diff --git a/testontologies/ontology.owl b/testontologies/ontology.owl
index 28a4a15bbaa87cc9ca196e7417d057fd0d8b0a04..f1bd26cd8ec55f4466a6a7e49ce7b2b9a215b2c8 100644
--- a/testontologies/ontology.owl
+++ b/testontologies/ontology.owl
@@ -41,6 +41,19 @@
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:ID="AdjustVacuumToRelease">
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom>
+ <owl:Class rdf:ID="VacuumGripper"/>
+ </owl:someValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:ID="isSkillOf"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Release"/>
+ </rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:ID="OpenFingers"/>
</owl:disjointWith>
@@ -50,21 +63,21 @@
<owl:disjointWith>
<owl:Class rdf:ID="AdjustCurrentToRelease"/>
</owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="CloseFingers">
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Grasp"/>
+ </rdfs:subClassOf>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty>
- <owl:ObjectProperty rdf:ID="isSkillOf"/>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
</owl:onProperty>
<owl:someValuesFrom>
- <owl:Class rdf:ID="VacuumGripper"/>
+ <owl:Class rdf:ID="FingerGripper"/>
</owl:someValuesFrom>
</owl:Restriction>
</rdfs:subClassOf>
- <rdfs:subClassOf>
- <owl:Class rdf:ID="Release"/>
- </rdfs:subClassOf>
- </owl:Class>
- <owl:Class rdf:ID="CloseFingers">
<owl:disjointWith>
<owl:Class rdf:ID="AdjustCurrentToGrip"/>
</owl:disjointWith>
@@ -74,18 +87,10 @@
<owl:disjointWith>
<owl:Class rdf:ID="AdjustVacuumToGrip"/>
</owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="ChangeEnvironment">
<rdfs:subClassOf>
- <owl:Class rdf:ID="Grasp"/>
- </rdfs:subClassOf>
- <rdfs:subClassOf>
- <owl:Restriction>
- <owl:someValuesFrom>
- <owl:Class rdf:ID="FingerGripper"/>
- </owl:someValuesFrom>
- <owl:onProperty>
- <owl:ObjectProperty rdf:about="#isSkillOf"/>
- </owl:onProperty>
- </owl:Restriction>
+ <owl:Class rdf:ID="AdditionalFunction"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:ID="Saw">
@@ -102,10 +107,10 @@
<owl:Class rdf:ID="Thermal-Separate"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:ID="Grind"/>
+ <owl:Class rdf:ID="Thrust"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:ID="Thrust"/>
+ <owl:Class rdf:ID="Grind"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="Mill"/>
@@ -153,13 +158,13 @@
<owl:Class rdf:about="#Drill"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#Plane"/>
+ <owl:Class rdf:about="#File"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Cut"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#File"/>
+ <owl:Class rdf:about="#Plane"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Electro-discharge-machine"/>
@@ -171,23 +176,20 @@
<owl:disjointWith>
<owl:Class rdf:about="#Grind"/>
</owl:disjointWith>
- <rdfs:subClassOf>
- <owl:Class rdf:about="#Separate"/>
- </rdfs:subClassOf>
<owl:disjointWith>
- <owl:Class rdf:about="#Mill"/>
+ <owl:Class rdf:about="#Thermal-Separate"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#Thermal-Separate"/>
+ <owl:Class rdf:about="#Mill"/>
</owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Separate"/>
+ </rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#Broach"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:ID="SpecialKinematicRobot">
- <rdfs:subClassOf>
- <owl:Class rdf:ID="Robot"/>
- </rdfs:subClassOf>
<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>
@@ -208,16 +210,19 @@
<owl:disjointWith>
<owl:Class rdf:ID="HexapodRobot"/>
</owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Robot"/>
+ </rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:ID="RoundedCorner">
<rdfs:subClassOf>
<owl:Restriction>
- <owl:someValuesFrom>
- <owl:Class rdf:ID="Diameter"/>
- </owl:someValuesFrom>
<owl:onProperty>
<owl:ObjectProperty rdf:ID="hasDiameter"/>
</owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:ID="Diameter"/>
+ </owl:someValuesFrom>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf>
@@ -266,15 +271,15 @@
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:ID="Reachability">
- <rdfs:subClassOf>
- <owl:Class rdf:ID="PhysicalPropertiesRobot"/>
- </rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:ID="TypeOfActuation"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="NumberOfJoints"/>
</owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="PhysicalPropertiesRobot"/>
+ </rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:ID="Circular">
<owl:disjointWith>
@@ -306,22 +311,10 @@
<owl:Class rdf:about="#Drill"/>
</rdfs:subClassOf>
</owl:Class>
- <owl:Class rdf:ID="CommunicationDevice">
- <rdfs:subClassOf>
- <owl:Class rdf:ID="Device"/>
- </rdfs:subClassOf>
- </owl:Class>
- <owl:Class rdf:ID="ElectricalConnector">
- <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >How to connect a tool electrically.</rdfs:comment>
+ <owl:Class rdf:ID="ImageAnalysis">
<rdfs:subClassOf>
- <owl:Class rdf:ID="ToolInterface"/>
+ <owl:Class rdf:ID="SensorFunction"/>
</rdfs:subClassOf>
- <owl:disjointWith>
- <owl:Class rdf:ID="MechanicalConnector"/>
- </owl:disjointWith>
- </owl:Class>
- <owl:Class rdf:ID="ImageAnalysis">
<owl:disjointWith>
<owl:Class rdf:ID="Read"/>
</owl:disjointWith>
@@ -340,40 +333,42 @@
<owl:disjointWith>
<owl:Class rdf:ID="Detect"/>
</owl:disjointWith>
- <rdfs:subClassOf>
- <owl:Class rdf:ID="SensorFunction"/>
- </rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:ID="GeneralParallelGripper">
- <rdfs:subClassOf>
- <owl:Class rdf:ID="ParallelGripper"/>
- </rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:ID="CircularParallelGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="LineParallelGripper"/>
</owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="ParallelGripper"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="HydraulicMedia">
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="PhysicalLayer"/>
+ </rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:ID="Plate">
<rdfs:subClassOf>
<owl:Restriction>
- <owl:onProperty>
- <owl:ObjectProperty rdf:ID="hasLength"/>
- </owl:onProperty>
<owl:someValuesFrom>
<owl:Class rdf:ID="Length"/>
</owl:someValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:ID="hasLength"/>
+ </owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf>
<owl:Restriction>
- <owl:someValuesFrom>
- <owl:Class rdf:ID="Width"/>
- </owl:someValuesFrom>
<owl:onProperty>
<owl:ObjectProperty rdf:ID="hasWidth"/>
</owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:ID="Width"/>
+ </owl:someValuesFrom>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf>
@@ -386,12 +381,12 @@
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:ID="JointFingerGripper">
- <owl:disjointWith>
- <owl:Class rdf:ID="ElasticFingerGripper"/>
- </owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#FingerGripper"/>
</rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ElasticFingerGripper"/>
+ </owl:disjointWith>
</owl:Class>
<owl:Class rdf:ID="Deep-Draw">
<owl:disjointWith>
@@ -434,8 +429,20 @@ This is one of the most important procedures in mass production and small series
<owl:Class rdf:ID="True"/>
</owl:disjointWith>
</owl:Class>
+ <owl:Class rdf:ID="Age">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Temper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Anneal"/>
+ </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:ID="ExtractEdges">
- <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
<owl:disjointWith>
<owl:Class rdf:ID="BlobAnalysis"/>
</owl:disjointWith>
@@ -457,19 +464,7 @@ This is one of the most important procedures in mass production and small series
<owl:disjointWith>
<owl:Class rdf:ID="CalibrateImage"/>
</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>
- <owl:disjointWith>
- <owl:Class rdf:ID="Temper"/>
- </owl:disjointWith>
- <owl:disjointWith>
- <owl:Class rdf:ID="Anneal"/>
- </owl:disjointWith>
- <rdfs:subClassOf>
- <owl:Class rdf:ID="ModifyWorkpieceProperties"/>
- </rdfs:subClassOf>
+ <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
</owl:Class>
<owl:Class rdf:ID="Pan">
<owl:disjointWith>
@@ -516,10 +511,10 @@ This is one of the most important procedures in mass production and small series
<owl:Class rdf:ID="MinAmbientTemperature"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:ID="DegreesOfFreedom"/>
+ <owl:Class rdf:about="#Width"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#Width"/>
+ <owl:Class rdf:ID="DegreesOfFreedom"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="PhysicalInterface"/>
@@ -548,8 +543,6 @@ This is one of the most important procedures in mass production and small series
<owl:disjointWith>
<owl:Class rdf:about="#Diameter"/>
</owl:disjointWith>
- <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >in volts</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:ID="Weight"/>
</owl:disjointWith>
@@ -559,6 +552,8 @@ This is one of the most important procedures in mass production and small series
<owl:disjointWith>
<owl:Class rdf:ID="PhysicalPropertiesSensor"/>
</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>
@@ -643,10 +638,10 @@ This is one of the most important procedures in mass production and small series
<owl:Class rdf:about="#MinVoltageSupply"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#PhysicalInterface"/>
+ <owl:Class rdf:about="#Material"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#Material"/>
+ <owl:Class rdf:about="#PhysicalInterface"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MinAmbientTemperature"/>
@@ -657,13 +652,13 @@ This is one of the most important procedures in mass production and small series
<owl:Class rdf:about="#MaxAmbientTemperature"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
+ <owl:Class rdf:about="#MechanicalResistance"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Payload"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#MechanicalResistance"/>
+ <owl:Class rdf:about="#PhysicalPropertiesRobot"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Weight"/>
@@ -809,9 +804,6 @@ This is one of the most important procedures in mass production and small series
<owl:Class rdf:ID="Attach">
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS: Attaching an end effector to a robot (opposite to Detach)</rdfs:comment>
- <rdfs:subClassOf>
- <owl:Class rdf:ID="Secure"/>
- </rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:ID="Detach"/>
</owl:disjointWith>
@@ -821,17 +813,20 @@ This is one of the most important procedures in mass production and small series
<owl:disjointWith>
<owl:Class rdf:about="#Grasp"/>
</owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Secure"/>
+ </rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:ID="OpticProximitySwitch">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#OpticSwitch"/>
+ </rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:ID="OpticThroughBeamSwitch"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="OpticReflexSwitch"/>
</owl:disjointWith>
- <rdfs:subClassOf>
- <owl:Class rdf:about="#OpticSwitch"/>
- </rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:ID="ReadBarCode">
<owl:disjointWith>
@@ -840,13 +835,13 @@ This is one of the most important procedures in mass production and small series
<owl:disjointWith>
<owl:Class rdf:ID="Read2DMatrixCode"/>
</owl:disjointWith>
+ <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>
- <rdfs:subClassOf>
- <owl:Class rdf:about="#Read"/>
- </rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#Hone">
<owl:disjointWith>
@@ -877,10 +872,10 @@ part:7</rdfs:comment>
<rdfs:subClassOf>
<owl:Class rdf:about="#Separate"/>
</rdfs:subClassOf>
- <owl:disjointWith rdf:resource="#File"/>
<owl:disjointWith>
<owl:Class rdf:about="#Mill"/>
</owl:disjointWith>
+ <owl:disjointWith rdf:resource="#File"/>
<owl:disjointWith rdf:resource="#Lap"/>
<owl:disjointWith>
<owl:Class rdf:about="#Grind"/>
@@ -928,11 +923,6 @@ part:7</rdfs:comment>
<owl:Class rdf:about="#MeasureTorque"/>
</owl:disjointWith>
</owl:Class>
- <owl:Class rdf:ID="DigOut">
- <rdfs:subClassOf>
- <owl:Class rdf:ID="DigitalSignal"/>
- </rdfs:subClassOf>
- </owl:Class>
<owl:Class rdf:about="#LaserScanner2D">
<owl:disjointWith>
<owl:Class rdf:about="#OpticSwitch"/>
@@ -961,15 +951,6 @@ part:7</rdfs:comment>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#VacuumGripper">
- <owl:disjointWith>
- <owl:Class rdf:about="#FingerGripper"/>
- </owl:disjointWith>
- <owl:disjointWith>
- <owl:Class rdf:ID="PincerGripper"/>
- </owl:disjointWith>
- <owl:disjointWith>
- <owl:Class rdf:ID="MagnetGripper"/>
- </owl:disjointWith>
<rdfs:subClassOf>
<owl:Restriction>
<owl:someValuesFrom rdf:resource="#AdjustVacuumToRelease"/>
@@ -983,14 +964,33 @@ part:7</rdfs:comment>
</rdfs:subClassOf>
<rdfs:subClassOf>
<owl:Restriction>
- <owl:someValuesFrom>
- <owl:Class rdf:about="#AdjustVacuumToGrip"/>
- </owl:someValuesFrom>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasSkill"/>
</owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#AdjustVacuumToGrip"/>
+ </owl:someValuesFrom>
</owl:Restriction>
</rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#FingerGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="PincerGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MagnetGripper"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="ToolChanger">
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="ManipulationAndHandling"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="PneumaticMedia">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalLayer"/>
+ </rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#MeasureTorque">
<owl:disjointWith>
@@ -1030,12 +1030,12 @@ part:7</rdfs:comment>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:ID="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>
<owl:Class rdf:ID="ModifyAmount"/>
</rdfs:subClassOf>
+ <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:disjointWith>
<owl:Class rdf:ID="Branch"/>
</owl:disjointWith>
@@ -1054,10 +1054,10 @@ The size of source and target sets does not necessarily have to be defined.</rdf
</owl:Class>
<owl:Class rdf:about="#OpticDistanceSensor">
<owl:disjointWith rdf:resource="#LaserScanner2D"/>
- <owl:disjointWith rdf:resource="#VisionSensor"/>
<owl:disjointWith>
<owl:Class rdf:about="#SmartCamera"/>
</owl:disjointWith>
+ <owl:disjointWith rdf:resource="#VisionSensor"/>
<owl:disjointWith>
<owl:Class rdf:about="#OpticSwitch"/>
</owl:disjointWith>
@@ -1071,18 +1071,18 @@ The size of source and target sets does not necessarily have to be defined.</rdf
<owl:Class rdf:about="#OpticSensor"/>
</rdfs:subClassOf>
<owl:disjointWith>
- <owl:Class rdf:about="#OpticContrastScanner"/>
+ <owl:Class rdf:about="#LightGrid"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#LightGrid"/>
+ <owl:Class rdf:about="#OpticContrastScanner"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:ID="ChuckDiameter">
- <rdfs:subClassOf>
- <owl:Class rdf:about="#MechanicalConnector"/>
- </rdfs:subClassOf>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Max drill bit size in mm</rdfs:comment>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="MechanicalConnector"/>
+ </rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#MeasureVolume">
<owl:disjointWith>
@@ -1119,6 +1119,14 @@ The size of source and target sets does not necessarily have to be defined.</rdf
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MeasureDistance"/>
</owl:Class>
+ <owl:Class rdf:about="#PhysicalLayer">
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Interface"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Protocol"/>
+ </owl:disjointWith>
+ </owl:Class>
<owl:Class rdf:about="#Reach">
<owl:disjointWith>
<owl:Class rdf:about="#NumberOfClaws"/>
@@ -1230,18 +1238,18 @@ The size of source and target sets does not necessarily have to be defined.</rdf
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:ID="CollectStatisticalData">
- <owl:disjointWith>
- <owl:Class rdf:ID="PerformSelfTest"/>
- </owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:ID="DiagnosticFunction"/>
</rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="PerformSelfTest"/>
+ </owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#PhysicalPropertiesRobot">
+ <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
<owl:disjointWith>
<owl:Class rdf:about="#PhysicalPropertiesGripper"/>
</owl:disjointWith>
- <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#PhysicalProperties"/>
</rdfs:subClassOf>
@@ -1249,10 +1257,10 @@ The size of source and target sets does not necessarily have to be defined.</rdf
<owl:Class rdf:about="#PhysicalPropertiesSensor"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#Material"/>
+ <owl:Class rdf:about="#PowerConsumption"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#PowerConsumption"/>
+ <owl:Class rdf:about="#Material"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Payload"/>
@@ -1273,10 +1281,10 @@ The size of source and target sets does not necessarily have to be defined.</rdf
<owl:Class rdf:about="#MaxForce"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#Width"/>
+ <owl:Class rdf:about="#Diameter"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#Diameter"/>
+ <owl:Class rdf:about="#Width"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#DegreesOfFreedom"/>
@@ -1370,7 +1378,24 @@ The size of source and target sets does not necessarily have to be defined.</rdf
<owl:Class rdf:ID="TactileSensor"/>
</rdfs:subClassOf>
</owl:Class>
- <owl:Class rdf:ID="Cost">
+ <owl:Class rdf:ID="DetectCollision">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DetectContrast"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DetectObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DetectLuminescence"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DetectColor"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Detect"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="Cost">
<owl:disjointWith>
<owl:Class rdf:ID="Accuracy"/>
</owl:disjointWith>
@@ -1395,161 +1420,144 @@ The size of source and target sets does not necessarily have to be defined.</rdf
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>in euros</rdfs:comment>
</owl:Class>
- <owl:Class rdf:ID="DetectCollision">
- <rdfs:subClassOf>
- <owl:Class rdf:about="#Detect"/>
- </rdfs:subClassOf>
+ <owl:Class rdf:about="#Payload">
<owl:disjointWith>
- <owl:Class rdf:ID="DetectContrast"/>
+ <owl:Class rdf:about="#Length"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:ID="DetectObject"/>
+ <owl:Class rdf:about="#Diameter"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:ID="DetectLuminescence"/>
+ <owl:Class rdf:about="#Material"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:ID="DetectColor"/>
+ <owl:Class rdf:about="#PowerConsumption"/>
</owl:disjointWith>
- </owl:Class>
- <owl:Class rdf:about="#Weight">
<owl:disjointWith>
- <owl:Class rdf:about="#Payload"/>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
</owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalProperties"/>
+ </rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#MinVoltageSupply"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#MinAmbientTemperature"/>
+ <owl:Class rdf:about="#Weight"/>
</owl:disjointWith>
- <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
<owl:disjointWith>
- <owl:Class rdf:about="#MaxForce"/>
+ <owl:Class rdf:about="#MinAmbientTemperature"/>
</owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesRobot"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>in kg</rdfs:comment>
