                                <hasProperty rdf:resource="#Repeatability_0.02"/>
-                                                <hasProperty>
-                                                  <Payload rdf:ID="Payload_0.14">
-                                                    <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >0.14</value>
-                                                  </Payload>
-                                                </hasProperty>
-                                                <hasProperty rdf:resource="#Weight_51"/>
-                                                <hasSkill>
-                                                  <CloseFingers rdf:ID="CloseFingers_2">
-                                                    <isSkillOf rdf:resource="#Schunk_MPG_20"/>
-                                                  </CloseFingers>
-                                                </hasSkill>
-                                                <hasProperty>
-                                                  <MaxForce rdf:ID="MaximumForce_24">
-                                                    <value rdf:datatype=
-                                                    "http://www.w3.org/2001/XMLSchema#float"
-                                                    >24.0</value>
-                                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                                    <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                                  </MaxForce>
-                                                </hasProperty>
-                                                <hasProperty rdf:resource="#Weight_40.5"/>
-                                                <hasProperty rdf:resource="#Payload_2.0"/>
-                                                <hasProperty rdf:resource="#Repeatability_0.03"/>
-                                                <hasProperty rdf:resource="#Payload_5.0"/>
-                                                <hasProperty rdf:resource="#EnclosureRatingIP_54"/>
-                                                <hasProperty rdf:resource="#Weight_0.4"/>
-                                                <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
-                                                <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
-                                                <hasSkill rdf:resource="#CloseFingers_25"/>
-                                                <hasProperty rdf:resource="#EnclosureRatingIP_30"/>
-                                              </GeneralParallelGripper>
-                                            </isPropertyOf>
-                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                            <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >0.04</value>
-                                          </Weight>
-                                        </hasProperty>
-                                        <hasProperty>
-                                          <MinVoltageSupply rdf:ID="MinVoltageSupply_10.0">
-                                            <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                            <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >10.0</value>
-                                            <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                            <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                                            <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
-                                          </MinVoltageSupply>
-                                        </hasProperty>
-                                        <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-                                        <hasProperty>
-                                          <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.055">
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >0.055</value>
-                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                          </MaxCurrentConsumption>
-                                        </hasProperty>
-                                        <hasProperty>
-                                          <ResponseTime rdf:ID="ResponseTime_0.0005">
-                                            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                            <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >5.0E-4</value>
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                          </ResponseTime>
-                                        </hasProperty>
-                                        <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
-                                        <hasProperty>
-                                          <LightSpotSize rdf:ID="LightSpotSize_0.450">
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >0.45</value>
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                          </LightSpotSize>
-                                        </hasProperty>
-                                        <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
-                                        <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
-                                        <hasProperty>
-                                          <MinAmbientTemperature rdf:ID="MinAmbientTemperature_-40">
-                                            <value rdf:datatype=
-                                            "http://www.w3.org/2001/XMLSchema#float"
-                                            >-40.0</value>
-                                            <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
-                                            <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                            <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                                            <hasEditable rdf:resource="#isEditable_false"/>
-                                          </MinAmbientTemperature>
-                                        </hasProperty>
-                                      </OpticThroughBeamSwitch>
-                                    </isPropertyOf>
-                                    <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                                    <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                                    <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                                    <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                    <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
-                                    <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                                  </ElectricalInterface>
-                                </hasProperty>
-                                <hasProperty rdf:resource="#MaxCurrentConsumption_0.08"/>
-                                <hasProperty rdf:resource="#Weight_0.4"/>
-                                <hasProperty>
-                                  <ScanningDistance rdf:ID="ScanningDistance_0.0125">
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                    >0.0125</value>
-                                    <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                                    <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                  </ScanningDistance>
-                                </hasProperty>
-                                <hasProperty rdf:resource="#MinAmbientTemperature_-10"/>
-                                <hasSkill>
-                                  <DetectColor rdf:ID="DetectColor_1">
-                                    <isSkillOf rdf:resource="#Sick_CS81-P1112"/>
-                                    <isSkillOf rdf:resource="#Sick_CSM1-N1114"/>
-                                  </DetectColor>
-                                </hasSkill>
-                                <hasProperty>
-                                  <LightType rdf:ID="LightType_LEDgreen">
-                                    <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-                                    <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                                    <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                    >LEDgreen</value>