- <owl:disjointWith rdf:resource="#PhysicalPropertiesRobot"/>
<owl:disjointWith>
- <owl:Class rdf:about="#DegreesOfFreedom"/>
+ <owl:Class rdf:about="#Shape"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#Height"/>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#Diameter"/>
+ <owl:Class rdf:about="#MaxAmbientTemperature"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#Shape"/>
+ <owl:Class rdf:about="#Height"/>
</owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
<owl:disjointWith>
- <owl:Class rdf:about="#MechanicalResistance"/>
+ <owl:Class rdf:about="#Width"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#PhysicalPropertiesSensor"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#EnclosureRatingIP"/>
+ <owl:Class rdf:about="#PhysicalInterface"/>
</owl:disjointWith>
- <rdfs:subClassOf>
- <owl:Class rdf:about="#PhysicalProperties"/>
- </rdfs:subClassOf>
<owl:disjointWith>
- <owl:Class rdf:about="#MaxAmbientTemperature"/>
+ <owl:Class rdf:about="#EnclosureRatingIP"/>
</owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
<owl:disjointWith>
- <owl:Class rdf:about="#PowerConsumption"/>
+ <owl:Class rdf:about="#MechanicalResistance"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#Material"/>
+ <owl:Class rdf:about="#MaxForce"/>
</owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Weight">
+ <owl:disjointWith rdf:resource="#Payload"/>
<owl:disjointWith>
- <owl:Class rdf:about="#PhysicalInterface"/>
+ <owl:Class rdf:about="#MinVoltageSupply"/>
</owl:disjointWith>
- <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
<owl:disjointWith>
- <owl:Class rdf:about="#Width"/>
+ <owl:Class rdf:about="#MinAmbientTemperature"/>
</owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
<owl:disjointWith>
- <owl:Class rdf:about="#Length"/>
+ <owl:Class rdf:about="#MaxForce"/>
</owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in kg</rdfs:comment>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesRobot"/>
<owl:disjointWith>
- <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
</owl:disjointWith>
- </owl:Class>
- <owl:Class rdf:about="#OpticReflexSwitch">
- <owl:disjointWith rdf:resource="#OpticProximitySwitch"/>
<owl:disjointWith>
- <owl:Class rdf:about="#OpticThroughBeamSwitch"/>
+ <owl:Class rdf:about="#Height"/>
</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>
- <rdfs:subClassOf>
- <owl:Class rdf:about="#OpticSwitch"/>
- </rdfs:subClassOf>
- </owl:Class>
- <owl:Class rdf:about="#Payload">
<owl:disjointWith>
- <owl:Class rdf:about="#Length"/>
+ <owl:Class rdf:about="#Diameter"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#Diameter"/>
+ <owl:Class rdf:about="#Shape"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#Material"/>
+ <owl:Class rdf:about="#MechanicalResistance"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#PowerConsumption"/>
+ <owl:Class rdf:about="#PhysicalPropertiesSensor"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#DegreesOfFreedom"/>
+ <owl:Class rdf:about="#EnclosureRatingIP"/>
</owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#PhysicalProperties"/>
</rdfs:subClassOf>
- <owl:disjointWith rdf:resource="#Weight"/>
- <owl:disjointWith>
- <owl:Class rdf:about="#MinVoltageSupply"/>
- </owl:disjointWith>
- <owl:disjointWith rdf:resource="#PhysicalPropertiesRobot"/>
<owl:disjointWith>
- <owl:Class rdf:about="#MinAmbientTemperature"/>
- </owl:disjointWith>
- <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >in kg</rdfs:comment>
- <owl:disjointWith>
- <owl:Class rdf:about="#Shape"/>
+ <owl:Class rdf:about="#MaxAmbientTemperature"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ <owl:Class rdf:about="#PowerConsumption"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#MaxAmbientTemperature"/>
+ <owl:Class rdf:about="#Material"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#Height"/>
+ <owl:Class rdf:about="#PhysicalInterface"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
<owl:disjointWith>
<owl:Class rdf:about="#Width"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#PhysicalPropertiesSensor"/>
- </owl:disjointWith>
- <owl:disjointWith>
- <owl:Class rdf:about="#PhysicalInterface"/>
- </owl:disjointWith>
- <owl:disjointWith>
- <owl:Class rdf:about="#EnclosureRatingIP"/>
+ <owl:Class rdf:about="#Length"/>
</owl:disjointWith>
- <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
<owl:disjointWith>
- <owl:Class rdf:about="#MechanicalResistance"/>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
</owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#OpticReflexSwitch">
+ <owl:disjointWith rdf:resource="#OpticProximitySwitch"/>
<owl:disjointWith>
- <owl:Class rdf:about="#MaxForce"/>
+ <owl:Class rdf:about="#OpticThroughBeamSwitch"/>
</owl:disjointWith>
+ <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:ID="SharpCorner">
<rdfs:subClassOf>
@@ -1557,6 +1565,7 @@ Cap: 2</rdfs:comment>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#CalibrateImage">
+ <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
<owl:disjointWith>
<owl:Class rdf:about="#BlobAnalysis"/>
</owl:disjointWith>
@@ -1576,9 +1585,11 @@ Cap: 2</rdfs:comment>
<owl:Class rdf:about="#CompressImageData"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ExtractEdges"/>
- <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
</owl:Class>
<owl:Class rdf:ID="InductiveSensor">
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Sensor"/>
+ </rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:ID="CapacitveSensor"/>
</owl:disjointWith>
@@ -1600,9 +1611,6 @@ Cap: 2</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:ID="TorqueForceSensor"/>
</owl:disjointWith>
- <rdfs:subClassOf>
- <owl:Class rdf:ID="Sensor"/>
- </rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#MaterialOfGripper">
<owl:disjointWith>
@@ -1778,9 +1786,6 @@ Cap: 2</rdfs:comment>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:ID="SaveParameterSet">
- <rdfs:subClassOf>
- <owl:Class rdf:ID="AdditionalFunction"/>
- </rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:ID="Calibrate"/>
</owl:disjointWith>
@@ -1793,10 +1798,11 @@ Cap: 2</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:ID="SetParameterValue"/>
</owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#AdditionalFunction"/>
+ </rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:ID="Mold">
- <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>
<owl:Class rdf:about="#Join"/>
</owl:disjointWith>
@@ -1815,6 +1821,8 @@ Cap: 2</rdfs:comment>
<rdfs:subClassOf>
<owl:Class rdf:ID="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="#TransformImage">
<owl:disjointWith>
@@ -1837,24 +1845,17 @@ Cap: 2</rdfs:comment>
<rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
</owl:Class>
<owl:Class rdf:about="#FingerGripper">
- <owl:disjointWith rdf:resource="#VacuumGripper"/>
- <owl:disjointWith>
- <owl:Class rdf:about="#MagnetGripper"/>
- </owl:disjointWith>
- <owl:disjointWith>
- <owl:Class rdf:about="#PincerGripper"/>
- </owl:disjointWith>
<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="#OpenFingers"/>
</owl:someValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf>
@@ -1865,20 +1866,32 @@ Cap: 2</rdfs:comment>
<owl:someValuesFrom rdf:resource="#CloseFingers"/>
</owl:Restriction>
</rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#VacuumGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MagnetGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PincerGripper"/>
+ </owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#PerformSelfTest">
+ <owl:disjointWith rdf:resource="#CollectStatisticalData"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#DiagnosticFunction"/>
</rdfs:subClassOf>
- <owl:disjointWith rdf:resource="#CollectStatisticalData"/>
</owl:Class>
- <owl:Class rdf:ID="AngleGripper">
+ <owl:Class rdf:ID="ApplicationProtocol">
<rdfs:subClassOf>
- <owl:Class rdf:about="#PincerGripper"/>
+ <owl:Class rdf:about="#Protocol"/>
</rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="AngleGripper">
<owl:disjointWith>
<owl:Class rdf:about="#ParallelGripper"/>
</owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PincerGripper"/>
+ </rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:ID="ElectrolyticSegregate">
<owl:disjointWith>
@@ -1910,12 +1923,15 @@ Cap: 2</rdfs:comment>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:ID="Part">
- <rdfs:subClassOf rdf:resource="#ObjectBase"/>
<owl:disjointWith>
<owl:Class rdf:ID="Assembly"/>
</owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#ObjectBase"/>
</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>
@@ -1925,34 +1941,31 @@ Cap: 2</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#Secure"/>
</owl:disjointWith>
- <rdfs:subClassOf>
- <owl:Class rdf:ID="ManipulationAndHandlingFunction"/>
- </rdfs:subClassOf>
</owl:Class>
- <owl:Class rdf:ID="Communication">
- <rdfs:subClassOf>
- <owl:Class rdf:ID="PhysicalObjectProperty"/>
- </rdfs:subClassOf>
- <owl:disjointWith>
- <owl:Class rdf:ID="ControlSystem"/>
- </owl:disjointWith>
+ <owl:Class rdf:about="#MaxMeasurementRange">
<owl:disjointWith>
- <owl:Class rdf:ID="Arrangement"/>
+ <owl:Class rdf:about="#LightType"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:ID="Geometry"/>
+ <owl:Class rdf:about="#LightSpotSize"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:ID="Identifier"/>
+ <owl:Class rdf:about="#LaserClass"/>
</owl:disjointWith>
+ <owl:disjointWith rdf:resource="#FieldOfView"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >In mm.</rdfs:comment>
<owl:disjointWith>
- <owl:Class rdf:about="#ToolInterface"/>
+ <owl:Class rdf:about="#MaxScanAngle"/>
</owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalPropertiesSensor"/>
+ </rdfs:subClassOf>
<owl:disjointWith>
- <owl:Class rdf:about="#PhysicalProperties"/>
+ <owl:Class rdf:about="#MinMeasurementRange"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#QualityCriteria"/>
+ <owl:Class rdf:about="#ScanningDistance"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#TypeOfMagnet">
@@ -1997,33 +2010,14 @@ Cap: 2</rdfs:comment>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaterialOfGripper"/>
</owl:Class>
- <owl:Class rdf:about="#MaxMeasurementRange">
- <owl:disjointWith>
- <owl:Class rdf:about="#LightType"/>
- </owl:disjointWith>
- <owl:disjointWith>
- <owl:Class rdf:about="#LightSpotSize"/>
- </owl:disjointWith>
- <owl:disjointWith>
- <owl:Class rdf:about="#LaserClass"/>
- </owl:disjointWith>
- <owl:disjointWith rdf:resource="#FieldOfView"/>
+ <owl:Class rdf:about="#DetectObject">
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >In mm.</rdfs:comment>
- <owl:disjointWith>
- <owl:Class rdf:about="#MaxScanAngle"/>
- </owl:disjointWith>
+ >SIARAS (FP6-017146)
+Tasks and Skills of Ocptical Sensor 1.1
+Cap: 2</rdfs:comment>
<rdfs:subClassOf>
- <owl:Class rdf:about="#PhysicalPropertiesSensor"/>
+ <owl:Class rdf:about="#Detect"/>
</rdfs:subClassOf>
- <owl:disjointWith>
- <owl:Class rdf:about="#MinMeasurementRange"/>
- </owl:disjointWith>
- <owl:disjointWith>
- <owl:Class rdf:about="#ScanningDistance"/>
- </owl:disjointWith>
- </owl:Class>
- <owl:Class rdf:about="#DetectObject">
<owl:disjointWith rdf:resource="#DetectCollision"/>
<owl:disjointWith>
<owl:Class rdf:about="#DetectColor"/>
@@ -2034,20 +2028,35 @@ Cap: 2</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#DetectLuminescence"/>
</owl:disjointWith>
- <rdfs:subClassOf>
- <owl:Class rdf:about="#Detect"/>
+ </owl:Class>
+ <owl:Class rdf:about="#OpenClaws">
+ <owl:disjointWith rdf:resource="#AdjustVacuumToRelease"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpenFingers"/>
+ </owl:disjointWith>
+ <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>
- <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="#Thermal-Separate">
<owl:disjointWith>
- <owl:Class rdf:about="#Cut"/>
+ <owl:Class rdf:about="#Thrust"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#Thrust"/>
+ <owl:Class rdf:about="#Cut"/>
</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>
@@ -2081,28 +2090,6 @@ Cap: 2</rdfs:comment>
<owl:Class rdf:about="#Drill"/>
</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 rdf:resource="#AdjustVacuumToRelease"/>
- <owl:disjointWith>
- <owl:Class rdf:about="#OpenFingers"/>
- </owl:disjointWith>
- <owl:disjointWith>
- <owl:Class rdf:about="#AdjustCurrentToRelease"/>
- </owl:disjointWith>
- </owl:Class>
<owl:Class rdf:about="#Grind">
<owl:disjointWith>
<owl:Class rdf:about="#Thrust"/>
@@ -2148,10 +2135,10 @@ Cap: 2</rdfs:comment>
<owl:Class rdf:about="#Robot">
<rdfs:subClassOf>
<owl:Restriction>
- <owl:someValuesFrom rdf:resource="#Cost"/>
<owl:onProperty>
<owl:ObjectProperty rdf:ID="hasProperty"/>
</owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#Cost"/>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf>
@@ -2160,36 +2147,32 @@ Cap: 2</rdfs:comment>
<owl:ObjectProperty rdf:about="#hasProperty"/>
</owl:onProperty>
<owl:someValuesFrom>
- <owl:Class rdf:ID="WorkFrame"/>
+ <owl:Class rdf:about="#Interface"/>
</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:someValuesFrom rdf:resource="#PhysicalPropertiesRobot"/>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf>
<owl:Restriction>
- <owl:someValuesFrom rdf:resource="#PhysicalPropertiesRobot"/>
+ <owl:someValuesFrom>
+ <owl:Class rdf:ID="WorkFrame"/>
+ </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>
<owl:Restriction>
<owl:someValuesFrom>
- <owl:Class rdf:about="#Arrangement"/>
+ <owl:Class rdf:about="#QualityCriteria"/>
</owl:someValuesFrom>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasProperty"/>
@@ -2199,47 +2182,43 @@ Saeed B. Niku</rdfs:comment>
<rdfs:subClassOf>
<owl:Restriction>
<owl:someValuesFrom>
- <owl:Class rdf:about="#ToolInterface"/>
+ <owl:Class rdf:ID="Arrangement"/>
</owl:someValuesFrom>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasProperty"/>
</owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf>
- <owl:disjointWith>
- <owl:Class rdf:about="#Gripper"/>
- </owl:disjointWith>
- <rdfs:subClassOf>
- <owl:Class rdf:ID="ManipulationAndHandling"/>
- </rdfs:subClassOf>
- <owl:disjointWith>
- <owl:Class rdf:ID="Displacement"/>
- </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:Restriction>
<owl:someValuesFrom>
- <owl:Class rdf:about="#QualityCriteria"/>
+ <owl:Class rdf:ID="WorkCoordinates"/>
</owl:someValuesFrom>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasProperty"/>
</owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Gripper"/>
+ </owl:disjointWith>
<rdfs:subClassOf>
- <owl:Restriction>
- <owl:someValuesFrom rdf:resource="#Communication"/>
- <owl:onProperty>
- <owl:ObjectProperty rdf:about="#hasProperty"/>
- </owl:onProperty>
- </owl:Restriction>
+ <owl:Class rdf:about="#ManipulationAndHandling"/>
</rdfs:subClassOf>
+ <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:ID="WorkCoordinates"/>
+ <owl:Class rdf:ID="ControlSystem"/>
</owl:someValuesFrom>
</owl:Restriction>
</rdfs:subClassOf>
@@ -2260,10 +2239,10 @@ Saeed B. Niku</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#Position"/>
</owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Pan"/>
<owl:disjointWith>
<owl:Class rdf:about="#Convey"/>
</owl:disjointWith>
- <owl:disjointWith rdf:resource="#Pan"/>
<owl:disjointWith>
<owl:Class rdf:about="#Orient"/>
</owl:disjointWith>
@@ -2293,14 +2272,18 @@ Saeed B. Niku</rdfs:comment>
<owl:Class rdf:about="#MinMeasurementRange"/>
</owl:disjointWith>
</owl:Class>
+ <owl:Class rdf:ID="Plug">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#MechanicalConnector"/>
+ </rdfs:subClassOf>
+ </owl:Class>
<owl:Class rdf:ID="PhysicalPosition">
<rdfs:subClassOf>
<owl:Class rdf:about="#PhysicalProperties"/>
</rdfs:subClassOf>
</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 rdf:resource="#Robot"/>
<owl:disjointWith>
<owl:Class rdf:about="#HexapodRobot"/>
</owl:disjointWith>
@@ -2317,7 +2300,35 @@ Saeed B. Niku</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#SimpleKinematicRobot"/>
</owl:disjointWith>
- <rdfs:subClassOf rdf:resource="#Robot"/>
+ <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="#DetectColor">
+ <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:about="#OpticColorSensor"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Detect"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#DetectCollision"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DetectLuminescence"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DetectObject"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DetectContrast"/>
+ </owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Roll">
<owl:disjointWith rdf:resource="#Stretch-Form"/>
@@ -2353,33 +2364,6 @@ Saeed B. Niku</rdfs:comment>
<owl:Class rdf:about="#Extrude"/>
</owl:disjointWith>
</owl:Class>
- <owl:Class rdf:about="#DetectColor">
- <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: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>
- <owl:disjointWith rdf:resource="#DetectCollision"/>
- <owl:disjointWith>
- <owl:Class rdf:about="#DetectLuminescence"/>
- </owl:disjointWith>
- <owl:disjointWith rdf:resource="#DetectObject"/>
- <owl:disjointWith>
- <owl:Class rdf:about="#DetectContrast"/>
- </owl:disjointWith>
- </owl:Class>
<owl:Class rdf:about="#Skill">
<owl:disjointWith>
<owl:Class rdf:about="#Operation"/>
@@ -2395,49 +2379,49 @@ pag:5
<owl:disjointWith>
<owl:Class rdf:about="#PhysicalObject"/>
</owl:disjointWith>
- <owl:disjointWith>
- <owl:Class rdf:about="#Abstract"/>
- </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:allValuesFrom>
+ <owl:Class rdf:ID="Device"/>
+ </owl:allValuesFrom>
</owl:Restriction>
</rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Abstract"/>
+ </owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Task"/>
</owl:disjointWith>
<rdfs:subClassOf rdf:resource="http://www.w3.org/2002/07/owl#Thing"/>
<owl:disjointWith rdf:resource="#ObjectBase"/>
</owl:Class>
- <owl:Class rdf:ID="Metal">
- <rdfs:subClassOf>
- <owl:Class rdf:about="#Material"/>
- </rdfs:subClassOf>
- </owl:Class>
<owl:Class rdf:about="#AdjustVacuumToGrip">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#AdjustCurrentToGrip"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CloseClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#CloseFingers"/>
<rdfs:subClassOf>
<owl:Restriction>
- <owl:someValuesFrom rdf:resource="#VacuumGripper"/>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#isSkillOf"/>
</owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#VacuumGripper"/>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf>
<owl:Class rdf:about="#Grasp"/>
</rdfs:subClassOf>
- <owl:disjointWith>
- <owl:Class rdf:about="#AdjustCurrentToGrip"/>
- </owl:disjointWith>
- <owl:disjointWith>
- <owl:Class rdf:about="#CloseClaws"/>
- </owl:disjointWith>
- <owl:disjointWith rdf:resource="#CloseFingers"/>
+ </owl:Class>
+ <owl:Class rdf:ID="Metal">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Material"/>
+ </rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:ID="AnalogSignal">
<rdfs:subClassOf>
@@ -2532,12 +2516,12 @@ pag:5
<owl:disjointWith>
<owl:Class rdf:about="#MinVoltageSupply"/>
</owl:disjointWith>
- <owl:disjointWith rdf:resource="#PhysicalPropertiesRobot"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
<owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
<owl:disjointWith>
<owl:Class rdf:about="#PhysicalPropertiesSensor"/>
</owl:disjointWith>
- <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesRobot"/>
<owl:disjointWith>
<owl:Class rdf:about="#PhysicalPropertiesGripper"/>
</owl:disjointWith>
@@ -2603,10 +2587,10 @@ pag:5
<owl:Class rdf:about="#EnclosureRatingIP"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#Diameter"/>
<owl:disjointWith>
<owl:Class rdf:about="#PhysicalInterface"/>
</owl:disjointWith>
- <owl:disjointWith rdf:resource="#Diameter"/>
<owl:disjointWith>
<owl:Class rdf:about="#PowerConsumption"/>
</owl:disjointWith>
@@ -2623,19 +2607,19 @@ pag:5
<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:minCardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
+ >1</owl:minCardinality>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf rdf:resource="#ObjectBase"/>
</owl:Class>
<owl:Class rdf:about="#Partition">
- <rdfs:subClassOf>
- <owl:Class rdf:about="#ModifyAmount"/>
- </rdfs:subClassOf>
+ <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="#Merge"/>
</owl:disjointWith>
@@ -2649,14 +2633,11 @@ pag:5
<owl:disjointWith>
<owl:Class rdf:about="#Branch"/>
</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:Class>
- <owl:Class rdf:about="#WorkCoordinates">
<rdfs:subClassOf>
- <owl:Class rdf:about="#Arrangement"/>
+ <owl:Class rdf:about="#ModifyAmount"/>
</rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#WorkCoordinates">
<owl:disjointWith>
<owl:Class rdf:ID="MountedDeviceOrientation"/>
</owl:disjointWith>
@@ -2669,6 +2650,9 @@ Separating is a special case of parting with size 1.</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:ID="MountedDevicePosition"/>
</owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Arrangement"/>
+ </rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#MinMeasurementRange">
<owl:disjointWith rdf:resource="#FieldOfView"/>
@@ -2711,8 +2695,8 @@ Separating is a special case of parting with size 1.</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#Thrust"/>
</owl:disjointWith>
- <owl:disjointWith rdf:resource="#Saw"/>
<owl:disjointWith rdf:resource="#Lap"/>
+ <owl:disjointWith rdf:resource="#Saw"/>
<owl:disjointWith>
<owl:Class rdf:about="#Mill"/>
</owl:disjointWith>
@@ -2815,40 +2799,42 @@ Cap: 2-5</rdfs:comment>
<owl:disjointWith rdf:resource="#Grind"/>
</owl:Class>
<owl:Class rdf:about="#Sensor">
- <owl:disjointWith>
- <owl:Class rdf:ID="Manufacturing"/>
- </owl:disjointWith>
<rdfs:subClassOf>
<owl:Restriction>
- <owl:someValuesFrom>
- <owl:Class rdf:about="#QualityCriteria"/>
- </owl:someValuesFrom>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasProperty"/>
</owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#Timing"/>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf>
<owl:Restriction>
<owl:someValuesFrom>
- <owl:Class rdf:about="#PhysicalPropertiesSensor"/>
+ <owl:Class rdf:about="#Interface"/>
</owl:someValuesFrom>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasProperty"/>
</owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Manufacturing"/>
+ </owl:disjointWith>
<rdfs:subClassOf>
<owl:Restriction>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#Arrangement"/>
+ </owl:someValuesFrom>
<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="#Cost"/>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#PhysicalPropertiesSensor"/>
+ </owl:someValuesFrom>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasProperty"/>
</owl:onProperty>
@@ -2856,38 +2842,38 @@ Cap: 2-5</rdfs:comment>
</rdfs:subClassOf>
<rdfs:subClassOf>
<owl:Restriction>
- <owl:someValuesFrom>
- <owl:Class rdf:about="#Arrangement"/>
- </owl:someValuesFrom>
<owl:onProperty>
- <owl:ObjectProperty rdf:about="#hasProperty"/>
+ <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="#Timing"/>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#SensorFunction"/>
+ </owl:someValuesFrom>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf>
<owl:Class rdf:about="#Device"/>
</rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ManipulationAndHandling"/>
+ </owl:disjointWith>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty>
- <owl:ObjectProperty rdf:about="#hasSkill"/>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
</owl:onProperty>
<owl:someValuesFrom>
- <owl:Class rdf:about="#SensorFunction"/>
+ <owl:Class rdf:about="#QualityCriteria"/>
</owl:someValuesFrom>
</owl:Restriction>
</rdfs:subClassOf>
- <owl:disjointWith>
- <owl:Class rdf:about="#ManipulationAndHandling"/>
- </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#Cost"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#MeasureTemperature">
<owl:disjointWith>
@@ -2921,9 +2907,6 @@ Cap: 2-5</rdfs:comment>
<owl:disjointWith rdf:resource="#MeasureDiameter"/>
</owl:Class>
<owl:Class rdf:about="#Branch">
- <rdfs:subClassOf>
- <owl:Class rdf:about="#ModifyAmount"/>
- </rdfs:subClassOf>
<owl:disjointWith rdf:resource="#Partition"/>
<owl:disjointWith>
<owl:Class rdf:about="#Assign"/>
@@ -2935,85 +2918,98 @@ Cap: 2-5</rdfs:comment>
<owl:Class rdf:about="#Merge"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Divide"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ModifyAmount"/>
+ </rdfs:subClassOf>
<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="SkillProperty">
- <rdfs:subClassOf>
- <owl:Class rdf:about="#Property"/>
- </rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:ID="isEditable"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#PhysicalObjectProperty"/>
+ <owl:Class rdf:ID="PhysicalObjectProperty"/>
</owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Property"/>
+ </rdfs:subClassOf>
</owl:Class>
- <owl:Class rdf:about="#Device">
+ <owl:Class rdf:ID="ParallelOutSignal">
<rdfs:subClassOf>
- <owl:Restriction>
- <owl:allValuesFrom rdf:resource="#Device"/>
- <owl:onProperty>
- <owl:ObjectProperty rdf:ID="hasSubDevice"/>
- </owl:onProperty>
- </owl:Restriction>
+ <owl:Class rdf:ID="DigitalOut"/>
</rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="VacuumFixture">
<rdfs:subClassOf>
- <owl:Restriction>
- <owl:allValuesFrom>
- <owl:Class rdf:about="#Property"/>
- </owl:allValuesFrom>
- <owl:onProperty>
- <owl:ObjectProperty rdf:about="#hasProperty"/>
- </owl:onProperty>
- </owl:Restriction>
+ <owl:Class rdf:ID="Fixture"/>
</rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Device">
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty>
- <owl:ObjectProperty rdf:about="#hasProperty"/>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
</owl:onProperty>
<owl:someValuesFrom>
- <owl:Class rdf:about="#PhysicalProperties"/>
+ <owl:Class rdf:ID="MainFunction"/>
</owl:someValuesFrom>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf>
<owl:Restriction>
+ <owl:allValuesFrom rdf:resource="#Skill"/>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasSkill"/>
</owl:onProperty>
- <owl:allValuesFrom rdf:resource="#Skill"/>
</owl:Restriction>
</rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalObject"/>
+ </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>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty>
- <owl:ObjectProperty rdf:about="#hasSkill"/>
+ <owl:ObjectProperty rdf:ID="hasQualProperty"/>
</owl:onProperty>
<owl:someValuesFrom>
- <owl:Class rdf:ID="MainFunction"/>
+ <owl:Class rdf:about="#QualityCriteria"/>
</owl:someValuesFrom>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf>
- <owl:Class rdf:about="#PhysicalObject"/>
+ <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: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 rdf:resource="#Device"/>
<owl:onProperty>
- <owl:ObjectProperty rdf:ID="hasQualProperty"/>
+ <owl:ObjectProperty rdf:ID="hasSubDevice"/>
</owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
<owl:someValuesFrom>
- <owl:Class rdf:about="#QualityCriteria"/>
+ <owl:Class rdf:about="#PhysicalProperties"/>
</owl:someValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf>
</owl:Class>
@@ -3039,12 +3035,12 @@ pag:8</rdfs:comment>
</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:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf>
@@ -3115,7 +3111,6 @@ pag:8</rdfs:comment>
<owl:disjointWith rdf:resource="#Displace"/>
</owl:Class>
<owl:Class rdf:about="#DecompressImageData">
- <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
<owl:disjointWith>
<owl:Class rdf:about="#CompressImageData"/>
</owl:disjointWith>
@@ -3131,9 +3126,9 @@ pag:8</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#BlobAnalysis"/>
</owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
</owl:Class>
<owl:Class rdf:about="#CompressImageData">
- <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
<owl:disjointWith>
<owl:Class rdf:about="#BlobAnalysis"/>
</owl:disjointWith>
@@ -3147,17 +3142,18 @@ pag:8</rdfs:comment>
<owl:Class rdf:about="#SegmentImage"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#CalibrateImage"/>
+ <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
</owl:Class>
<owl:Class rdf:ID="CompountSensorFunction">
- <rdfs:subClassOf>
- <owl:Class rdf:ID="CompoundSkills"/>
- </rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:ID="CompoundManufacturingFunction"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="CompoundManipulationAndHandlingFunction"/>
</owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="CompoundSkills"/>
+ </rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#CompoundManipulationAndHandlingFunction">
<rdfs:subClassOf>
@@ -3182,21 +3178,21 @@ pag:8</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#Form"/>
</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>
<rdfs:subClassOf>
<owl:Class rdf:about="#ManufacturingFunction"/>
</rdfs:subClassOf>
- <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="#MaxLiftWeight">
<owl:disjointWith>
<owl:Class rdf:about="#InsideOrOutsidePicking"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Reach"/>
- <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
<owl:disjointWith>
<owl:Class rdf:about="#DiameterOfGripper"/>
</owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
</owl:disjointWith>
@@ -3234,6 +3230,9 @@ pag:8</rdfs:comment>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:ID="SimpleControl">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:ID="PlaybackCtrl"/>
</owl:disjointWith>
@@ -3243,14 +3242,13 @@ pag:8</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:ID="NumericalCtrl"/>
</owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="HMI_Output">
<rdfs:subClassOf>
- <owl:Class rdf:about="#ControlSystem"/>
+ <owl:Class rdf:ID="HMI"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#IntelligentCtrl">
- <rdfs:subClassOf>
- <owl:Class rdf:about="#ControlSystem"/>
- </rdfs:subClassOf>
<owl:disjointWith rdf:resource="#SimpleControl"/>
<owl:disjointWith>
<owl:Class rdf:about="#PlaybackCtrl"/>
@@ -3258,6 +3256,9 @@ pag:8</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#NumericalCtrl"/>
</owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </rdfs:subClassOf>
<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>
@@ -3289,13 +3290,13 @@ pag:8</rdfs:comment>
</owl:Class>
<owl:Class rdf:about="#MeasureAngle">
<owl:disjointWith rdf:resource="#MeasureDistance"/>
- <owl:disjointWith rdf:resource="#MeasureSpeed"/>
<owl:disjointWith>
- <owl:Class rdf:about="#MeasurePositionOfObject"/>
+ <owl:Class rdf:about="#MeasureForce"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#MeasureForce"/>
+ <owl:Class rdf:about="#MeasurePositionOfObject"/>
</owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureSpeed"/>
<owl:disjointWith rdf:resource="#MeasureTemperature"/>
<owl:disjointWith>
<owl:Class rdf:about="#MeasureMotionOfObject"/>
@@ -3333,11 +3334,11 @@ pag:8</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#MinAmbientTemperature"/>
</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>
- <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >in mm</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#MechanicalResistance"/>
</owl:disjointWith>
@@ -3389,12 +3390,12 @@ pag:8</rdfs:comment>
</rdfs:subClassOf>
<rdfs:subClassOf>
<owl:Restriction>
- <owl:someValuesFrom>
- <owl:Class rdf:about="#CloseClaws"/>
- </owl:someValuesFrom>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasSkill"/>
</owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#CloseClaws"/>
+ </owl:someValuesFrom>
</owl:Restriction>
</rdfs:subClassOf>
</owl:Class>
@@ -3415,7 +3416,9 @@ pag:8</rdfs:comment>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#MeasureMotionOfObject">
- <owl:disjointWith rdf:resource="#MeasureDiameter"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasurePositionOfObject"/>
+ </owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MeasureForce"/>
</owl:disjointWith>
@@ -3437,9 +3440,7 @@ pag:8</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#MeasureAcceleration"/>
</owl:disjointWith>
- <owl:disjointWith>
- <owl:Class rdf:about="#MeasurePositionOfObject"/>
- </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureDiameter"/>
</owl:Class>
<owl:Class rdf:ID="CutCorner">
<rdfs:subClassOf>
@@ -3456,24 +3457,24 @@ pag:8</rdfs:comment>
<rdfs:subClassOf rdf:resource="#Detect"/>
<rdfs:subClassOf>
<owl:Restriction>
- <owl:someValuesFrom>
- <owl:Class rdf:about="#OpticLuminescenceScanner"/>
- </owl:someValuesFrom>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#isSkillOf"/>
</owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#OpticLuminescenceScanner"/>
+ </owl:someValuesFrom>
</owl:Restriction>
</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: 5</rdfs:comment>
<owl:disjointWith rdf:resource="#DetectColor"/>
<owl:disjointWith rdf:resource="#DetectCollision"/>
<owl:disjointWith>
<owl:Class rdf:about="#DetectContrast"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#DetectObject"/>
+ <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="#True">
<rdfs:subClassOf>
@@ -3501,16 +3502,21 @@ Cap: 5</rdfs:comment>
<owl:disjointWith rdf:resource="#Roll"/>
<owl:disjointWith rdf:resource="#Deep-Draw"/>
<owl:disjointWith>
- <owl:Class rdf:about="#Forge"/>
+ <owl:Class rdf:about="#Bend"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#Bend"/>
+ <owl:Class rdf:about="#Forge"/>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#ParallelGripper">
<owl:disjointWith rdf:resource="#AngleGripper"/>
<rdfs:subClassOf rdf:resource="#PincerGripper"/>
</owl:Class>
+ <owl:Class rdf:ID="LightingDevice">
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="EnvironmentDevice"/>
+ </rdfs:subClassOf>
+ </owl:Class>
<owl:Class rdf:about="#OpticLuminescenceScanner">
<owl:disjointWith>
<owl:Class rdf:about="#LightGrid"/>
@@ -3539,10 +3545,10 @@ Cap: 5</rdfs:comment>
<owl:Class rdf:ID="Teapot">
<rdfs:subClassOf>
<owl:Restriction>
- <owl:someValuesFrom rdf:resource="#Material"/>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasMaterial"/>
</owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#Material"/>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf rdf:resource="#Product"/>
@@ -3555,9 +3561,6 @@ Cap: 5</rdfs:comment>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#CoordinateReferenceSystem">
- <rdfs:subClassOf>
- <owl:Class rdf:about="#Arrangement"/>
- </rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#MountedDevicePosition"/>
</owl:disjointWith>
@@ -3568,13 +3571,11 @@ Cap: 5</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#MountedDeviceOrientation"/>
</owl:disjointWith>
- </owl:Class>
- <owl:Class rdf:about="#Join">
<rdfs:subClassOf>
- <owl:Class rdf:about="#ManufacturingFunction"/>
+ <owl:Class rdf:about="#Arrangement"/>
</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:Class>
+ <owl:Class rdf:about="#Join">
<owl:disjointWith rdf:resource="#Separate"/>
<owl:disjointWith rdf:resource="#Mold"/>
<owl:disjointWith>
@@ -3586,6 +3587,11 @@ Cap: 5</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#ModifyWorkpieceProperties"/>
</owl:disjointWith>
+ <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:Class>
<owl:Class rdf:about="#Varnish">
<owl:disjointWith rdf:resource="#Hot-galvanise"/>
@@ -3595,11 +3601,11 @@ Cap: 5</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#Powder-coat"/>
</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>
<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="#MechanicalResistance">
<owl:disjointWith>
@@ -3619,11 +3625,11 @@ Cap: 5</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#Length"/>
</owl:disjointWith>
- <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#Shape"/>
<owl:disjointWith>
<owl:Class rdf:about="#EnclosureRatingIP"/>
</owl:disjointWith>
- <owl:disjointWith rdf:resource="#Shape"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
<owl:disjointWith>
<owl:Class rdf:about="#PhysicalPropertiesSensor"/>
</owl:disjointWith>
@@ -3657,6 +3663,11 @@ Cap: 5</rdfs:comment>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#Repeatability">
+ <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:disjointWith>
<owl:Class rdf:about="#Accuracy"/>
</owl:disjointWith>
@@ -3671,35 +3682,29 @@ Cap: 5</rdfs:comment>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Timing"/>
<owl:disjointWith rdf:resource="#Cost"/>
- <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="#ControlSystem">
- <rdfs:subClassOf>
- <owl:Class rdf:about="#PhysicalObjectProperty"/>
- </rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#Arrangement"/>
</owl:disjointWith>
- <owl:disjointWith rdf:resource="#Communication"/>
<owl:disjointWith>
- <owl:Class rdf:about="#PhysicalProperties"/>
+ <owl:Class rdf:about="#Interface"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#Geometry"/>
+ <owl:Class rdf:about="#PhysicalProperties"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#Identifier"/>
+ <owl:Class rdf:ID="Geometry"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#ToolInterface"/>
+ <owl:Class rdf:ID="Identifier"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#QualityCriteria"/>
</owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalObjectProperty"/>
+ </rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#Lathe">
<owl:disjointWith rdf:resource="#Electro-discharge-machine"/>
@@ -3730,10 +3735,16 @@ Cap: 5</rdfs:comment>
<owl:disjointWith rdf:resource="#Lap"/>
<owl:disjointWith rdf:resource="#Rub"/>
</owl:Class>
- <owl:Class rdf:about="#Read">
+ <owl:Class rdf:ID="MechanicalInterface">
<rdfs:subClassOf>
- <owl:Class rdf:about="#SensorFunction"/>
+ <owl:Class rdf:about="#Interface"/>
</rdfs:subClassOf>
+ </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>
<owl:disjointWith rdf:resource="#Detect"/>
<owl:disjointWith>
<owl:Class rdf:about="#Scan"/>
@@ -3748,19 +3759,18 @@ Cap: 5</rdfs:comment>
<owl:Class rdf:about="#Check"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#ImageAnalysis"/>
- <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="#SensorFunction"/>
+ </rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#MinAmbientTemperature">
<owl:disjointWith>
- <owl:Class rdf:about="#DegreesOfFreedom"/>
+ <owl:Class rdf:about="#Width"/>
</owl:disjointWith>
- <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
<owl:disjointWith rdf:resource="#Weight"/>
+ <owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
<owl:disjointWith>
- <owl:Class rdf:about="#Width"/>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MinVoltageSupply"/>
@@ -3778,10 +3788,10 @@ part:7</rdfs:comment>
<owl:Class rdf:about="#MaxForce"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
+ <owl:disjointWith rdf:resource="#Height"/>