-                                  </LightType>
-                                </hasProperty>
-                                <hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
-                                <hasProperty>
-                                  <LightSpotSize rdf:ID="LightSpotSize_0.004x0.002">
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                    >0.004x0.002</value>
-                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                    <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                                  </LightSpotSize>
-                                </hasProperty>
-                                <hasProperty>
-                                  <LightType rdf:ID="LightType_LEDblue">
-                                    <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-                                    <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                                    <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
-                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                    >LEDblue</value>
-                                  </LightType>
-                                </hasProperty>
-                                <hasProperty rdf:resource="#LightType_LEDred"/>
-                                <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-5Pins"/>
-                                <hasIdentifier>
-                                  <Identifier rdf:ID="ID_Sick_CS81-P1112">
-                                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                    >Sick_CS81-P1112</value>
-                                    <hasEditable rdf:resource="#isEditable_false"/>
-                                  </Identifier>
-                                </hasIdentifier>
-                                <hasProperty rdf:resource="#MaxAmbientTemperature_55"/>
-                                <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
-                              </OpticColorSensor>
-                            </isPropertyOf>
-                            <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-                            <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-                            <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
-                            <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
-                            <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >-10.0</value>
-                          </MinAmbientTemperature>
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-                        <hasProperty rdf:resource="#MaxCurrentConsumption_0.3"/>
-                        <hasProperty>
-                          <BusInterface rdf:ID="BusInterface_Profibus">
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                            >Profibus</value>
-                            <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                          </BusInterface>
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-                        <hasProperty>
-                          <LaserClass rdf:ID="LaserClass_2">
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                            >2</value>
-                            <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                          </LaserClass>
-                        </hasProperty>
-                        <hasProperty>
-                          <MinVoltageSupply rdf:ID="MinVoltageSupply_18">
-                            <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >18.0</value>
-                          </MinVoltageSupply>
-                        </hasProperty>
-                        <hasProperty>
-                          <Weight rdf:ID="Weight_1.6">
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >1.6</value>
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                          </Weight>
-                        </hasProperty>
-                        <hasProperty>
-                          <Repeatability rdf:ID="Repeatability_0.0005">
-                            <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >5.0E-4</value>
-                          </Repeatability>
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-                        <hasProperty>
-                          <LightSpotSize rdf:ID="LightSpotSize_0.13">
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >0.13</value>
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                          </LightSpotSize>
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-                        <hasProperty>
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-                            >0.0020</value>
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                          </Accuracy>
-                        </hasProperty>
-                        <hasProperty>
-                          <MaxMeasurementRange rdf:ID="MaxMeasurementRange_70">
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-                            <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >70.0</value>
-                          </MaxMeasurementRange>
-                        </hasProperty>
-                        <hasProperty rdf:resource="#MaxAmbientTemperature_55"/>
-                        <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
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-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                            >0.15</value>
-                            <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                          </MinMeasurementRange>
-                        </hasProperty>
-                        <hasProperty>
-                          <LightType rdf:ID="LightType_LaserRed">
-                            <hasEditable rdf:resource="#isEditable_false"/>
-                            <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                            >LaserRed</value>
-                            <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                          </LightType>
-                        </hasProperty>
-                        <hasSkill>
-                          <MeasureDistance rdf:ID="MeasureDistance_1">
-                            <isSkillOf rdf:resource="#Sick_DME5000-112"/>
-                            <isSkillOf rdf:resource="#Sick_DT10-P10B5"/>
-                          </MeasureDistance>
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-                      </OpticDistanceSensor>
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-                    >0.3</value>
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-                <hasProperty>
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-                    <hasEditable rdf:resource="#isEditable_false"/>
-                    <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
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-                </hasProperty>
-                <hasProperty>
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-                    <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-                    <hasEditable rdf:resource="#isEditable_false"/>
-                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
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-                <hasProperty>
-                  <Height rdf:ID="Height_43">
-                    <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-                    <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
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-                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                    >43.0</value>
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-                  <ReadOpticalCharacters rdf:ID="ReadOpticalCharacters_1">
-                    <isSkillOf rdf:resource="#VisionComponents-VC4465"/>
-                    <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                </hasSkill>
-                <hasSkill>
-                  <ReadBarCode rdf:ID="ReadBarCode_1">
-                    <isSkillOf rdf:resource="#VisionComponents-VC4465"/>
-                    <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                </hasSkill>
-                <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