<owl:disjointWith>
<owl:Class rdf:about="#Length"/>
</owl:disjointWith>
- <owl:disjointWith rdf:resource="#Height"/>
<owl:disjointWith rdf:resource="#Shape"/>
<owl:disjointWith rdf:resource="#Material"/>
<rdfs:subClassOf>
@@ -3804,6 +3814,12 @@ part:7</rdfs:comment>
</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"
@@ -3816,17 +3832,19 @@ part:7</rdfs:comment>
<rdfs:subClassOf>
<owl:Class rdf:about="#Operation"/>
</rdfs:subClassOf>
- <owl:disjointWith>
- <owl:Class rdf:ID="Sequence"/>
- </owl:disjointWith>
- <owl:disjointWith>
- <owl:Class rdf:ID="Atomic"/>
- </owl:disjointWith>
</owl:Class>
<owl:Class rdf:ID="Glass">
<rdfs:subClassOf rdf:resource="#Material"/>
</owl:Class>
+ <owl:Class rdf:ID="SerialOutSignal">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#DigitalOut"/>
+ </rdfs:subClassOf>
+ </owl:Class>
<owl:Class rdf:about="#CheckSurfaceForIrregularities">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Check"/>
+ </rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#CheckPresence"/>
</owl:disjointWith>
@@ -3834,15 +3852,18 @@ part:7</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#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="#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:disjointWith>
<owl:Class rdf:about="#DiagnosticFunction"/>
</owl:disjointWith>
@@ -3852,12 +3873,6 @@ part:7</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#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:Class>
<owl:Class rdf:about="#SizeOfGripper">
<owl:disjointWith>
@@ -3884,10 +3899,10 @@ pag:5
<owl:disjointWith>
<owl:Class rdf:about="#InsideOrOutsidePicking"/>
</owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#PhysicalPropertiesGripper"/>
</rdfs:subClassOf>
- <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
<owl:disjointWith rdf:resource="#MaxLiftWeight"/>
<owl:disjointWith>
<owl:Class rdf:about="#MaximumVacuum"/>
@@ -3896,13 +3911,13 @@ pag:5
<owl:disjointWith rdf:resource="#Reach"/>
</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>
- <rdfs:subClassOf>
- <owl:Class rdf:about="#UltrasonicSensor"/>
- </rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:ID="AnalogOut">
<rdfs:subClassOf rdf:resource="#AnalogSignal"/>
@@ -3920,16 +3935,16 @@ pag 4</rdfs:comment>
<rdfs:subClassOf>
<owl:Class rdf:about="#PhysicalProperties"/>
</rdfs:subClassOf>
- <owl:disjointWith rdf:resource="#Shape"/>
- <owl:disjointWith rdf:resource="#PhysicalPropertiesRobot"/>
<owl:disjointWith>
<owl:Class rdf:about="#Width"/>
</owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesRobot"/>
+ <owl:disjointWith rdf:resource="#Shape"/>
<owl:disjointWith>
- <owl:Class rdf:about="#PhysicalPropertiesSensor"/>
+ <owl:Class rdf:about="#MinVoltageSupply"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#MinVoltageSupply"/>
+ <owl:Class rdf:about="#PhysicalPropertiesSensor"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
<owl:disjointWith>
@@ -3961,6 +3976,12 @@ pag 4</rdfs:comment>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
</owl:Class>
+ <owl:Class rdf:about="#Protocol">
+ <owl:disjointWith rdf:resource="#PhysicalLayer"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Interface"/>
+ </rdfs:subClassOf>
+ </owl:Class>
<owl:Class rdf:about="#EnclosureRatingIP">
<owl:disjointWith rdf:resource="#Material"/>
<owl:disjointWith>
@@ -3975,19 +3996,19 @@ pag 4</rdfs:comment>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Height"/>
<owl:disjointWith>
- <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ <owl:Class rdf:about="#PhysicalInterface"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#PhysicalInterface"/>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
</owl:disjointWith>
- <owl:disjointWith rdf:resource="#MechanicalResistance"/>
<owl:disjointWith>
<owl:Class rdf:about="#Length"/>
</owl:disjointWith>
- <owl:disjointWith rdf:resource="#Weight"/>
+ <owl:disjointWith rdf:resource="#MechanicalResistance"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#PhysicalProperties"/>
</rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Weight"/>
<owl:disjointWith>
<owl:Class rdf:about="#PowerConsumption"/>
</owl:disjointWith>
@@ -4040,9 +4061,6 @@ pag 4</rdfs:comment>
<owl:disjointWith rdf:resource="#TypeOfMagnet"/>
</owl:Class>
<owl:Class rdf:about="#LightType">
- <rdfs:subClassOf>
- <owl:Class rdf:about="#PhysicalPropertiesSensor"/>
- </rdfs:subClassOf>
<owl:disjointWith rdf:resource="#FieldOfView"/>
<owl:disjointWith rdf:resource="#MinMeasurementRange"/>
<owl:disjointWith>
@@ -4054,16 +4072,18 @@ pag 4</rdfs:comment>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#LaserClass"/>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalPropertiesSensor"/>
+ </rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#PhysicalProperties">
<owl:disjointWith>
<owl:Class rdf:about="#Identifier"/>
</owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ControlSystem"/>
<owl:disjointWith>
- <owl:Class rdf:about="#ToolInterface"/>
+ <owl:Class rdf:about="#Interface"/>
</owl:disjointWith>
- <owl:disjointWith rdf:resource="#ControlSystem"/>
- <owl:disjointWith rdf:resource="#Communication"/>
<owl:disjointWith>
<owl:Class rdf:about="#Arrangement"/>
</owl:disjointWith>
@@ -4150,22 +4170,27 @@ pag 4</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#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>
- <rdfs:subClassOf rdf:resource="#Skill"/>
</owl:Class>
<owl:Class rdf:about="#NumericalCtrl">
+ <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:disjointWith rdf:resource="#SimpleControl"/>
<owl:disjointWith rdf:resource="#IntelligentCtrl"/>
<owl:disjointWith>
<owl:Class rdf:about="#PlaybackCtrl"/>
</owl:disjointWith>
- <rdfs:subClassOf rdf:resource="#ControlSystem"/>
- <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:Class>
+ <owl:Class rdf:ID="MechanicalFixture">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Fixture"/>
+ </rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#Operation">
<owl:disjointWith>
@@ -4207,12 +4232,8 @@ pag:5
>Bolts are removable elements to create a connection between two or more workpieces.</rdfs:comment>
<owl:disjointWith rdf:resource="#Rivet"/>
</owl:Class>
- <owl:Class rdf:ID="DigInOut">
- <rdfs:subClassOf>
- <owl:Class rdf:about="#DigitalSignal"/>
- </rdfs:subClassOf>
- </owl:Class>
<owl:Class rdf:about="#FilterImage">
+ <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
<owl:disjointWith rdf:resource="#CalibrateImage"/>
<owl:disjointWith rdf:resource="#TransformImage"/>
<owl:disjointWith rdf:resource="#DecompressImageData"/>
@@ -4224,7 +4245,6 @@ pag:5
<owl:disjointWith>
<owl:Class rdf:about="#SegmentImage"/>
</owl:disjointWith>
- <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
</owl:Class>
<owl:Class rdf:about="#MeasureOrientationOfObject">
<owl:disjointWith rdf:resource="#MeasureDiameter"/>
@@ -4234,12 +4254,12 @@ pag:5
<owl:disjointWith rdf:resource="#MeasureTemperature"/>
<owl:disjointWith rdf:resource="#MeasureSpeed"/>
<owl:disjointWith rdf:resource="#MeasureDistance"/>
- <owl:disjointWith>
- <owl:Class rdf:about="#MeasurePositionOfObject"/>
- </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="#MeasureForce"/>
</owl:disjointWith>
@@ -4255,12 +4275,12 @@ pag:5
<owl:disjointWith rdf:resource="#Rub"/>
<owl:disjointWith rdf:resource="#Saw"/>
<owl:disjointWith rdf:resource="#Hone"/>
- <owl:disjointWith>
- <owl:Class rdf:about="#Drill"/>
- </owl:disjointWith>
<owl:disjointWith rdf:resource="#Electro-discharge-machine"/>
<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:about="#Drill"/>
+ </owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#Cut"/>
</owl:disjointWith>
@@ -4278,19 +4298,19 @@ pag:5
<owl:disjointWith rdf:resource="#Grind"/>
<owl:disjointWith rdf:resource="#File"/>
</owl:Class>
- <owl:Class rdf:about="#DigitalSignal">
+ <owl:Class rdf:ID="DigitalSignal">
<rdfs:subClassOf>
<owl:Class rdf:about="#Signal"/>
</rdfs:subClassOf>
</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 rdf:resource="#Varnish"/>
<owl:disjointWith rdf:resource="#Hot-galvanise"/>
<owl:disjointWith>
<owl:Class rdf:about="#Powder-coat"/>
</owl:disjointWith>
- <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>
@@ -4317,10 +4337,12 @@ pag:5
</owl:disjointWith>
<rdfs:subClassOf rdf:resource="#Sensor"/>
</owl:Class>
- <owl:Class rdf:ID="DigIn">
- <rdfs:subClassOf rdf:resource="#DigitalSignal"/>
- </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>
<owl:Class rdf:about="#ManipulationAndHandlingFunction"/>
</owl:disjointWith>
@@ -4336,25 +4358,17 @@ pag:5
<owl:allValuesFrom rdf:resource="#Sensor"/>
</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="#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>
- <rdfs:subClassOf rdf:resource="#ControlSystem"/>
<owl:disjointWith rdf:resource="#SimpleControl"/>
<owl:disjointWith rdf:resource="#IntelligentCtrl"/>
<owl:disjointWith rdf:resource="#NumericalCtrl"/>
+ <rdfs:subClassOf rdf:resource="#ControlSystem"/>
</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="#ArticulatedRobot"/>
<owl:disjointWith>
<owl:Class rdf:about="#ParallelKinematicRobot"/>
@@ -4370,8 +4384,12 @@ Sometimes, the tool is already included in the robot, e.g. a gripper is already
<owl:Class rdf:about="#ScaraRobot"/>
</owl:disjointWith>
<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:Class>
<owl:Class rdf:about="#MagneticSensor">
+ <rdfs:subClassOf rdf:resource="#Sensor"/>
<owl:disjointWith>
<owl:Class rdf:about="#OpticSensor"/>
</owl:disjointWith>
@@ -4389,13 +4407,14 @@ Sometimes, the tool is already included in the robot, e.g. a gripper is already
<owl:disjointWith>
<owl:Class rdf:about="#CapacitveSensor"/>
</owl:disjointWith>
- <rdfs:subClassOf rdf:resource="#Sensor"/>
</owl:Class>
<owl:Class rdf:about="#QualityCriteria">
<owl:disjointWith>
<owl:Class rdf:about="#Arrangement"/>
</owl:disjointWith>
- <owl:disjointWith rdf:resource="#Communication"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Interface"/>
+ </owl:disjointWith>
<owl:disjointWith rdf:resource="#ControlSystem"/>
<owl:disjointWith>
<owl:Class rdf:about="#Geometry"/>
@@ -4404,31 +4423,10 @@ Sometimes, the tool is already included in the robot, e.g. a gripper is already
<owl:Class rdf:about="#Identifier"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#PhysicalProperties"/>
- <owl:disjointWith>
- <owl:Class rdf:about="#ToolInterface"/>
- </owl:disjointWith>
<rdfs:subClassOf>
<owl:Class rdf:about="#PhysicalObjectProperty"/>
</rdfs:subClassOf>
</owl:Class>
- <owl:Class rdf:about="#OpenFingers">
- <rdfs:subClassOf>
- <owl:Restriction>
- <owl:onProperty>
- <owl:ObjectProperty rdf:about="#isSkillOf"/>
- </owl:onProperty>
- <owl:someValuesFrom rdf:resource="#FingerGripper"/>
- </owl:Restriction>
- </rdfs:subClassOf>
- <rdfs:subClassOf>
- <owl:Class rdf:about="#Release"/>
- </rdfs:subClassOf>
- <owl:disjointWith>
- <owl:Class rdf:about="#AdjustCurrentToRelease"/>
- </owl:disjointWith>
- <owl:disjointWith rdf:resource="#OpenClaws"/>
- <owl:disjointWith rdf:resource="#AdjustVacuumToRelease"/>
- </owl:Class>
<owl:Class rdf:about="#Position">
<owl:disjointWith rdf:resource="#Displace"/>
<owl:disjointWith>
@@ -4450,6 +4448,24 @@ Sometimes, the tool is already included in the robot, e.g. a gripper is already
<rdfs:subClassOf rdf:resource="#Move"/>
<owl:disjointWith rdf:resource="#Arrange"/>
</owl:Class>
+ <owl:Class rdf:about="#OpenFingers">
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#FingerGripper"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Release"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#AdjustCurrentToRelease"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#OpenClaws"/>
+ <owl:disjointWith rdf:resource="#AdjustVacuumToRelease"/>
+ </owl:Class>
<owl:Class rdf:ID="SwitchingFrequency">
<owl:disjointWith>
<owl:Class rdf:ID="CycleTime"/>
@@ -4461,7 +4477,11 @@ Sometimes, the tool is already included in the robot, e.g. a gripper is already
>in Kilohertz</rdfs:comment>
<rdfs:subClassOf rdf:resource="#Timing"/>
</owl:Class>
+ <owl:Class rdf:ID="CommunicationPort">
+ <rdfs:subClassOf rdf:resource="#Device"/>
+ </owl:Class>
<owl:Class rdf:about="#SegmentImage">
+ <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
<owl:disjointWith rdf:resource="#DecompressImageData"/>
<owl:disjointWith>
<owl:Class rdf:about="#BlobAnalysis"/>
@@ -4471,18 +4491,17 @@ Sometimes, the tool is already included in the robot, e.g. a gripper is already
<owl:disjointWith rdf:resource="#FilterImage"/>
<owl:disjointWith rdf:resource="#CompressImageData"/>
<owl:disjointWith rdf:resource="#TransformImage"/>
- <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
</owl:Class>
<owl:Class rdf:about="#isEditable">
+ <owl:disjointWith rdf:resource="#SkillProperty"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalObjectProperty"/>
+ </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:disjointWith rdf:resource="#SkillProperty"/>
- <owl:disjointWith>
- <owl:Class rdf:about="#PhysicalObjectProperty"/>
- </owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Fill">
<owl:disjointWith>
@@ -4507,17 +4526,21 @@ Sometimes, the tool is already included in the robot, e.g. a gripper is already
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Store">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ManipulationAndHandlingFunction"/>
+ </rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:about="#ModifyAmount"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Move"/>
<owl:disjointWith rdf:resource="#Secure"/>
+ </owl:Class>
+ <owl:Class rdf:ID="ParallelInSignal">
<rdfs:subClassOf>
- <owl:Class rdf:about="#ManipulationAndHandlingFunction"/>
+ <owl:Class rdf:ID="DigitalIn"/>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#TactileSensor">
- <rdfs:subClassOf rdf:resource="#Sensor"/>
<owl:disjointWith>
<owl:Class rdf:about="#EncoderSensor"/>
</owl:disjointWith>
@@ -4533,13 +4556,14 @@ Sometimes, the tool is already included in the robot, e.g. a gripper is already
<owl:disjointWith>
<owl:Class rdf:about="#TorqueForceSensor"/>
</owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Sensor"/>
</owl:Class>
<owl:Class rdf:about="#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>
+ <rdfs:subClassOf rdf:resource="#Read"/>
<owl:disjointWith>
<owl:Class rdf:about="#ReadOpticalCharacters"/>
</owl:disjointWith>
@@ -4558,15 +4582,18 @@ part:7</rdfs:comment>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Reset"/>
</owl:Class>
+ <owl:Class rdf:about="#DigitalOut">
+ <rdfs:subClassOf rdf:resource="#DigitalSignal"/>
+ </owl:Class>
<owl:Class rdf:about="#Length">
- <owl:disjointWith rdf:resource="#Shape"/>
<owl:disjointWith rdf:resource="#PhysicalPropertiesRobot"/>
+ <owl:disjointWith rdf:resource="#Shape"/>
<rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
<owl:disjointWith>
- <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ <owl:Class rdf:about="#PhysicalInterface"/>
</owl:disjointWith>
<owl:disjointWith>
- <owl:Class rdf:about="#PhysicalInterface"/>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaxForce"/>
@@ -4575,17 +4602,17 @@ part:7</rdfs:comment>
<owl:Class rdf:about="#PhysicalPropertiesSensor"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Height"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
<owl:disjointWith>
<owl:Class rdf:about="#MinVoltageSupply"/>
</owl:disjointWith>
- <owl:disjointWith rdf:resource="#Payload"/>
<owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
- <owl:disjointWith rdf:resource="#Diameter"/>
<owl:disjointWith>
<owl:Class rdf:about="#MaxAmbientTemperature"/>
</owl:disjointWith>
- <owl:disjointWith rdf:resource="#Weight"/>
+ <owl:disjointWith rdf:resource="#Diameter"/>
<owl:disjointWith rdf:resource="#MechanicalResistance"/>
+ <owl:disjointWith rdf:resource="#Weight"/>
<owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
<owl:disjointWith rdf:resource="#Material"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
@@ -4631,11 +4658,6 @@ part:7</rdfs:comment>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#ModifyWorkpieceProperties">
- <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:disjointWith rdf:resource="#Mold"/>
<owl:disjointWith rdf:resource="#Join"/>
<owl:disjointWith>
@@ -4645,29 +4667,31 @@ part:7</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#Coat"/>
</owl:disjointWith>
- </owl:Class>
- <owl:Class rdf:about="#LoadParameterSet">
<rdfs:subClassOf>
- <owl:Class rdf:about="#AdditionalFunction"/>
+ <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="#LoadParameterSet">
<owl:disjointWith rdf:resource="#SaveParameterSet"/>
<owl:disjointWith>
<owl:Class rdf:about="#Calibrate"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#SetParameterValue"/>
<owl:disjointWith rdf:resource="#Reset"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#AdditionalFunction"/>
+ </rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#ManipulationAndHandlingFunction">
+ <rdfs:subClassOf rdf:resource="#MainFunction"/>
<owl:disjointWith rdf:resource="#SensorFunction"/>
<owl:disjointWith>
<owl:Class rdf:about="#ManufacturingFunction"/>
</owl:disjointWith>
- <rdfs:subClassOf rdf:resource="#MainFunction"/>
</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>
@@ -4676,6 +4700,12 @@ part:7</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#WorkFrame"/>
</owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Arrangement"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="Discovery">
+ <rdfs:subClassOf rdf:resource="#Protocol"/>
</owl:Class>
<owl:Class rdf:about="#CartesianRobot">
<rdfs:subClassOf rdf:resource="#Robot"/>
@@ -4694,6 +4724,14 @@ part:7</rdfs:comment>
<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:ID="SerialInSignal">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#DigitalIn"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#EnvironmentDevice">
+ <rdfs:subClassOf rdf:resource="#Device"/>
+ </owl:Class>
<owl:Class rdf:about="#Gripper">
<owl:disjointWith>
<owl:Class rdf:about="#Displacement"/>
@@ -4701,69 +4739,71 @@ part:7</rdfs:comment>
<owl:disjointWith rdf:resource="#Robot"/>
<rdfs:subClassOf>
<owl:Restriction>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#Release"/>
+ </owl:someValuesFrom>
<owl:onProperty>
- <owl:ObjectProperty rdf:about="#hasProperty"/>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
</owl:onProperty>
- <owl:someValuesFrom rdf:resource="#ControlSystem"/>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf>
<owl:Restriction>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#Interface"/>
+ </owl:someValuesFrom>
<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="#hasSkill"/>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
</owl:onProperty>
<owl:someValuesFrom>
- <owl:Class rdf:about="#Release"/>
+ <owl:Class rdf:about="#Arrangement"/>
</owl:someValuesFrom>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf>
<owl:Restriction>
+ <owl:someValuesFrom rdf:resource="#Cost"/>
<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:someValuesFrom rdf:resource="#ControlSystem"/>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasProperty"/>
</owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ManipulationAndHandling"/>
+ </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:someValuesFrom>
+ <owl:Class rdf:about="#Grasp"/>
+ </owl:someValuesFrom>
</owl:Restriction>
</rdfs:subClassOf>
- <rdfs:subClassOf>
- <owl:Class rdf:about="#ManipulationAndHandling"/>
- </rdfs:subClassOf>
<rdfs:subClassOf>
<owl:Restriction>
- <owl:someValuesFrom rdf:resource="#Cost"/>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasProperty"/>
</owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ </owl:someValuesFrom>
</owl:Restriction>
</rdfs:subClassOf>
</owl:Class>
@@ -4829,7 +4869,11 @@ Cap: 7</rdfs:comment>
<owl:Class rdf:about="#Glue"/>
</owl:disjointWith>
</owl:Class>
+ <owl:Class rdf:ID="OpticalMedia">
+ <rdfs:subClassOf rdf:resource="#PhysicalLayer"/>
+ </owl:Class>
<owl:Class rdf:about="#OpticSensor">
+ <rdfs:subClassOf rdf:resource="#Sensor"/>
<owl:disjointWith>
<owl:Class rdf:about="#EncoderSensor"/>
</owl:disjointWith>
@@ -4843,7 +4887,6 @@ Cap: 7</rdfs:comment>
<owl:Class rdf:about="#CapacitveSensor"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#TactileSensor"/>
- <rdfs:subClassOf rdf:resource="#Sensor"/>
</owl:Class>
<owl:Class rdf:about="#Convey">
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
@@ -4874,27 +4917,27 @@ Cap: 7</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:ID="WormDiameter"/>
</owl:disjointWith>
- <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >Can be inside or outside.</rdfs:comment>
<rdfs:subClassOf>
<owl:Class rdf:about="#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="#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 rdf:resource="#ElectrolyticSegregate"/>
<owl:disjointWith>
<owl:Class rdf:about="#Sinter"/>
</owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >From fluid metallic material a solid workpiece is created.</rdfs:comment>
</owl:Class>
<owl:Class rdf:about="#PhysicalObjectProperty">
+ <owl:disjointWith rdf:resource="#isEditable"/>
+ <owl:disjointWith rdf:resource="#SkillProperty"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#Property"/>
</rdfs:subClassOf>
- <owl:disjointWith rdf:resource="#isEditable"/>
- <owl:disjointWith rdf:resource="#SkillProperty"/>
</owl:Class>
<owl:Class rdf:about="#Anneal">
<rdfs:subClassOf rdf:resource="#ModifyWorkpieceProperties"/>
@@ -4906,10 +4949,10 @@ Cap: 7</rdfs:comment>
>Set specific material properties by heating, holding the heat for a specific time and cooling down.</rdfs:comment>
</owl:Class>
<owl:Class rdf:about="#Broach">
+ <owl:disjointWith rdf:resource="#Thrust"/>
<owl:disjointWith>
<owl:Class rdf:about="#Drill"/>
</owl:disjointWith>
- <owl:disjointWith rdf:resource="#Thrust"/>
<owl:disjointWith rdf:resource="#Electro-discharge-machine"/>
<owl:disjointWith rdf:resource="#Rub"/>
<owl:disjointWith rdf:resource="#Thermal-Separate"/>
@@ -4954,16 +4997,31 @@ Cap: 7</rdfs:comment>
<owl:disjointWith rdf:resource="#MeasureSpeed"/>
</owl:Class>
<owl:Class rdf:about="#CircularParallelGripper">
- <rdfs:subClassOf rdf:resource="#ParallelGripper"/>
<owl:disjointWith rdf:resource="#GeneralParallelGripper"/>
<owl:disjointWith rdf:resource="#LineParallelGripper"/>
+ <rdfs:subClassOf rdf:resource="#ParallelGripper"/>
</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>
+ <rdfs:subClassOf rdf:resource="#InductiveSensor"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Interface">
+ <owl:disjointWith rdf:resource="#ControlSystem"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Arrangement"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Geometry"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Identifier"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PhysicalProperties"/>
+ <owl:disjointWith rdf:resource="#QualityCriteria"/>
+ <rdfs:subClassOf rdf:resource="#PhysicalObjectProperty"/>
</owl:Class>
<owl:Class rdf:about="#AsFastAsPossible">
<rdfs:subClassOf rdf:resource="#Feed"/>
@@ -5018,9 +5076,9 @@ Cap: 2</rdfs:comment>
<owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
<rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
<owl:disjointWith rdf:resource="#MechanicalResistance"/>
+ <owl:disjointWith rdf:resource="#Diameter"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>in volts</rdfs:comment>
- <owl:disjointWith rdf:resource="#Diameter"/>
</owl:Class>
<owl:Class rdf:about="#Calibrate">
<owl:disjointWith rdf:resource="#LoadParameterSet"/>
@@ -5034,12 +5092,12 @@ Cap: 2</rdfs:comment>
<owl:Class rdf:about="#AdjustCurrentToGrip">
<rdfs:subClassOf>
<owl:Restriction>
- <owl:onProperty>
- <owl:ObjectProperty rdf:about="#isSkillOf"/>
- </owl:onProperty>
<owl:someValuesFrom>
<owl:Class rdf:about="#MagnetGripper"/>
</owl:someValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf>
@@ -5056,35 +5114,30 @@ Cap: 2</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#Arrangement"/>
</owl:disjointWith>
- <owl:disjointWith>
- <owl:Class rdf:about="#ToolInterface"/>
- </owl:disjointWith>
<owl:disjointWith rdf:resource="#ControlSystem"/>
<owl:disjointWith>
<owl:Class rdf:about="#Identifier"/>
</owl:disjointWith>
- <owl:disjointWith rdf:resource="#Communication"/>
+ <owl:disjointWith rdf:resource="#Interface"/>
<owl:disjointWith rdf:resource="#QualityCriteria"/>
<rdfs:subClassOf rdf:resource="#PhysicalObjectProperty"/>
</owl:Class>
<owl:Class rdf:ID="WireDrawEncoder">
- <rdfs:subClassOf>
- <owl:Class rdf:about="#EncoderSensor"/>
- </rdfs:subClassOf>
<owl:disjointWith>
<owl:Class rdf:ID="LinearEncoder"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:ID="WheelEncoder"/>
</owl:disjointWith>
+ <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="#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="#Release"/>
</owl:disjointWith>
@@ -5093,6 +5146,8 @@ pag 4</rdfs:comment>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Attach"/>
<rdfs:subClassOf rdf:resource="#Secure"/>
+ <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:Class>
<owl:Class rdf:ID="StoreInOrder">
<owl:disjointWith>
@@ -5101,9 +5156,9 @@ pag 4</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:ID="StorePartlyOrdered"/>
</owl:disjointWith>
+ <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>
- <rdfs:subClassOf rdf:resource="#Store"/>
</owl:Class>
<owl:Class rdf:ID="Hole">
<rdfs:subClassOf>
@@ -5114,7 +5169,13 @@ pag 4</rdfs:comment>
</rdfs:subClassOf>
<rdfs:subClassOf rdf:resource="#Shape"/>
</owl:Class>
+ <owl:Class rdf:ID="ParallelInOutSignal">
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="DigitalInOut"/>
+ </rdfs:subClassOf>
+ </owl:Class>
<owl:Class rdf:about="#Precision">
+ <rdfs:subClassOf rdf:resource="#QualityCriteria"/>
<owl:disjointWith>
<owl:Class rdf:about="#Accuracy"/>
</owl:disjointWith>
@@ -5127,7 +5188,6 @@ pag 4</rdfs:comment>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Timing"/>
<owl:disjointWith rdf:resource="#Cost"/>
- <rdfs:subClassOf rdf:resource="#QualityCriteria"/>
</owl:Class>
<owl:Class rdf:about="#OpticColorSensor">
<owl:disjointWith>
@@ -5153,8 +5213,8 @@ Cap: 4</rdfs:comment>
<owl:disjointWith rdf:resource="#Lap"/>
<owl:disjointWith rdf:resource="#Thermal-Separate"/>
<owl:disjointWith rdf:resource="#Hone"/>
- <owl:disjointWith rdf:resource="#File"/>
<owl:disjointWith rdf:resource="#Lathe"/>
+ <owl:disjointWith rdf:resource="#File"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Divide a workpiece into two parts.</rdfs:comment>
<owl:disjointWith rdf:resource="#Thrust"/>
@@ -5191,6 +5251,9 @@ Cap: 4</rdfs:comment>
<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="ReadBrailleCode">
+ <rdfs:subClassOf rdf:resource="#Read"/>
+ </owl:Class>
<owl:Class rdf:about="#Task">
<owl:disjointWith rdf:resource="#Skill"/>
<owl:disjointWith>
@@ -5205,15 +5268,20 @@ Cap: 4</rdfs:comment>
<owl:Class rdf:about="#Abstract"/>
</owl:disjointWith>
</owl:Class>
+ <owl:Class rdf:about="#Fixture">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ManipulationAndHandling"/>
+ </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:disjointWith rdf:resource="#Hot-galvanise"/>
+ <owl:disjointWith rdf:resource="#Electroplate"/>
+ <owl:disjointWith rdf:resource="#Varnish"/>
</owl:Class>
<owl:Class rdf:about="#MaxLiftWay">
<owl:disjointWith rdf:resource="#Reach"/>
@@ -5277,16 +5345,16 @@ Cap: 4</rdfs:comment>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
<owl:disjointWith rdf:resource="#Material"/>
- <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
<owl:disjointWith rdf:resource="#Weight"/>
+ <owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
<owl:disjointWith rdf:resource="#MinVoltageSupply"/>
<owl:disjointWith rdf:resource="#PhysicalPropertiesRobot"/>
<owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
<owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#Diameter"/>
<owl:disjointWith>
<owl:Class rdf:about="#Width"/>
</owl:disjointWith>
- <owl:disjointWith rdf:resource="#Diameter"/>
<owl:disjointWith rdf:resource="#MechanicalResistance"/>
<owl:disjointWith>
<owl:Class rdf:about="#PhysicalInterface"/>
@@ -5298,10 +5366,10 @@ Cap: 4</rdfs:comment>
<owl:Class rdf:about="#PhysicalPropertiesGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Length"/>
- <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
<owl:disjointWith>
<owl:Class rdf:about="#MaxAmbientTemperature"/>
</owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
<owl:disjointWith rdf:resource="#Height"/>
<owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
<owl:disjointWith rdf:resource="#Shape"/>
@@ -5309,29 +5377,33 @@ Cap: 4</rdfs:comment>
>in Newton</rdfs:comment>
<owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
</owl:Class>
+ <owl:Class rdf:about="#DigitalIn">
+ <rdfs:subClassOf rdf:resource="#DigitalSignal"/>
+ </owl:Class>
<owl:Class rdf:about="#AdditionalFunction">
- <owl:disjointWith rdf:resource="#DiagnosticFunction"/>
- <owl:disjointWith rdf:resource="#MainFunction"/>
- <owl:disjointWith>
- <owl:Class rdf:about="#CompoundSkills"/>
- </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>
+ <rdfs:subClassOf rdf:resource="#Skill"/>
+ <owl:disjointWith rdf:resource="#DiagnosticFunction"/>
+ <owl:disjointWith rdf:resource="#MainFunction"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CompoundSkills"/>
+ </owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#ReadOpticalCharacters">
<owl:disjointWith rdf:resource="#Read2DMatrixCode"/>
<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>
+ <rdfs:subClassOf rdf:resource="#Read"/>
</owl:Class>
<owl:Class rdf:about="#TorqueForceSensor">
+ <rdfs:subClassOf rdf:resource="#Sensor"/>
<owl:disjointWith rdf:resource="#TactileSensor"/>
<owl:disjointWith rdf:resource="#MagneticSensor"/>
<owl:disjointWith>
@@ -5343,10 +5415,8 @@ part:7</rdfs:comment>
<owl:Class rdf:about="#CapacitveSensor"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#UltrasonicSensor"/>
- <rdfs:subClassOf rdf:resource="#Sensor"/>
</owl:Class>
<owl:Class rdf:about="#CapacitveSensor">
- <rdfs:subClassOf rdf:resource="#Sensor"/>
<owl:disjointWith rdf:resource="#InductiveSensor"/>
<owl:disjointWith rdf:resource="#OpticSensor"/>
<owl:disjointWith rdf:resource="#UltrasonicSensor"/>
@@ -5356,8 +5426,10 @@ part:7</rdfs:comment>
<owl:disjointWith rdf:resource="#TorqueForceSensor"/>
<owl:disjointWith rdf:resource="#TactileSensor"/>
<owl:disjointWith rdf:resource="#MagneticSensor"/>
+ <rdfs:subClassOf rdf:resource="#Sensor"/>
</owl:Class>
<owl:Class rdf:about="#Grasp">
+ <rdfs:subClassOf rdf:resource="#Secure"/>
<owl:disjointWith rdf:resource="#Detach"/>
<owl:disjointWith rdf:resource="#Attach"/>
<owl:disjointWith>
@@ -5368,14 +5440,13 @@ part:7</rdfs:comment>
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:Class>
<owl:Class rdf:about="#Mill">
+ <owl:disjointWith rdf:resource="#Electro-discharge-machine"/>
<owl:disjointWith>
<owl:Class rdf:about="#Drill"/>
</owl:disjointWith>
<rdfs:subClassOf rdf:resource="#Separate"/>
- <owl:disjointWith rdf:resource="#Electro-discharge-machine"/>
<owl:disjointWith rdf:resource="#Lap"/>
<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>
@@ -5392,13 +5463,13 @@ Keep a workpiece temporarily in a given position and orientation.</rdfs:comment>
<owl:disjointWith rdf:resource="#Hone"/>
</owl:Class>
<owl:Class rdf:about="#OpticThroughBeamSwitch">
+ <rdfs:subClassOf rdf:resource="#OpticSwitch"/>
<owl:disjointWith rdf:resource="#OpticProximitySwitch"/>
<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="#OpticSwitch"/>
</owl:Class>
<owl:Class rdf:about="#Weld">
<owl:disjointWith rdf:resource="#Rivet"/>
@@ -5418,13 +5489,10 @@ Cap: 2</rdfs:comment>
<owl:Class rdf:about="#Glue"/>
</owl:disjointWith>
</owl:Class>
- <owl:Class rdf:ID="IO_Board">
- <rdfs:subClassOf rdf:resource="#CommunicationDevice"/>
- </owl:Class>
<owl:Class rdf:about="#NumberOfJoints">
- <rdfs:subClassOf rdf:resource="#PhysicalPropertiesRobot"/>
<owl:disjointWith rdf:resource="#TypeOfActuation"/>
<owl:disjointWith rdf:resource="#Reachability"/>
+ <rdfs:subClassOf rdf:resource="#PhysicalPropertiesRobot"/>
</owl:Class>
<owl:Class rdf:about="#Glue">
<owl:disjointWith rdf:resource="#Bolt"/>
@@ -5443,32 +5511,21 @@ Cap: 2</rdfs:comment>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Manufacturing">
- <owl:disjointWith rdf:resource="#Sensor"/>
- <owl:disjointWith>
- <owl:Class rdf:about="#ManipulationAndHandling"/>
- </owl:disjointWith>
<rdfs:subClassOf rdf:resource="#Device"/>
<rdfs:subClassOf>
<owl:Restriction>
+ <owl:someValuesFrom rdf:resource="#ManufacturingFunction"/>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasSkill"/>
</owl:onProperty>
- <owl:someValuesFrom rdf:resource="#ManufacturingFunction"/>
</owl:Restriction>
</rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Sensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ManipulationAndHandling"/>
+ </owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#DetectContrast">
- <rdfs:subClassOf>
- <owl:Restriction>
- <owl:onProperty>
- <owl:ObjectProperty rdf:about="#isSkillOf"/>
- </owl:onProperty>
- <owl:someValuesFrom>
- <owl:Class rdf:about="#OpticContrastScanner"/>
- </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)
Structured Description of Skills and Device 1.0
@@ -5479,6 +5536,17 @@ Cap: 3</rdfs:comment>
<owl:disjointWith rdf:resource="#DetectLuminescence"/>
<owl:disjointWith rdf:resource="#DetectCollision"/>
<owl:disjointWith rdf:resource="#DetectObject"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#OpticContrastScanner"/>
+ </owl:someValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf rdf:resource="#Detect"/>
</owl:Class>
<owl:Class rdf:about="#Temper">
<owl:disjointWith rdf:resource="#Anneal"/>
@@ -5488,10 +5556,6 @@ Cap: 3</rdfs:comment>
>Influence the mechanical stresses of the workpiece. The material is given a regular structure.</rdfs:comment>
</owl:Class>
<owl:Class rdf:about="#LinearEncoder">
- <owl:disjointWith>
- <owl:Class rdf:about="#WheelEncoder"/>
- </owl:disjointWith>
- <owl:disjointWith rdf:resource="#WireDrawEncoder"/>
<rdfs:subClassOf>
<owl:Class rdf:about="#EncoderSensor"/>
</rdfs:subClassOf>
@@ -5499,6 +5563,10 @@ Cap: 3</rdfs:comment>
>distanceMeasurements.pdf
SICK
pag 4</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WheelEncoder"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#WireDrawEncoder"/>
</owl:Class>
<owl:Class rdf:ID="BarcodeReader">
<rdfs:subClassOf rdf:resource="#VisionSensor"/>
@@ -5509,11 +5577,6 @@ pag 4</rdfs:comment>
<owl:disjointWith rdf:resource="#AsFastAsPossible"/>
</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>
- <owl:Class rdf:about="#ModifyAmount"/>
- </rdfs:subClassOf>
<owl:disjointWith rdf:resource="#Divide"/>
<owl:disjointWith rdf:resource="#Assign"/>
<owl:disjointWith rdf:resource="#Partition"/>
@@ -5521,8 +5584,16 @@ pag 4</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#Unify"/>
</owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ModifyAmount"/>
+ </rdfs:subClassOf>
+ <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: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 rdf:resource="#Separate"/>
@@ -5530,9 +5601,6 @@ pag 4</rdfs:comment>
<owl:disjointWith>
<owl:Class rdf:about="#Form"/>
</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:Class>
<owl:Class rdf:about="#Pass">
<rdfs:subClassOf rdf:resource="#Move"/>
@@ -5550,6 +5618,7 @@ pag 4</rdfs:comment>
<owl:disjointWith rdf:resource="#Feed"/>
</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 rdf:resource="#Coat"/>
@@ -5557,7 +5626,9 @@ pag 4</rdfs:comment>
<owl:disjointWith rdf:resource="#Mold"/>
<owl:disjointWith rdf:resource="#Join"/>
<owl:disjointWith rdf:resource="#ModifyWorkpieceProperties"/>
- <rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
+ </owl:Class>
+ <owl:Class rdf:ID="WirelessMedia">
+ <rdfs:subClassOf rdf:resource="#PhysicalLayer"/>
</owl:Class>
<owl:Class rdf:about="#TypeOfVacuum">
<owl:disjointWith rdf:resource="#TypeOfFingers"/>
@@ -5586,28 +5657,33 @@ pag 4</rdfs:comment>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#ResponseTime">
- <rdfs:subClassOf rdf:resource="#Timing"/>
<owl:disjointWith>
<owl:Class rdf:about="#CycleTime"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#SwitchingFrequency"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>in seconds</rdfs:comment>
+ <rdfs:subClassOf rdf:resource="#Timing"/>
</owl:Class>
<owl:Class rdf:ID="CapabilityMaterial">
<rdfs:subClassOf>
<owl:Class rdf:ID="Capability"/>
</rdfs:subClassOf>
</owl:Class>
+ <owl:Class rdf:ID="PneumaticConnector">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#MechanicalConnector"/>
+ </rdfs:subClassOf>
+ </owl:Class>
<owl:Class rdf:about="#PhysicalPropertiesSensor">
<owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
<owl:disjointWith rdf:resource="#PhysicalPropertiesRobot"/>
<owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
- <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
<owl:disjointWith>
<owl:Class rdf:about="#PhysicalInterface"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
<owl:disjointWith rdf:resource="#Material"/>
<owl:disjointWith>
<owl:Class rdf:about="#PowerConsumption"/>
@@ -5634,10 +5710,6 @@ pag 4</rdfs:comment>
<owl:disjointWith rdf:resource="#MechanicalResistance"/>
</owl:Class>
<owl:Class rdf:about="#Displacement">
- <owl:disjointWith rdf:resource="#Robot"/>
- <owl:disjointWith rdf:resource="#Gripper"/>
- <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:Restriction>
<owl:someValuesFrom rdf:resource="#Cost"/>
@@ -5649,6 +5721,10 @@ pag 4</rdfs:comment>
<rdfs:subClassOf>
<owl:Class rdf:about="#ManipulationAndHandling"/>
</rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Robot"/>
+ <owl:disjointWith rdf:resource="#Gripper"/>
+ <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>
</owl:Class>
<owl:Class rdf:about="#MeasurePositionOfObject">
<owl:disjointWith rdf:resource="#MeasureOrientationOfObject"/>
@@ -5690,11 +5766,15 @@ pag 4</rdfs:comment>
</rdfs:subClassOf>
<owl:disjointWith rdf:resource="#TypeOfVacuum"/>
<owl:disjointWith rdf:resource="#MaxLiftWeight"/>
- <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
</owl:Class>
<owl:Class rdf:about="#Measure">
- <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
+Gather a value as a multiple of a reference value.</rdfs:comment>
<owl:disjointWith rdf:resource="#ImageAnalysis"/>
<owl:disjointWith>
<owl:Class rdf:about="#Scan"/>
@@ -5707,11 +5787,7 @@ pag 4</rdfs:comment>
<owl:Class rdf:about="#Check"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#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
-Gather a value as a multiple of a reference value.</rdfs:comment>
+ <rdfs:subClassOf rdf:resource="#SensorFunction"/>
</owl:Class>
<owl:Class rdf:about="#MaxScanAngle">
<rdfs:subClassOf rdf:resource="#PhysicalPropertiesSensor"/>
@@ -5725,24 +5801,7 @@ Gather a value as a multiple of a reference value.</rdfs:comment>