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-                  <Length rdf:ID="Length_30.4">
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-                    >30.4</value>
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-                    <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
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-                <hasSkill>
-                  <DetectColor rdf:ID="DetectColor_3">
-                    <isSkillOf rdf:resource="#VisionComponents-VC4465"/>
-                    <isSkillOf rdf:resource="#Sensopart_FL64C"/>
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-                    <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
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-                    <hasEditable rdf:resource="#isEditable_false"/>
-                    <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-                    <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-                    <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
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-                <hasProperty>
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-                    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                    >28.8</value>
-                    <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                    <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                    <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
-                    <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
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-            <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
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-        <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
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-        <hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
-        <hasSkill rdf:resource="#DetectContrast_1"/>
-        <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
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-            >1.0E-5</value>
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-        <hasProperty rdf:resource="#LightType_LEDblue"/>
-        <hasProperty rdf:resource="#MinAmbientTemperature_-10"/>
-        <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-5Pins"/>
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-            <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
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-    <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
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-    <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
-    <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-    <isPropertyOf rdf:resource="#Schunk_MPG_20"/>             </EnclosureRatingIP>
-                                                            </hasProperty>
-                                                            <hasProperty rdf:resource="#ResponseTime_0.0005"/>
-                                                            <hasProperty rdf:resource="#SwitchingFrequency_1500"/>
-                                                            <hasProperty rdf:resource="#MaxAmbientTemperature_55"/>
-                                                            <hasProperty rdf:resource="#LightType_LEDred"/>
-                                                            <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
-                                                            <hasProperty>
-                                                              <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.035">
-    <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-    >0.035</value>
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-                                                            <hasProperty>
-                                                              <LightSpotSize rdf:ID="LightSpotSize_0.0015x0.0065">
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-    <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-    >0.0015x0.0065</value>                                    </LightSpotSize>
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-                                                            <hasProperty rdf:resource="#MaxVoltageSupply_28.8"/>
-                                                            <hasProperty rdf:resource="#LightType_LEDblue"/>
-                                                            <hasProperty>
-                                                              <Weight rdf:ID="Weight_0.011">
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-    <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-    >0.011</value>                                            </Weight>
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-                                                            <hasProperty rdf:resource="#LightType_LEDgreen"/>
-                                                            <hasProperty rdf:resource="#ScanningDistance_0.0125"/>
-                                                            <hasSkill rdf:resource="#DetectColor_1"/>
-                                                            <hasIdentifier>
-                                                              <Identifier rdf:ID="ID_Sick_CSM1-N1114">
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-    >Sick_CSM1-N1114</value>
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-                                                            <hasProperty rdf:resource="#MinVoltageSupply_19.2"/>
-                                                            <hasProperty rdf:resource="#MinAmbientTemperature_-10"/>
-                                                            <hasProperty>
-                                                              <ElectricalInterface rdf:ID="ElectricalInterface_OpenCollectorNPN">
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-    >open collector NPN</value>
-    <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
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-    <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
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-                                                            </hasProperty>
-                                                          </OpticColorSensor>
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-                                                        <value
-                                                         rdf:datatype=
-                                                        "http://www.w3.org/2001/XMLSchema#float"
-                                                        >1500.0</value>
-                                                      </SwitchingFrequency>
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-                                                    <hasProperty rdf:resource="#ScanningDistance_0.01"/>
-                                                    <hasSkill>
-                                                      <DetectLuminescence rdf:ID="DetectLuminescence_1">
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-                                                      </DetectLuminescence>
-                                                    </hasSkill>
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-                                                         rdf:datatype=
-                                                        "http://www.w3.org/2001/XMLSchema#string"
-                                                        >0.002x0.006</value>
-                                                        <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
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-                                                      </LightSpotSize>
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-                                                      <LightType rdf:ID="LightType_UV">
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-                                                         rdf:datatype=
-                                                        "http://www.w3.org/2001/XMLSchema#string"
-                                                        >UV</value>