<owl:disjointWith rdf:resource="#MinMeasurementRange"/>
<owl:disjointWith rdf:resource="#ScanningDistance"/>
</owl:Class>
- <owl:Class rdf:about="#ToolInterface">
- <owl:disjointWith>
- <owl:Class rdf:about="#Identifier"/>
- </owl:disjointWith>
- <owl:disjointWith rdf:resource="#Communication"/>
- <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >How to connect a tool to a robot.</rdfs:comment>
- <owl:disjointWith rdf:resource="#QualityCriteria"/>
- <owl:disjointWith rdf:resource="#PhysicalProperties"/>
- <owl:disjointWith>
- <owl:Class rdf:about="#Arrangement"/>
- </owl:disjointWith>
- <rdfs:subClassOf rdf:resource="#PhysicalObjectProperty"/>
- <owl:disjointWith rdf:resource="#Geometry"/>
- <owl:disjointWith rdf:resource="#ControlSystem"/>
- </owl:Class>
<owl:Class rdf:about="#Release">
- <rdfs:subClassOf rdf:resource="#Secure"/>
<owl:disjointWith rdf:resource="#Detach"/>
<owl:disjointWith rdf:resource="#Attach"/>
<owl:disjointWith rdf:resource="#Grasp"/>
@@ -5751,8 +5810,10 @@ Gather a value as a multiple of a reference value.</rdfs:comment>
Structured Description of Skills and Device 1.0
pag:5
Invert the grasping.</rdfs:comment>
+ <rdfs:subClassOf rdf:resource="#Secure"/>
</owl:Class>
<owl:Class rdf:about="#EncoderSensor">
+ <rdfs:subClassOf rdf:resource="#Sensor"/>
<owl:disjointWith rdf:resource="#UltrasonicSensor"/>
<owl:disjointWith rdf:resource="#InductiveSensor"/>
<owl:disjointWith rdf:resource="#MagneticSensor"/>
@@ -5760,7 +5821,6 @@ Invert the grasping.</rdfs:comment>
<owl:disjointWith rdf:resource="#TactileSensor"/>
<owl:disjointWith rdf:resource="#OpticSensor"/>
<owl:disjointWith rdf:resource="#CapacitveSensor"/>
- <rdfs:subClassOf rdf:resource="#Sensor"/>
</owl:Class>
<owl:Class rdf:about="#WheelEncoder">
<rdfs:subClassOf rdf:resource="#EncoderSensor"/>
@@ -5768,6 +5828,9 @@ Invert the grasping.</rdfs:comment>
<owl:disjointWith rdf:resource="#WireDrawEncoder"/>
</owl:Class>
<owl:Class rdf:about="#MagnetGripper">
+ <owl:disjointWith rdf:resource="#PincerGripper"/>
+ <owl:disjointWith rdf:resource="#VacuumGripper"/>
+ <owl:disjointWith rdf:resource="#FingerGripper"/>
<rdfs:subClassOf rdf:resource="#Gripper"/>
<rdfs:subClassOf>
<owl:Restriction>
@@ -5787,18 +5850,15 @@ Invert the grasping.</rdfs:comment>
</owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf>
- <owl:disjointWith rdf:resource="#PincerGripper"/>
- <owl:disjointWith rdf:resource="#VacuumGripper"/>
- <owl:disjointWith rdf:resource="#FingerGripper"/>
</owl:Class>
<owl:Class rdf:about="#PowerConsumption">
<owl:disjointWith>
- <owl:Class rdf:about="#Width"/>
+ <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#PhysicalPropertiesRobot"/>
<owl:disjointWith rdf:resource="#Height"/>
<owl:disjointWith>
- <owl:Class rdf:about="#PhysicalPropertiesGripper"/>
+ <owl:Class rdf:about="#Width"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#MaxAmbientTemperature"/>
@@ -5854,12 +5914,15 @@ Invert the grasping.</rdfs:comment>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Count">
- <rdfs:subClassOf>
- <owl:Class rdf:about="#Check"/>
- </rdfs:subClassOf>
<owl:disjointWith rdf:resource="#CheckPresence"/>
<owl:disjointWith rdf:resource="#CheckPosition"/>
<owl:disjointWith rdf:resource="#CheckSurfaceForIrregularities"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Check"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="TransportProtocol">
+ <rdfs:subClassOf rdf:resource="#Protocol"/>
</owl:Class>
<owl:Class rdf:about="#ElasticFingerGripper">
<owl:disjointWith rdf:resource="#JointFingerGripper"/>
@@ -5891,20 +5954,19 @@ Invert the grasping.</rdfs:comment>
<owl:disjointWith rdf:resource="#Cost"/>
</owl:Class>
<owl:Class rdf:about="#Identifier">
- <owl:disjointWith rdf:resource="#QualityCriteria"/>
- <owl:disjointWith rdf:resource="#Communication"/>
- <owl:disjointWith rdf:resource="#Geometry"/>
- <owl:disjointWith rdf:resource="#PhysicalProperties"/>
<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="#QualityCriteria"/>
+ <owl:disjointWith rdf:resource="#Interface"/>
+ <owl:disjointWith rdf:resource="#Geometry"/>
+ <owl:disjointWith rdf:resource="#PhysicalProperties"/>
<owl:disjointWith rdf:resource="#ControlSystem"/>
<owl:disjointWith>
<owl:Class rdf:about="#Arrangement"/>
</owl:disjointWith>
<rdfs:subClassOf rdf:resource="#PhysicalObjectProperty"/>
- <owl:disjointWith rdf:resource="#ToolInterface"/>
</owl:Class>
<owl:Class rdf:about="#OpticContrastScanner">
<owl:disjointWith>
@@ -5974,18 +6036,18 @@ part:7</rdfs:comment>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#PhysicalInterface">
- <owl:disjointWith rdf:resource="#PhysicalPropertiesRobot"/>
- <owl:disjointWith rdf:resource="#Material"/>
<owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
+ <owl:disjointWith rdf:resource="#Material"/>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesRobot"/>
<owl:disjointWith rdf:resource="#MaxCurrentConsumption"/>
+ <owl:disjointWith rdf:resource="#MaxForce"/>
<owl:disjointWith>
<owl:Class rdf:about="#MaxAmbientTemperature"/>
</owl:disjointWith>
- <owl:disjointWith rdf:resource="#MaxForce"/>
<owl:disjointWith rdf:resource="#Weight"/>
<rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
- <owl:disjointWith rdf:resource="#Length"/>
<owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#Length"/>
<owl:disjointWith rdf:resource="#Height"/>
<owl:disjointWith>
<owl:Class rdf:about="#Width"/>
@@ -5997,8 +6059,8 @@ part:7</rdfs:comment>
<owl:disjointWith rdf:resource="#PowerConsumption"/>
<owl:disjointWith rdf:resource="#MinVoltageSupply"/>
<owl:disjointWith rdf:resource="#Shape"/>
- <owl:disjointWith rdf:resource="#Diameter"/>
<owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
+ <owl:disjointWith rdf:resource="#Diameter"/>
<owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
<owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
<owl:disjointWith rdf:resource="#PhysicalPropertiesSensor"/>
@@ -6015,9 +6077,6 @@ part:7</rdfs:comment>
<rdfs:subClassOf rdf:resource="#QualityCriteria"/>
</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 rdf:resource="#Robot"/>
<owl:disjointWith rdf:resource="#SimpleKinematicRobot"/>
<owl:disjointWith rdf:resource="#CartesianRobot"/>
<owl:disjointWith rdf:resource="#HexapodRobot"/>
@@ -6026,6 +6085,12 @@ part:7</rdfs:comment>
<owl:Class rdf:about="#ScaraRobot"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <rdfs:subClassOf rdf:resource="#Robot"/>
+ <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:ID="ElectricalMedia">
+ <rdfs:subClassOf rdf:resource="#PhysicalLayer"/>
</owl:Class>
<owl:Class rdf:about="#PhysicalPropertiesGripper">
<owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
@@ -6059,9 +6124,9 @@ part:7</rdfs:comment>
<owl:disjointWith rdf:resource="#MeasureTemperature"/>
<owl:disjointWith rdf:resource="#MeasureDiameter"/>
<rdfs:subClassOf rdf:resource="#Measure"/>
- <owl:disjointWith rdf:resource="#MeasureTorque"/>
- <owl:disjointWith rdf:resource="#MeasureVolume"/>
<owl:disjointWith rdf:resource="#MeasureArea"/>
+ <owl:disjointWith rdf:resource="#MeasureVolume"/>
+ <owl:disjointWith rdf:resource="#MeasureTorque"/>
<owl:disjointWith rdf:resource="#MeasurePositionOfObject"/>
<owl:disjointWith rdf:resource="#MeasureAngle"/>
<owl:disjointWith rdf:resource="#MeasureOrientationOfObject"/>
@@ -6071,10 +6136,6 @@ part:7</rdfs:comment>
<owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
</owl:Class>
<owl:Class rdf:about="#Scan">
- <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:disjointWith rdf:resource="#Measure"/>
<owl:disjointWith>
@@ -6086,6 +6147,10 @@ pag:5</rdfs:comment>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#Detect"/>
<owl:disjointWith rdf:resource="#Read"/>
+ <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="#Accuracy">
<owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
@@ -6096,15 +6161,6 @@ pag:5</rdfs:comment>
<owl:disjointWith rdf:resource="#Cost"/>
<rdfs:subClassOf rdf:resource="#QualityCriteria"/>
</owl:Class>
- <owl:Class rdf:ID="ElectricalInterface">
- <rdfs:subClassOf rdf:resource="#Communication"/>
- <owl:disjointWith>
- <owl:Class rdf:ID="BusInterface"/>
- </owl:disjointWith>
- <owl:disjointWith>
- <owl:Class rdf:ID="CommunicationProtocol"/>
- </owl:disjointWith>
- </owl:Class>
<owl:Class rdf:ID="DrillBit">
<rdfs:subClassOf>
<owl:Class rdf:ID="Tool"/>
@@ -6123,17 +6179,18 @@ pag:5</rdfs:comment>
<owl:disjointWith rdf:resource="#Abstract"/>
</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="#StoreInOrder"/>
<owl:disjointWith>
<owl:Class rdf:about="#StoreUnOrdered"/>
</owl:disjointWith>
+ <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. This means position and orientation are only defined in some of their degrees of freedom.</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#HMI">
+ <rdfs:subClassOf rdf:resource="#AdditionalFunction"/>
</owl:Class>
<owl:Class rdf:about="#ManipulationAndHandling">
- <owl:disjointWith rdf:resource="#Manufacturing"/>
- <owl:disjointWith rdf:resource="#Sensor"/>
<rdfs:subClassOf rdf:resource="#Device"/>
<rdfs:subClassOf>
<owl:Restriction>
@@ -6143,6 +6200,8 @@ pag:5</rdfs:comment>
</owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Manufacturing"/>
+ <owl:disjointWith rdf:resource="#Sensor"/>
</owl:Class>
<owl:Class rdf:about="#AdjustCurrentToRelease">
<owl:disjointWith rdf:resource="#OpenClaws"/>
@@ -6159,15 +6218,15 @@ pag:5</rdfs:comment>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#Tool">
- <rdfs:subClassOf rdf:resource="#Device"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Primitive tool, such as a drill</rdfs:comment>
+ <rdfs:subClassOf rdf:resource="#Device"/>
</owl:Class>
<owl:Class rdf:about="#Signal">
+ <rdfs:subClassOf rdf:resource="#Interface"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Superclass for the different types of
signals</rdfs:comment>
- <rdfs:subClassOf rdf:resource="#Communication"/>
</owl:Class>
<owl:Class rdf:about="#LightGrid">
<owl:disjointWith rdf:resource="#OpticDistanceSensor"/>
@@ -6205,14 +6264,13 @@ signals</rdfs:comment>
</owl:disjointWith>
</owl:Class>
<owl:Class rdf:about="#Arrangement">
- <owl:disjointWith rdf:resource="#Communication"/>
+ <rdfs:subClassOf rdf:resource="#PhysicalObjectProperty"/>
+ <owl:disjointWith rdf:resource="#Interface"/>
<owl:disjointWith rdf:resource="#Identifier"/>
<owl:disjointWith rdf:resource="#PhysicalProperties"/>
<owl:disjointWith rdf:resource="#Geometry"/>
- <owl:disjointWith rdf:resource="#ToolInterface"/>
<owl:disjointWith rdf:resource="#ControlSystem"/>
<owl:disjointWith rdf:resource="#QualityCriteria"/>
- <rdfs:subClassOf rdf:resource="#PhysicalObjectProperty"/>
</owl:Class>
<owl:Class rdf:ID="Nameplate">
<rdfs:subClassOf>
@@ -6226,37 +6284,37 @@ signals</rdfs:comment>
</rdfs:subClassOf>
<rdfs:subClassOf>
<owl:Restriction>
- <owl:someValuesFrom rdf:resource="#Material"/>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasMaterial"/>
</owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#Material"/>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf>
<owl:Restriction>
- <owl:onProperty>
- <owl:ObjectProperty rdf:about="#hasWidth"/>
- </owl:onProperty>
<owl:someValuesFrom>
<owl:Class rdf:about="#Width"/>
</owl:someValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasWidth"/>
+ </owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf>
<owl:Restriction>
+ <owl:someValuesFrom rdf:resource="#Length"/>
<owl:onProperty>
<owl:ObjectProperty rdf:about="#hasLength"/>
</owl:onProperty>
- <owl:someValuesFrom rdf:resource="#Length"/>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf rdf:resource="#Product"/>
</owl:Class>
<owl:Class rdf:about="#CompoundSkills">
+ <rdfs:subClassOf rdf:resource="#Skill"/>
<owl:disjointWith rdf:resource="#DiagnosticFunction"/>
<owl:disjointWith rdf:resource="#MainFunction"/>
<owl:disjointWith rdf:resource="#AdditionalFunction"/>
- <rdfs:subClassOf rdf:resource="#Skill"/>
</owl:Class>
<owl:Class rdf:about="#DiameterOfGripper">
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
@@ -6265,16 +6323,16 @@ signals</rdfs:comment>
<owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
<owl:disjointWith rdf:resource="#ShapeOfClaws"/>
<owl:disjointWith rdf:resource="#TypeOfFingers"/>
- <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
<owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
<owl:disjointWith rdf:resource="#MaterialOfGripper"/>
<owl:disjointWith rdf:resource="#MaximumVacuum"/>
<owl:disjointWith rdf:resource="#MaxLiftWay"/>
<owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <rdfs:subClassOf rdf:resource="#PhysicalPropertiesGripper"/>
<owl:disjointWith>
<owl:Class rdf:about="#StiffnessOfGripper"/>
</owl:disjointWith>
- <rdfs:subClassOf rdf:resource="#PhysicalPropertiesGripper"/>
<owl:disjointWith rdf:resource="#Reach"/>
<owl:disjointWith rdf:resource="#SizeOfGripper"/>
<owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
@@ -6294,23 +6352,23 @@ signals</rdfs:comment>
<owl:disjointWith rdf:resource="#Grind"/>
<owl:disjointWith rdf:resource="#Broach"/>
<owl:disjointWith rdf:resource="#Mill"/>
- <rdfs:subClassOf rdf:resource="#Separate"/>
<owl:disjointWith rdf:resource="#Hone"/>
+ <rdfs:subClassOf rdf:resource="#Separate"/>
<owl:disjointWith rdf:resource="#Lap"/>
<owl:disjointWith rdf:resource="#File"/>
</owl:Class>
<owl:Class rdf:about="#ModifyAmount">
- <rdfs:subClassOf rdf:resource="#ManipulationAndHandlingFunction"/>
<owl:disjointWith rdf:resource="#Secure"/>
<owl:disjointWith rdf:resource="#Move"/>
<owl:disjointWith rdf:resource="#Store"/>
+ <rdfs:subClassOf rdf:resource="#ManipulationAndHandlingFunction"/>
</owl:Class>
<owl:Class rdf:about="#CycleTime">
<owl:disjointWith rdf:resource="#SwitchingFrequency"/>
<owl:disjointWith rdf:resource="#ResponseTime"/>
- <rdfs:subClassOf rdf:resource="#Timing"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>in seconds</rdfs:comment>
+ <rdfs:subClassOf rdf:resource="#Timing"/>
</owl:Class>
<owl:Class rdf:ID="Wood">
<rdfs:subClassOf rdf:resource="#Material"/>
@@ -6359,11 +6417,10 @@ signals</rdfs:comment>
<rdfs:subClassOf rdf:resource="#SkillProperty"/>
</owl:Class>
<owl:Class rdf:about="#MechanicalConnector">
+ <rdfs:subClassOf rdf:resource="#MechanicalInterface"/>
<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"/>
- <rdfs:subClassOf rdf:resource="#ToolInterface"/>
</owl:Class>
<owl:Class rdf:about="#Orient">
<owl:disjointWith rdf:resource="#Feed"/>
@@ -6400,14 +6457,14 @@ This includes the size and is dependent on the Payload.</rdfs:comment>
<owl:disjointWith rdf:resource="#Stretch-Form"/>
<owl:disjointWith rdf:resource="#Bead"/>
</owl:Class>
- <owl:Class rdf:about="#BusInterface">
- <rdfs:subClassOf rdf:resource="#Communication"/>
- <owl:disjointWith rdf:resource="#ElectricalInterface"/>
- <owl:disjointWith>
- <owl:Class rdf:about="#CommunicationProtocol"/>
- </owl:disjointWith>
+ <owl:Class rdf:ID="HMI_Input">
+ <rdfs:subClassOf rdf:resource="#HMI"/>
</owl:Class>
<owl:Class rdf:about="#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>
<rdfs:subClassOf rdf:resource="#SensorFunction"/>
<owl:disjointWith>
<owl:Class rdf:about="#Check"/>
@@ -6417,10 +6474,9 @@ This includes the size and is dependent on the Payload.</rdfs:comment>
<owl:disjointWith rdf:resource="#Scan"/>
<owl:disjointWith rdf:resource="#Detect"/>
<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>
+ </owl:Class>
+ <owl:Class rdf:about="#DigitalInOut">
+ <rdfs:subClassOf rdf:resource="#DigitalSignal"/>
</owl:Class>
<owl:Class rdf:about="#Flang">
<owl:disjointWith rdf:resource="#Crush"/>
@@ -6443,20 +6499,22 @@ pag:5</rdfs:comment>
>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:Class>
<owl:Class rdf:about="#StoreUnOrdered">
- <rdfs:subClassOf rdf:resource="#Store"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Save workpieces which are geometrically defined in an undefined position and orientation.</rdfs:comment>
+ <rdfs:subClassOf rdf:resource="#Store"/>
<owl:disjointWith rdf:resource="#StorePartlyOrdered"/>
<owl:disjointWith rdf:resource="#StoreInOrder"/>
</owl:Class>
<owl:Class rdf:about="#Sequence">
+ <owl:disjointWith rdf:resource="#Parallel"/>
+ <owl:disjointWith rdf:resource="#Atomic"/>
<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:cardinality rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
- >1</owl:cardinality>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf rdf:resource="#Operation"/>
@@ -6469,8 +6527,6 @@ pag:5</rdfs:comment>
</owl:onProperty>
</owl:Restriction>
</rdfs:subClassOf>
- <owl:disjointWith rdf:resource="#Parallel"/>
- <owl:disjointWith rdf:resource="#Atomic"/>
</owl:Class>
<owl:Class rdf:about="#Property">
<owl:disjointWith rdf:resource="#Operation"/>
@@ -6481,6 +6537,9 @@ pag:5</rdfs:comment>
<owl:disjointWith rdf:resource="#Abstract"/>
</owl:Class>
<owl:Class rdf:about="#CloseClaws">
+ <owl:disjointWith rdf:resource="#CloseFingers"/>
+ <owl:disjointWith rdf:resource="#AdjustCurrentToGrip"/>
+ <owl:disjointWith rdf:resource="#AdjustVacuumToGrip"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty>
@@ -6490,22 +6549,14 @@ pag:5</rdfs:comment>
</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="#CommunicationProtocol">
- <rdfs:subClassOf rdf:resource="#Communication"/>
- <owl:disjointWith rdf:resource="#ElectricalInterface"/>
- <owl:disjointWith rdf:resource="#BusInterface"/>
+ <owl:Class rdf:ID="SerialInOutSignal">
+ <rdfs:subClassOf rdf:resource="#DigitalInOut"/>
</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:ID="AnalogInOut">
- <rdfs:subClassOf rdf:resource="#AnalogSignal"/>
+ <rdfs:subClassOf rdf:resource="#CompoundSkills"/>
</owl:Class>
<owl:Class rdf:about="#Check">
<owl:disjointWith rdf:resource="#Measure"/>
@@ -6514,12 +6565,12 @@ pag:5</rdfs:comment>
<owl:disjointWith rdf:resource="#ImageAnalysis"/>
<owl:disjointWith rdf:resource="#Read"/>
<owl:disjointWith rdf:resource="#Scan"/>
- <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
Check if a part fulfils given conditions.</rdfs:comment>
+ <rdfs:subClassOf rdf:resource="#SensorFunction"/>
</owl:Class>
<owl:Class rdf:about="#Forge">
<owl:disjointWith rdf:resource="#Deep-Draw"/>
@@ -6566,14 +6617,14 @@ Check if a part fulfils given conditions.</rdfs:comment>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>in degrees celsius</rdfs:comment>
<owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
- <owl:disjointWith rdf:resource="#PhysicalPropertiesRobot"/>
<owl:disjointWith rdf:resource="#MinVoltageSupply"/>
+ <owl:disjointWith rdf:resource="#PhysicalPropertiesRobot"/>
<owl:disjointWith rdf:resource="#MechanicalResistance"/>
<owl:disjointWith>
<owl:Class rdf:about="#Width"/>
</owl:disjointWith>
- <owl:disjointWith rdf:resource="#Weight"/>
<owl:disjointWith rdf:resource="#Height"/>
+ <owl:disjointWith rdf:resource="#Weight"/>
<owl:disjointWith rdf:resource="#Diameter"/>
<owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
<owl:disjointWith rdf:resource="#Material"/>
@@ -6590,21 +6641,23 @@ Check if a part fulfils given conditions.</rdfs:comment>
<rdfs:subClassOf rdf:resource="#AnalogSignal"/>
</owl:Class>
<owl:Class rdf:about="#MountedDevicePosition">
+ <rdfs:subClassOf rdf:resource="#Arrangement"/>
<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:ID="Controller">
- <rdfs:subClassOf rdf:resource="#Device"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Represents any kind of computer-based controller; PC:s, robot controllers, PLC, ...
Should it be subclassed?</rdfs:comment>
+ <rdfs:subClassOf rdf:resource="#Device"/>
</owl:Class>
<owl:Class rdf:about="#ScaraRobot">
+ <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 rdf:resource="#SimpleKinematicRobot"/>
<owl:disjointWith rdf:resource="#HexapodRobot"/>
@@ -6612,26 +6665,27 @@ Should it be subclassed?</rdfs:comment>
<owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
<owl:disjointWith rdf:resource="#ArticulatedRobot"/>
<rdfs:subClassOf rdf:resource="#Robot"/>
- <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="#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>
<rdfs:subClassOf rdf:resource="#Mold"/>
<owl:disjointWith rdf:resource="#ElectrolyticSegregate"/>
<owl:disjointWith rdf:resource="#Cast"/>
+ <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: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="#Partition"/>
<owl:disjointWith rdf:resource="#Assign"/>
<owl:disjointWith rdf:resource="#Branch"/>
<owl:disjointWith rdf:resource="#Divide"/>
<owl:disjointWith rdf:resource="#Merge"/>
<rdfs:subClassOf rdf:resource="#ModifyAmount"/>
- <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:Class>
+ <owl:Class rdf:ID="Connectivity">
+ <rdfs:subClassOf rdf:resource="#Protocol"/>
</owl:Class>
<owl:Class rdf:about="#WorkFrame">
<rdfs:subClassOf rdf:resource="#Arrangement"/>
@@ -6641,10 +6695,10 @@ The size of source and target sets does not necessarily have to be defined.</rdf
<owl:disjointWith rdf:resource="#MountedDevicePosition"/>
</owl:Class>
<owl:Class rdf:about="#WormDiameter">
- <rdfs:subClassOf rdf:resource="#MechanicalConnector"/>
- <owl:disjointWith rdf:resource="#Worm"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>in mm</rdfs:comment>
+ <rdfs:subClassOf rdf:resource="#MechanicalConnector"/>
+ <owl:disjointWith rdf:resource="#Worm"/>
</owl:Class>
<owl:Class rdf:about="#Width">
<owl:disjointWith rdf:resource="#Shape"/>
@@ -6653,16 +6707,16 @@ The size of source and target sets does not necessarily have to be defined.</rdf
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>in mm</rdfs:comment>
<owl:disjointWith rdf:resource="#Weight"/>
- <owl:disjointWith rdf:resource="#Height"/>
<owl:disjointWith rdf:resource="#Diameter"/>
+ <owl:disjointWith rdf:resource="#Height"/>
<owl:disjointWith rdf:resource="#MinVoltageSupply"/>
<owl:disjointWith rdf:resource="#MaxAmbientTemperature"/>
<owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
<owl:disjointWith rdf:resource="#Material"/>
<rdfs:subClassOf rdf:resource="#PhysicalProperties"/>
<owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
- <owl:disjointWith rdf:resource="#Length"/>
<owl:disjointWith rdf:resource="#PhysicalPropertiesGripper"/>
+ <owl:disjointWith rdf:resource="#Length"/>
<owl:disjointWith rdf:resource="#MaxVoltageSupply"/>
<owl:disjointWith rdf:resource="#PowerConsumption"/>
<owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
@@ -6700,11 +6754,11 @@ The size of source and target sets does not necessarily have to be defined.</rdf
</rdfs:range>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:ID="hasWorkpiece">
+ <rdfs:range rdf:resource="#Workpiece"/>
<rdfs:domain rdf:resource="#Operation"/>
<owl:inverseOf>
<owl:ObjectProperty rdf:ID="isWorkpieceOf"/>
</owl:inverseOf>
- <rdfs:range rdf:resource="#Workpiece"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:ID="canBePerformedBy">
<rdfs:domain rdf:resource="#Task"/>
@@ -6720,8 +6774,8 @@ The size of source and target sets does not necessarily have to be defined.</rdf
<owl:inverseOf>
<owl:ObjectProperty rdf:ID="isDeviceOf"/>
</owl:inverseOf>
- <rdfs:domain rdf:resource="#Atomic"/>
<rdfs:range rdf:resource="#Device"/>
+ <rdfs:domain rdf:resource="#Atomic"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#hasHeight">
<rdfs:subPropertyOf>
@@ -6744,10 +6798,6 @@ The size of source and target sets does not necessarily have to be defined.</rdf
</rdfs:domain>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#hasObjectBase">
- <rdfs:range rdf:resource="#ObjectBase"/>
- <owl:inverseOf>
- <owl:ObjectProperty rdf:ID="isObjectBaseOf"/>
- </owl:inverseOf>
<rdfs:domain>
<owl:Class>
<owl:unionOf rdf:parseType="Collection">
@@ -6756,13 +6806,17 @@ The size of source and target sets does not necessarily have to be defined.</rdf
</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:ID="isSubskillOf">
<owl:inverseOf>
<owl:ObjectProperty rdf:ID="hasSubskill"/>
</owl:inverseOf>
- <rdfs:domain rdf:resource="#Skill"/>
<rdfs:range rdf:resource="#CompoundSkills"/>
+ <rdfs:domain rdf:resource="#Skill"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#hasAtomicOperation">
<owl:inverseOf rdf:resource="#isAtomicOperationOf"/>
@@ -6770,24 +6824,21 @@ The size of source and target sets does not necessarily have to be defined.</rdf
<rdfs:domain rdf:resource="#Operation"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:ID="isSubDeviceOf">
+ <rdfs:domain rdf:resource="#Device"/>
+ <rdfs:range rdf:resource="#Device"/>
<owl:inverseOf>
<owl:ObjectProperty rdf:about="#hasSubDevice"/>
</owl:inverseOf>
- <rdfs:range rdf:resource="#Device"/>
- <rdfs:domain rdf:resource="#Device"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#hasWidth">
- <rdfs:range rdf:resource="#Width"/>
<rdfs:subPropertyOf rdf:resource="#hasPhysicalObjectProperty"/>
+ <rdfs:range rdf:resource="#Width"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#hasLength">
<rdfs:subPropertyOf rdf:resource="#hasPhysicalObjectProperty"/>
<rdfs:range rdf:resource="#Length"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#hasProperty">
- <owl:inverseOf>
- <owl:ObjectProperty rdf:about="#isPropertyOf"/>
- </owl:inverseOf>
<rdfs:domain>
<owl:Class>
<owl:unionOf rdf:parseType="Collection">
@@ -6797,6 +6848,9 @@ The size of source and target sets does not necessarily have to be defined.</rdf
</owl:Class>
</rdfs:domain>
<rdfs:range rdf:resource="#Property"/>
+ <owl:inverseOf>
+ <owl:ObjectProperty rdf:about="#isPropertyOf"/>
+ </owl:inverseOf>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:ID="isAssemblyOf">
<owl:inverseOf>
@@ -6813,18 +6867,18 @@ The size of source and target sets does not necessarily have to be defined.</rdf
</rdfs:range>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#hasHole">
- <rdfs:subPropertyOf rdf:resource="#hasPhysicalObjectProperty"/>
<rdfs:range rdf:resource="#Hole"/>
+ <rdfs:subPropertyOf rdf:resource="#hasPhysicalObjectProperty"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:ID="hasIdentifier">
<rdfs:domain rdf:resource="#PhysicalObject"/>
<rdfs:range rdf:resource="#Identifier"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#hasSubskill">
- <owl:inverseOf rdf:resource="#isSubskillOf"/>
<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="#Skill"/>
+ <owl:inverseOf rdf:resource="#isSubskillOf"/>
<rdfs:domain rdf:resource="#CompoundSkills"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#hasSubDevice">
@@ -6836,14 +6890,15 @@ The size of source and target sets does not necessarily have to be defined.</rdf
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#isDeviceOf">
<owl:inverseOf rdf:resource="#hasDevice"/>
- <rdfs:range rdf:resource="#Atomic"/>
<rdfs:domain rdf:resource="#Device"/>
+ <rdfs:range rdf:resource="#Atomic"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#hasMaterial">
- <rdfs:subPropertyOf rdf:resource="#hasPhysicalObjectProperty"/>
<rdfs:range rdf:resource="#Material"/>
+ <rdfs:subPropertyOf rdf:resource="#hasPhysicalObjectProperty"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:ID="isOperationOf">
+ <rdfs:domain rdf:resource="#Operation"/>
<owl:inverseOf>
<owl:ObjectProperty rdf:about="#hasOperation"/>
</owl:inverseOf>
@@ -6855,11 +6910,8 @@ The size of source and target sets does not necessarily have to be defined.</rdf
</owl:unionOf>
</owl:Class>
</rdfs:range>
- <rdfs:domain rdf:resource="#Operation"/>
</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">
@@ -6868,21 +6920,24 @@ The size of source and target sets does not necessarily have to be defined.</rdf
</owl:unionOf>
</owl:Class>
</rdfs:domain>
+ <rdfs:range rdf:resource="#Operation"/>
+ <owl:inverseOf rdf:resource="#isOperationOf"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#isWorkpieceOf">
- <rdfs:domain rdf:resource="#Workpiece"/>
<rdfs:range rdf:resource="#Operation"/>
+ <rdfs:domain rdf:resource="#Workpiece"/>
<owl:inverseOf rdf:resource="#hasWorkpiece"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:ID="isGeometryOf">
+ <rdfs:domain rdf:resource="#Geometry"/>
+ <rdfs:range rdf:resource="#PhysicalObject"/>
<owl:inverseOf>
<owl:ObjectProperty rdf:ID="hasGeometry"/>
</owl:inverseOf>
- <rdfs:domain rdf:resource="#Geometry"/>
- <rdfs:range rdf:resource="#PhysicalObject"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#hasAssembly">
<owl:inverseOf rdf:resource="#isAssemblyOf"/>
+ <rdfs:range rdf:resource="#Assembly"/>
<rdfs:domain>
<owl:Class>
<owl:unionOf rdf:parseType="Collection">
@@ -6891,7 +6946,6 @@ The size of source and target sets does not necessarily have to be defined.</rdf
</owl:unionOf>
</owl:Class>
</rdfs:domain>
- <rdfs:range rdf:resource="#Assembly"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#hasGeometry">
<owl:inverseOf rdf:resource="#isGeometryOf"/>
@@ -6899,7 +6953,7 @@ The size of source and target sets does not necessarily have to be defined.</rdf
<rdfs:range rdf:resource="#Geometry"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#isObjectBaseOf">
- <owl:inverseOf rdf:resource="#hasObjectBase"/>
+ <rdfs:domain rdf:resource="#ObjectBase"/>
<rdfs:range>
<owl:Class>
<owl:unionOf rdf:parseType="Collection">
@@ -6908,7 +6962,7 @@ The size of source and target sets does not necessarily have to be defined.</rdf
</owl:unionOf>
</owl:Class>
</rdfs:range>
- <rdfs:domain rdf:resource="#ObjectBase"/>
+ <owl:inverseOf rdf:resource="#hasObjectBase"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#isSkillOf">
<owl:inverseOf>
@@ -6926,9 +6980,6 @@ The size of source and target sets does not necessarily have to be defined.</rdf
<rdfs:domain rdf:resource="#Skill"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:ID="hasReference">
- <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>
- <rdfs:range rdf:resource="#Identifier"/>
<rdfs:domain>
<owl:Class>
<owl:unionOf rdf:parseType="Collection">
@@ -6937,13 +6988,16 @@ The size of source and target sets does not necessarily have to be defined.</rdf
</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:ID="isQualProperty">
<rdfs:range rdf:resource="#Device"/>
+ <rdfs:domain rdf:resource="#QualityCriteria"/>
<owl:inverseOf>
<owl:ObjectProperty rdf:about="#hasQualProperty"/>
</owl:inverseOf>
- <rdfs:domain rdf:resource="#QualityCriteria"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#isPropertyOf">
<rdfs:range>
@@ -6958,7 +7012,13 @@ The size of source and target sets does not necessarily have to be defined.</rdf
<owl:inverseOf rdf:resource="#hasProperty"/>
</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 rdf:resource="#isSkillOf"/>
+ <rdfs:range rdf:resource="#Skill"/>
<rdfs:domain>
<owl:Class>
<owl:unionOf rdf:parseType="Collection">
@@ -6968,17 +7028,11 @@ The size of source and target sets does not necessarily have to be defined.</rdf
</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="#hasQualProperty">
<owl:inverseOf rdf:resource="#isQualProperty"/>
- <rdfs:range rdf:resource="#QualityCriteria"/>
<rdfs:domain rdf:resource="#Device"/>
+ <rdfs:range rdf:resource="#QualityCriteria"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:ID="hasPosition"/>
<owl:DatatypeProperty rdf:ID="value">
@@ -6987,14 +7041,6 @@ pag:5
<ScaraRobot rdf:ID="ScaraRobot_Staeubli_RS40B">
<hasProperty>
<Repeatability rdf:ID="Repeatability_0.01">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.01</value>
- <hasEditable>
- <isEditable rdf:ID="isEditable_false">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
- >0</value>
- </isEditable>
- </hasEditable>
<isPropertyOf>
<ScaraRobot rdf:ID="ScaraRobot_Staeubli_RS80">
<hasSkill>
@@ -7003,33 +7049,31 @@ pag:5
<ArticulatedRobot rdf:ID="ArticulatedRobot_ABB_IRB-2400">
<hasProperty>
<MinVoltageSupply rdf:ID="MinVoltageSupply_200">
+ <hasEditable>
+ <isEditable rdf:ID="isEditable_false">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
+ >0</value>
+ </isEditable>
+ </hasEditable>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
>200.0</value>
- <hasEditable rdf:resource="#isEditable_false"/>
<isPropertyOf>
<ArticulatedRobot rdf:ID="ArticulatedRobot_ABB_IRB-4400">
<hasProperty>
<Weight rdf:ID="Weight_985">
- <hasEditable rdf:resource="#isEditable_false"/>
<isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
<isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
<isPropertyOf>
<GeneralParallelGripper rdf:ID="Schunk_MPG_20">
- <hasProperty>
- <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_90">
- <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
- <isPropertyOf>
+ <hasSkill>
+ <OpenFingers rdf:ID="OpenFingers_1">
+ <isSkillOf>
<rdf:Description rdf:about="http://www.owl-ontologies.com/siaras.owl#Schunk_MPG_64">
<hasIdentifier>
<Identifier rdf:ID="ID_Schunk_MPG_64"/>
</hasIdentifier>
+ <hasSkill rdf:resource="#OpenFingers_1"/>
<hasProperty rdf:resource="#Repeatability_0.01"/>
- <hasSkill>
- <OpenFingers rdf:ID="OpenFingers_1">
- <isSkillOf rdf:resource="http://www.owl-ontologies.com/siaras.owl#Schunk_MPG_64"/>
- <isSkillOf rdf:resource="#Schunk_MPG_20"/>
- </OpenFingers>
- </hasSkill>
<hasSkill>
<CloseFingers rdf:ID="CloseFingers_25">
<isSkillOf rdf:resource="#Schunk_MPG_20"/>
@@ -7038,11 +7082,11 @@ pag:5
</hasSkill>
<hasProperty>
<CycleTime rdf:ID="CycleTime_0.01">
+ <isPropertyOf rdf:resource="http://www.owl-ontologies.com/siaras.owl#Schunk_MPG_64"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
>0.01</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="http://www.owl-ontologies.com/siaras.owl#Schunk_MPG_64"/>
</CycleTime>
</hasProperty>
<hasProperty>
@@ -7051,24 +7095,24 @@ pag:5
<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>
- <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
</MinVoltageSupply>
</hasProperty>
<hasProperty>
- <ElectricalInterface rdf:ID="ElectricalInterface_ConnectorM12-5Pins">
+ <ElectricalMedia rdf:ID="ElectricalInterface_ConnectorM12-5Pins">
<isPropertyOf>
<OpticContrastScanner rdf:ID="Sick_KT5W_2P1116D">
<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>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >0.0012x0.0042</value> </LightSpotSize>
</hasProperty>
<hasProperty>
<SwitchingFrequency rdf:ID="SwitchingFrequency_10000">
@@ -7079,6 +7123,9 @@ pag:5
</hasProperty>
<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>
<OpticContrastScanner rdf:ID="Sick_KT10-2P1115">
<hasProperty>
@@ -7087,18 +7134,29 @@ pag:5
<OpticProximitySwitch rdf:ID="Sick_WT18-3P430">
<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>
+ <hasEditable rdf:resource="#isEditable_false"/>
<isPropertyOf>
<OpticDistanceSensor rdf:ID="Sick_DT10-P10B5">
+ <hasProperty>
+ <PowerConsumption rdf:ID="PowerConsumption_1.2">
+ <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >1.2</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </PowerConsumption>
+ </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>
<OpticThroughBeamSwitch rdf:ID="Sick_WSWE18-3P430">
<hasProperty>
- <ElectricalInterface rdf:ID="ElectricalInterface_ConnectorM12-4Pins">
+ <ElectricalMedia rdf:ID="ElectricalInterface_ConnectorM12-4Pins">
<isPropertyOf>
<SmartCamera rdf:ID="Sick_IVC-2DM1122">
<hasSkill>
@@ -7108,10 +7166,10 @@ pag:5
<hasProperty>
<ResponseTime rdf:ID="ResponseTime_0.026">
<isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
- <hasEditable rdf:resource="#isEditable_false"/>
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
>0.026</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
</ResponseTime>
</hasProperty>
<hasSkill>
@@ -7121,4107 +7179,4231 @@ pag:5
</hasSkill>
<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>
- <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>
- <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 rdf:resource="#EnclosureRatingIP_65"/>
- <hasProperty>
- <Weight rdf:ID="Weight_4.5">
- <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
<isPropertyOf>
- <DrillMachine rdf:ID="Bosch_GBM_13_RE">
- <hasProperty rdf:resource="#Weight_4.5"/>
- <hasProperty>
- <ChuckDiameter rdf:ID="ChuckDiameter_13">
- <value
- rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#string"
- >13</value>
- <isPropertyOf rdf:resource="#Bosch_GBM_13_RE"/>
- <isPropertyOf>
- <DrillMachine rdf:ID="Bosch_GBM_13_RE_Heavy">
- <hasProperty rdf:resource="#ChuckDiameter_13"/>
+ <LightingDevice rdf:ID="LightBulb_Phillips_100W">
+ <hasProperty rdf:resource="#PowerConsumption_20"/>
+ <hasQualProperty>
+ <Cost rdf:ID="Cost_1000">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isQualProperty>
+ <SmartCamera rdf:ID="SmartCamera_24">
<hasProperty>
- <Weight rdf:ID="Weight_10">
+ <Height rdf:ID="Height_171">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >43.0</value>
+ <hasEditable>
+ <isEditable rdf:ID="isEditable_9">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
+ >0</value>
+ </isEditable>
+ </hasEditable>
<isPropertyOf>
- <ScaraRobot rdf:ID="ScaraRobot_7">
- <hasIdentifier>
- <Identifier rdf:ID="Identifier_224">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >Staeubli_RS80</value>
- <hasEditable>
- <isEditable rdf:ID="isEditable_9">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
- >0</value>
- </isEditable>
- </hasEditable>
- </Identifier>
- </hasIdentifier>
+ <OpticColorSensor rdf:ID="OpticColorSensor_28">
<hasProperty>
- <EnclosureRatingIP rdf:ID="EnclosureRatingIP_16">
- <hasEditable rdf:resource="#isEditable_9"/>
+ <MaxVoltageSupply rdf:ID="MaxVoltageSupply_36">
<isPropertyOf>
- <ScaraRobot rdf:ID="ScaraRobot_3">
- <hasSkill>
- <AsFastAsPossible rdf:ID="AsFastAsPossible_6">
- <isSkillOf rdf:resource="#ScaraRobot_3"/>
- <isSkillOf rdf:resource="#ScaraRobot_7"/>
- </AsFastAsPossible>
- </hasSkill>
- <hasProperty>
- <DegreesOfFreedom rdf:ID="DegreesOfFreedom_231">
- <isPropertyOf rdf:resource="#ScaraRobot_3"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
- >4</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- </DegreesOfFreedom>
- </hasProperty>
- <hasProperty>
- <TypeOfActuation rdf:ID="TypeOfActuation_12">
- <isPropertyOf rdf:resource="#ScaraRobot_3"/>
- <isPropertyOf rdf:resource="#ScaraRobot_7"/>
- <hasEditable rdf:resource="#isEditable_9"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >Electric</value>
- </TypeOfActuation>
- </hasProperty>
- <hasIdentifier>
- <Identifier rdf:ID="Identifier_236">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >Staeubli_RS40B</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- </Identifier>
- </hasIdentifier>
- <hasProperty>
- <Repeatability rdf:ID="Repeatability_223">
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#ScaraRobot_3"/>
- <isPropertyOf rdf:resource="#ScaraRobot_7"/>
- <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_11"/>
- <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_17"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.01</value>
- </Repeatability>
- </hasProperty>
- <hasProperty>
- <NumberOfJoints rdf:ID="NumberOfJoints_8">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
- >4</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#ScaraRobot_3"/>
- <isPropertyOf rdf:resource="#ScaraRobot_7"/>
- </NumberOfJoints>
- </hasProperty>
- <hasProperty>
- <Weight rdf:ID="Weight_235">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >40.5</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#ScaraRobot_3"/>
- <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_11"/>
- </Weight>
- </hasProperty>
- <hasProperty>
- <Payload rdf:ID="Payload_222">
- <isPropertyOf rdf:resource="#ScaraRobot_3"/>
- <isPropertyOf rdf:resource="#ScaraRobot_7"/>
- <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_11"/>
- <hasEditable rdf:resource="#isEditable_9"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >2.0</value>
- </Payload>
- </hasProperty>
- <hasProperty>
- <Reachability rdf:ID="Reachability_228">