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-                                                        <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
-                                                      </LightType>
-                                                    </hasProperty>
-                                                    <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
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-                                                      <Identifier rdf:ID="ID_Sick_LUT3-610">
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-                                                        <value
-                                                         rdf:datatype=
-                                                        "http://www.w3.org/2001/XMLSchema#string"
-                                                        >Sick_LUT3-610</value>
-                                                      </Identifier>
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-                                                    <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorNPN"/>
-                                                    <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
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-                                                    <hasProperty rdf:resource="#MaxCurrentConsumption_0.06"/>
-                                                    <hasProperty rdf:resource="#MinAmbientTemperature_-10"/>
-                                                    <hasProperty rdf:resource="#Weight_0.4"/>
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-                                                    <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
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-                                                        <value
-                                                         rdf:datatype=
-                                                        "http://www.w3.org/2001/XMLSchema#float"
-                                                        >3.0E-4</value>
-                                                        <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
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-                                                      </ResponseTime>
-                                                    </hasProperty>
-                                                  </OpticLuminescenceScanner>
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-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >12.0</value>
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-                                              </MinVoltageSupply>
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-                                            <hasProperty rdf:resource="#Height_53"/>
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-                                              <ResponseTime rdf:ID="ResponseTime_0.0009">
-                                                <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
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-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >9.0E-4</value>
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-                                            <hasProperty>
-                                              <ResponseTime rdf:ID="ResponseTime_0.0007">
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >7.0E-4</value>
-                                                <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                                                <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
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-                                              </ResponseTime>
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-                                            <hasProperty>
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-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >80.0</value>
-                                              </Width>
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-                                            <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
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-                                                <value rdf:datatype=
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-                                                >LED</value>
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-                                              </LightType>
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-                                            <hasProperty rdf:resource="#MaxCurrentConsumption_0.08"/>
-                                            <hasProperty rdf:resource="#MaxAmbientTemperature_55"/>
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-                                              <Identifier rdf:ID="ID_Sensopart_FL64C">
-                                                <hasEditable rdf:resource="#isEditable_false"/>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#string"
-                                                >Sensopart_FL64C</value>
-                                              </Identifier>
-                                            </hasIdentifier>
-                                            <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorNPN"/>
-                                            <hasProperty>
-                                              <Material rdf:ID="Material_Polycarbonat">
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-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#string"
-                                                >Polycarbonat</value>
-                                                <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                                              </Material>
-                                            </hasProperty>
-                                            <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
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-                                                <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >12.0</value>
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-                                              </Width>
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-                                            <hasProperty rdf:resource="#MaxCurrentConsumption_0.06"/>
-                                            <hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
-                                            <hasProperty>
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-                                                <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
-                                                <value rdf:datatype=
-                                                "http://www.w3.org/2001/XMLSchema#float"
-                                                >26.4</value>
-                                              </MaxVoltageSupply>
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-                                            <hasSkill rdf:resource="#DetectColor_3"/>
-                                            <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
-                                            <hasProperty rdf:resource="#Length_66.25"/>
-                                          </OpticColorSensor>
-                                        </isPropertyOf>
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
-                                        <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                        >65</value>
-                                        <isPropertyOf rdf:resource="#Schunk_MPG_64"/>
-                                        <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
-                                        <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                      </EnclosureRatingIP>
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-                                    <hasProperty>
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-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
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-                                        >1.0</value>
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-                                    <hasSkill rdf:resource="#Read2DMatrixCode_1"/>
-                                    <hasSkill>
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-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
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-                                    <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
-                                    <hasSkill>
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-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                        >0.1</value>
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-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
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-                                    <hasProperty rdf:resource="#MinAmbientTemperature_0"/>
-                                    <hasProperty>
-                                      <ElectricalInterface rdf:ID="ElectricalInterface_ConnectorM12-8Pins">
-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                        >Connector M12, 8 Pins</value>
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-                                    <hasProperty>
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-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >60.0</value>
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-                                    <hasProperty>
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-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                        >1024x768</value>
-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
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-                                    <hasProperty>
-                                      <Height rdf:ID="Height_55">
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >55.0</value>
-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                        <hasEditable rdf:resource="#isEditable_false"/>
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-                                    <hasProperty rdf:resource="#MaxVoltageSupply_28.8"/>
-                                    <hasProperty rdf:resource="#MinVoltageSupply_19.2"/>
-                                    <hasProperty rdf:resource="#MaxAmbientTemperature_50"/>
-                                    <hasProperty rdf:resource="#MaxCurrentConsumption_0.4"/>
-                                    <hasProperty rdf:resource="#Length_161"/>
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-                                    <hasProperty>
-                                      <Weight rdf:ID="Weight_0.5">
-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >0.5</value>
-                                      </Weight>
-                                    </hasProperty>
-                                    <hasProperty rdf:resource="#IntelligentCtrl_1"/>
-                                    <hasSkill>
-                                      <CheckPosition rdf:ID="CheckPosition_1">
-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                      </CheckPosition>
-                                    </hasSkill>
-                                    <hasProperty>
-                                      <BusInterface rdf:ID="BusInterface_RS485">
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                        >RS485</value>
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                      </BusInterface>
-                                    </hasProperty>
-                                    <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
-                                    <hasSkill>
-                                      <ClassifyObject rdf:ID="ClassifyObject_1">
-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                      </ClassifyObject>
-                                    </hasSkill>
-                                    <hasProperty>
-                                      <SwitchingFrequency rdf:ID="SwitchingFrequency_30fps">
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                        <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
-                                        >30.0</value>
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-                                      <Identifier rdf:ID="ID_Sick_IVC-2DM1122">
-                                        <hasEditable rdf:resource="#isEditable_false"/>
-                                        <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
-                                        >Sick_IVC-2DM1122</value>
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-                                    </hasIdentifier>
-                                    <hasSkill>
-                                      <MeasureOrientationOfObject rdf:ID="MeasureOrientationOfObject_1">
-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
-                                        <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
-                                      </MeasureOrientationOfObject>
-                                    </hasSkill>
-                                    <hasSkill rdf:resource="#ReadBarCode_1"/>
-                                    <hasSkill rdf:resource="#Count_1"/>
-                                  </SmartCamera>
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-                                <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
-                              </Length>
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-                            <hasProperty rdf:resource="#IntelligentCtrl_1"/>
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-                              <Identifier rdf:ID="ID_Sick_IVC-2DM1111">
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-                                >Sick_IVC-2DM1111</value>
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-                            <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
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-                            <hasProperty rdf:resource="#MaxAmbientTemperature_50"/>
-                            <hasProperty rdf:resource="#MaxCurrentConsumption_0.4"/>
-                            <hasProperty rdf:resource="#Weight_0.5"/>
-                            <hasSkill rdf:resource="#DeterminePositionOfObject_1"/>
-                            <hasSkill rdf:resource="#MeasureDiameter_1"/>
-                            <hasSkill rdf:resource="#CheckPosition_1"/>
-                            <hasProperty rdf:resource="#BusInterface_RS485"/>
-                            <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
-                            <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
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-                            <hasProperty rdf:resource="#SwitchingFrequency_30fps"/>
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-                              <Resolution rdf:ID="Resolution_640x480">
-                                <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
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-                            <hasSkill rdf:resource="#Count_1"/>
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-                            <hasProperty rdf:resource="#MaxVoltageSupply_28.8"/>
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-                        <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
-                        <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
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-                                    <isSkillOf>
-                                      <OpticDistanceSensor rdf:ID="OpticDistanceSensor_47">
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-                                        <hasProperty>
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-                                            >0.4</value>
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-    <isPropertyOf rdf:resource="#SmartCamera_20"/>
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-    >CLOOS_R320</value>
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-    <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
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-    >10</value>
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-<!-- Created with Protege (with OWL Plugin 3.2.1, Build 365)  http://protege.stanford.edu -->