- <isPropertyOf rdf:resource="#ScaraRobot_3"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
- >400</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- </Reachability>
- </hasProperty>
- <hasSkill>
- <Karthesian rdf:ID="Karthesian_2">
- <isSkillOf rdf:resource="#ScaraRobot_7"/>
- <isSkillOf rdf:resource="#ScaraRobot_3"/>
- </Karthesian>
- </hasSkill>
- <hasSkill>
- <Circular rdf:ID="Circular_4">
- <isSkillOf rdf:resource="#ScaraRobot_3"/>
- <isSkillOf rdf:resource="#ScaraRobot_7"/>
- </Circular>
- </hasSkill>
+ <OpticLuminescenceScanner rdf:ID="OpticLuminescenceScanner_30">
<hasProperty>
- <MinAmbientTemperature rdf:ID="MinAmbientTemperature_174">
- <isPropertyOf rdf:resource="#ScaraRobot_3"/>
- <isPropertyOf rdf:resource="#ScaraRobot_7"/>
+ <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_61">
<isPropertyOf>
- <OpticColorSensor rdf:ID="OpticColorSensor_28">
+ <OpticContrastScanner rdf:ID="OpticContrastScanner_53">
<hasProperty>
- <MaxVoltageSupply rdf:ID="MaxVoltageSupply_36">
- <isPropertyOf>
- <OpticLuminescenceScanner rdf:ID="OpticLuminescenceScanner_30">
- <hasProperty>
- <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_61">
- <isPropertyOf>
- <OpticContrastScanner rdf:ID="OpticContrastScanner_53">
- <hasProperty>
- <ResponseTime rdf:ID="ResponseTime_104">
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >5.0E-5</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#OpticContrastScanner_53"/>
- </ResponseTime>
- </hasProperty>
+ <ResponseTime rdf:ID="ResponseTime_104">
+ <isPropertyOf rdf:resource="#OpticContrastScanner_53"/>
+ <isQualProperty>
+ <Displacement rdf:ID="Conveyor">
+ <hasQualProperty>
+ <Cost rdf:ID="Cost_3000">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#double"
+ >3000</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isQualProperty rdf:resource="#Conveyor"/>
+ <isQualProperty rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
+ <isQualProperty>
+ <SmartCamera rdf:ID="Sick_IVC-2DM1111">
<hasProperty>
- <MinAmbientTemperature rdf:ID="MinAmbientTemperature_55">
- <isPropertyOf rdf:resource="#OpticLuminescenceScanner_30"/>
+ <IntelligentCtrl rdf:ID="IntelligentCtrl_1">
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
<isPropertyOf>
- <OpticColorSensor rdf:ID="OpticColorSensor_33">
+ <ArticulatedRobot rdf:ID="ArticulatedRobot_CLOOS_R320">
<hasProperty>
- <LightType rdf:ID="LightType_111">
- <isPropertyOf rdf:resource="#OpticColorSensor_33"/>
+ <EnclosureRatingIP rdf:ID="EnclosureRatingIP_54">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
<isPropertyOf>
- <OpticColorSensor rdf:ID="OpticColorSensor_35">
+ <ArticulatedRobot rdf:ID="ArticulatedRobot_CLOOS_R350">
<hasProperty>
- <ScanningDistance rdf:ID="ScanningDistance_151">
- <hasEditable rdf:resource="#isEditable_9"/>
+ <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_45">
+ <hasEditable rdf:resource="#isEditable_false"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.0125</value>
- <isPropertyOf rdf:resource="#OpticColorSensor_33"/>
- <isPropertyOf rdf:resource="#OpticColorSensor_35"/> </ScanningDistance>
- </hasProperty>
- <hasProperty>
- <ElectricalInterface rdf:ID="ElectricalInterface_97">
+ >45.0</value>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
<isPropertyOf>
- <OpticReflexSwitch rdf:ID="OpticReflexSwitch_37">
- <hasProperty>
- <LightSpotSize rdf:ID="LightSpotSize_148">
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#OpticReflexSwitch_37"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.04</value>
- </LightSpotSize>
- </hasProperty>
- <hasProperty>
- <SwitchingFrequency rdf:ID="SwitchingFrequency_44">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >1000.0</value>
- <isPropertyOf rdf:resource="#OpticReflexSwitch_37"/>
- <isPropertyOf>
- <OpticThroughBeamSwitch rdf:ID="OpticThroughBeamSwitch_41">
- <hasProperty rdf:resource="#MaxVoltageSupply_36"/>
+ <ArticulatedRobot rdf:ID="ArticulatedRobot_ABB_IRB-140">
+ <hasProperty rdf:resource="#IntelligentCtrl_1"/>
+ <hasSkill>
+ <Circular rdf:ID="Circular_29">
+ <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
+ <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <isSkillOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
+ <isSkillOf>
+ <ArticulatedRobot rdf:ID="ArticulatedRobot_CLOOS_R410">
+ <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>
+ <Reachability rdf:ID="Reachability_2500">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
+ >2500</value>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
+ </Reachability>
+ </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>
<hasSkill>
- <DetectObject rdf:ID="DetectObject_38">
- <isSkillOf rdf:resource="#OpticReflexSwitch_37"/>
- <isSkillOf rdf:resource="#OpticThroughBeamSwitch_41"/>
- <isSkillOf>
- <OpticProximitySwitch rdf:ID="OpticProximitySwitch_39">
+ <Karthesian rdf:ID="Karthesian_30">
+ <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
+ <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>
+ <hasQualProperty>
+ <Cost rdf:ID="Cost_6000">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#double"
+ >6000</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isQualProperty>
+ <LaserScanner2D rdf:ID="LaserScanner2D_70">
<hasProperty>
- <ElectricalInterface rdf:ID="ElectricalInterface_40">
- <isPropertyOf rdf:resource="#OpticLuminescenceScanner_30"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >Connector M12, 4 Pins</value>
- <isPropertyOf rdf:resource="#OpticThroughBeamSwitch_41"/>
+ <Resolution rdf:ID="Resolution_86">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.5</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#LaserScanner2D_70"/>
+ </Resolution>
+ </hasProperty>
+ <hasProperty>
+ <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_79">
<isPropertyOf>
- <SmartCamera rdf:ID="SmartCamera_22">
+ <OpticDistanceSensor rdf:ID="OpticDistanceSensor_47">
<hasProperty>
- <MaxMeasurementRange rdf:ID="MaxMeasurementRange_191">
+ <EnclosureRatingIP rdf:ID="EnclosureRatingIP_96">
+ <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_11"/>
<isPropertyOf>
- <SmartCamera rdf:ID="SmartCamera_20">
+ <VisionSensor rdf:ID="VisionSensor_65">
<hasProperty>
- <BusInterface rdf:ID="BusInterface_179">
- <isPropertyOf rdf:resource="#SmartCamera_20"/>
- <isPropertyOf rdf:resource="#SmartCamera_22"/>
+ <MinAmbientTemperature rdf:ID="MinAmbientTemperature_69">
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#VisionSensor_65"/>
+ <isPropertyOf rdf:resource="#LaserScanner2D_70"/>
<isPropertyOf>
- <SmartCamera rdf:ID="SmartCamera_24">
+ <SmartCamera rdf:ID="SmartCamera_22">
<hasProperty>
- <Height rdf:ID="Height_171">
+ <MaxMeasurementRange rdf:ID="MaxMeasurementRange_191">
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
- >43.0</value>
- <isPropertyOf rdf:resource="#SmartCamera_24"/>
- <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
- <hasEditable rdf:resource="#isEditable_9"/>
- </Height>
- </hasProperty>
- <hasQualProperty>
- <Cost rdf:ID="Cost_1000">
- <hasEditable rdf:resource="#isEditable_false"/>
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#double"
- >1000</value>
- <isQualProperty rdf:resource="#SmartCamera_24"/>
- </Cost>
- </hasQualProperty>
- <hasProperty>
- <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_108">
+ >1.0</value>
<hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#SmartCamera_24"/>
- <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
- <isPropertyOf rdf:resource="#OpticColorSensor_35"/>
+ <isPropertyOf rdf:resource="#SmartCamera_22"/>
<isPropertyOf>
- <OpticContrastScanner rdf:ID="OpticContrastScanner_51">
- <hasProperty rdf:resource="#ElectricalInterface_97"/>
- <hasProperty rdf:resource="#MaxAmbientTemperature_61"/>
+ <SmartCamera rdf:ID="SmartCamera_20">
+ <hasProperty>
+ <Weight rdf:ID="Weight_199">
+ <isPropertyOf rdf:resource="#SmartCamera_22"/>
+ <isPropertyOf rdf:resource="#SmartCamera_20"/>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >0.5</value>
+ </Weight>
+ </hasProperty>
+ <hasSkill>
+ <CheckPresence rdf:ID="CheckPresence_186">
+ <isSkillOf rdf:resource="#SmartCamera_20"/>
+ <isSkillOf rdf:resource="#SmartCamera_22"/>
+ </CheckPresence>
+ </hasSkill>
+ <hasProperty>
+ <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_197">
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >0.4</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#SmartCamera_22"/>
+ <isPropertyOf rdf:resource="#SmartCamera_20"/>
+ </MaxCurrentConsumption>
+ </hasProperty>
+ <hasProperty>
+ <SwitchingFrequency rdf:ID="SwitchingFrequency_201">
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >30.0</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#SmartCamera_22"/>
+ <isPropertyOf rdf:resource="#SmartCamera_20"/>
+ </SwitchingFrequency>
+ </hasProperty>
+ <hasProperty>
+ <Width rdf:ID="Width_194">
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >60.0</value>
+ <isPropertyOf rdf:resource="#SmartCamera_22"/>
+ <isPropertyOf rdf:resource="#SmartCamera_20"/>
+ </Width>
+ </hasProperty>
<hasProperty>
- <ElectricalInterface rdf:ID="ElectricalInterface_56">
+ <Resolution rdf:ID="Resolution_203">
<hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#SmartCamera_20"/>
<value
rdf:datatype=
"http://www.w3.org/2001/XMLSchema#string"
- >Connector M12, 5 Pins</value>
- <isPropertyOf rdf:resource="#OpticColorSensor_35"/>
+ >640x480</value>
+ </Resolution>
+ </hasProperty>
+ <hasSkill>
+ <MeasureDiameter rdf:ID="MeasureDiameter_185">
+ <isSkillOf rdf:resource="#SmartCamera_20"/>
+ <isSkillOf rdf:resource="#SmartCamera_22"/>
+ </MeasureDiameter>
+ </hasSkill>
+ <hasProperty>
+ <MaxVoltageSupply rdf:ID="MaxVoltageSupply_156">
<isPropertyOf>
- <OpticDistanceSensor rdf:ID="OpticDistanceSensor_47">
+ <OpticColorSensor rdf:ID="OpticColorSensor_33">
<hasProperty>
- <Accuracy rdf:ID="Accuracy_0.0030">
- <hasEditable rdf:resource="#isEditable_false"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.0030</value>
+ <LightType rdf:ID="LightType_111">
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >LEDblue</value>
+ <isPropertyOf rdf:resource="#OpticColorSensor_33"/>
<isPropertyOf>
- <Manufacturing rdf:ID="Drill_SIARAS">
- <hasProperty rdf:resource="#Accuracy_0.0030"/>
- <hasIdentifier>
- <Identifier rdf:ID="ID_Drill_SIARAS">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >Drill_SIARAS</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- </Identifier>
- </hasIdentifier>
- <hasSkill>
- <StartDrillRotation rdf:ID="StartRotation_SIARAS">
- <isSkillOf rdf:resource="#Drill_SIARAS"/>
- <isSkillOf>
- <DrillMachine rdf:ID="Bosch_GBM_10_RE">
- <hasSkill rdf:resource="#StartRotation_SIARAS"/>
- <hasSkill>
- <StopDrillRotation rdf:ID="StopRotation_SIARAS">
- <isSkillOf rdf:resource="#Drill_SIARAS"/>
- <isSkillOf rdf:resource="#Bosch_GBM_10_RE"/>
- <isSkillOf rdf:resource="#Bosch_GBM_13_RE"/>
- <isSkillOf rdf:resource="#Bosch_GBM_13_RE_Heavy"/>
- </StopDrillRotation>
- </hasSkill>
- <hasIdentifier>
- <Identifier rdf:ID="ID_Bosch_GBM_10_RE">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >Bosch_GBM_10_RE</value>
- </Identifier>
- </hasIdentifier>
- <hasProperty>
- <DigOut rdf:ID="toollock">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >1</value>
- <isPropertyOf rdf:resource="#Bosch_GBM_10_RE"/>
- </DigOut>
- </hasProperty>
- <hasProperty>
- <ChuckDiameter rdf:ID="ChuckDiameter_9">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >9</value>
- <isPropertyOf rdf:resource="#Bosch_GBM_10_RE"/>
- </ChuckDiameter>
- </hasProperty>
+ <OpticColorSensor rdf:ID="OpticColorSensor_35">
+ <hasProperty>
+ <ElectricalMedia rdf:ID="ElectricalInterface_97">
+ <isPropertyOf>
+ <OpticReflexSwitch rdf:ID="OpticReflexSwitch_37">
<hasProperty>
- <Weight rdf:ID="Weight_1.6">
- <hasEditable rdf:resource="#isEditable_false"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >1.6</value>
+ <SwitchingFrequency rdf:ID="SwitchingFrequency_44">
+ <isPropertyOf rdf:resource="#OpticReflexSwitch_37"/>
<isPropertyOf>
- <OpticDistanceSensor rdf:ID="Sick_DME5000-112">
- <hasProperty rdf:resource="#SwitchingFrequency_1000"/>
- <hasProperty>
- <LightType rdf:ID="LightType_LaserRed">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >LaserRed</value>
- <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
- <hasEditable rdf:resource="#isEditable_false"/>
- </LightType>
- </hasProperty>
- <hasProperty rdf:resource="#Weight_1.6"/>
+ <OpticThroughBeamSwitch rdf:ID="OpticThroughBeamSwitch_41">
+ <hasProperty rdf:resource="#MaxVoltageSupply_36"/>
<hasSkill>
- <MeasureDistance rdf:ID="MeasureDistance_1">
- <isSkillOf rdf:resource="#Sick_DT10-P10B5"/>
- <isSkillOf rdf:resource="#Sick_DME5000-112"/>
- </MeasureDistance>
- </hasSkill>
- <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 rdf:resource="#EnclosureRatingIP_65"/>
- <hasProperty>
- <MaxMeasurementRange rdf:ID="MaxMeasurementRange_70">
- <hasEditable rdf:resource="#isEditable_false"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >70.0</value>
- <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
- </MaxMeasurementRange>
- </hasProperty>
- <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="#Sick_DME5000-112"/>
- <isPropertyOf>
- <SmartCamera rdf:ID="VisionComponents-VC4465">
- <hasSkill>
- <DetectColor rdf:ID="DetectColor_3">
- <isSkillOf>
- <OpticColorSensor rdf:ID="Sensopart_FL64C">
- <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>
+ <DetectObject rdf:ID="DetectObject_38">
+ <isSkillOf rdf:resource="#OpticReflexSwitch_37"/>
+ <isSkillOf rdf:resource="#OpticThroughBeamSwitch_41"/>
+ <isSkillOf>
+ <OpticProximitySwitch rdf:ID="OpticProximitySwitch_39">
+ <hasIdentifier>
+ <Identifier rdf:ID="Identifier_147">
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Sick_WT18-3P430</value>
+ </Identifier>
+ </hasIdentifier>
+ <hasProperty>
+ <SwitchingFrequency rdf:ID="SwitchingFrequency_145">
+ <isPropertyOf rdf:resource="#OpticProximitySwitch_39"/>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >700.0</value>
+ </SwitchingFrequency>
+ </hasProperty>
+ <hasProperty>
+ <MinVoltageSupply rdf:ID="MinVoltageSupply_109">
+ <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/>
+ <isPropertyOf rdf:resource="#OpticProximitySwitch_39"/>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
+ <isPropertyOf rdf:resource="#OpticReflexSwitch_37"/>
+ <isPropertyOf rdf:resource="#OpticColorSensor_35"/>
+ <isPropertyOf rdf:resource="#OpticThroughBeamSwitch_41"/>
+ <isPropertyOf>
+ <OpticContrastScanner rdf:ID="OpticContrastScanner_51">
+ <hasProperty rdf:resource="#ElectricalInterface_97"/>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_61"/>
<hasProperty>
- <MinVoltageSupply rdf:ID="MinVoltageSupply_10.0">
- <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
- <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
- <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
+ <ElectricalMedia rdf:ID="ElectricalInterface_56">
+ <isPropertyOf rdf:resource="#OpticColorSensor_35"/>
+ <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/>
+ <isPropertyOf rdf:resource="#OpticContrastScanner_51"/>
+ <isPropertyOf rdf:resource="#OpticContrastScanner_53"/>
<isPropertyOf>
- <OpticReflexSwitch rdf:ID="Sick_WL18-3P430">
+ <LightGrid rdf:ID="LightGrid_57">
<hasProperty>
- <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_60">
+ <LightType rdf:ID="LightType_62">
<value
rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >60.0</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
- <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
- <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
- </MaxAmbientTemperature>
+ "http://www.w3.org/2001/XMLSchema#string"
+ >LEDinfrared</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#LightGrid_57"/>
+ </LightType>
</hasProperty>
- <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
- <hasProperty>
- <MinMeasurementRange rdf:ID="MinMeasurementRange_0">
+ <hasIdentifier>
+ <Identifier rdf:ID="Identifier_101">
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >Sick_MLG2-0280F511</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ </Identifier>
+ </hasIdentifier>
+ <hasProperty>
+ <ResponseTime rdf:ID="ResponseTime_60">
+ <isPropertyOf rdf:resource="#LightGrid_57"/>
+ <hasEditable rdf:resource="#isEditable_9"/>
<value
rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
- >0.0</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
- <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
- </MinMeasurementRange>
+ >0.0030</value>
+ </ResponseTime>
</hasProperty>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_61"/>
<hasProperty>
- <EnclosureRatingIP rdf:ID="EnclosureRatingIP_67">
- <isPropertyOf rdf:resource="http://www.owl-ontologies.com/siaras.owl#Schunk_MPG_64"/>
- <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
- <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
+ <MaxMeasurementRange rdf:ID="MaxMeasurementRange_63">
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >5.0</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#OpticReflexSwitch_37"/>
+ <isPropertyOf rdf:resource="#LightGrid_57"/>
+ </MaxMeasurementRange>
+ </hasProperty>
+ <hasProperty>
+ <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_64">
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >0.2</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#LightGrid_57"/>
+ <isPropertyOf rdf:resource="#VisionSensor_65"/>
+ </MaxCurrentConsumption>
+ </hasProperty>
+ <hasProperty rdf:resource="#MaxVoltageSupply_36"/>
+ <hasProperty>
+ <MinAmbientTemperature rdf:ID="MinAmbientTemperature_100">
+ <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/>
+ <isPropertyOf rdf:resource="#LightGrid_57"/>
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >-25.0</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ </MinAmbientTemperature>
+ </hasProperty>
+ <hasProperty>
+ <MinVoltageSupply rdf:ID="MinVoltageSupply_59">
+ <isPropertyOf rdf:resource="#LightGrid_57"/>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >15.0</value>
+ </MinVoltageSupply>
+ </hasProperty>
+ <hasSkill>
+ <DetectObject rdf:ID="DetectObject_58">
+ <isSkillOf rdf:resource="#LightGrid_57"/>
+ </DetectObject>
+ </hasSkill>
+ <hasProperty>
+ <EnclosureRatingIP rdf:ID="EnclosureRatingIP_85">
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >65</value>
+ <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_17"/>
+ <isPropertyOf rdf:resource="#LaserScanner2D_70"/>
+ <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
+ <isPropertyOf rdf:resource="#SmartCamera_20"/>
<isPropertyOf>
- <OpticColorSensor rdf:ID="Sick_CS81-P1112">
+ <OpticDistanceSensor rdf:ID="OpticDistanceSensor_45">
+ <hasProperty rdf:resource="#EnclosureRatingIP_85"/>
+ <hasProperty>
+ <MaxMeasurementRange rdf:ID="MaxMeasurementRange_132">
+ <isPropertyOf rdf:resource="#OpticDistanceSensor_45"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >70.0</value>
+ <hasEditable rdf:resource="#isEditable_9"/> </MaxMeasurementRange>
+ </hasProperty>
+ <hasProperty rdf:resource="#SwitchingFrequency_44"/>
+ <hasProperty>
+ <LightType rdf:ID="LightType_134">
+ <isPropertyOf rdf:resource="#OpticDistanceSensor_45"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >LaserRed</value>
+ <hasEditable rdf:resource="#isEditable_9"/> </LightType>
+ </hasProperty>
+ <hasProperty>
+ <MinAmbientTemperature rdf:ID="MinAmbientTemperature_55">
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >-10.0</value>
+ <isPropertyOf rdf:resource="#OpticLuminescenceScanner_30"/>
+ <isPropertyOf rdf:resource="#OpticColorSensor_33"/>
+ <isPropertyOf rdf:resource="#OpticColorSensor_35"/>
+ <isPropertyOf rdf:resource="#OpticContrastScanner_51"/>
+ <isPropertyOf rdf:resource="#OpticContrastScanner_53"/>
+ <isPropertyOf rdf:resource="#OpticDistanceSensor_45"/> </MinAmbientTemperature>
+ </hasProperty>
+ <hasProperty>
+ <Weight rdf:ID="Weight_128">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >1.6</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#OpticDistanceSensor_45"/> </Weight>
+ </hasProperty>
+ <hasIdentifier>
+ <Identifier rdf:ID="Identifier_135">
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Sick_DME5000-112</value> </Identifier>
+ </hasIdentifier>
+ <hasProperty>
+ <MinMeasurementRange rdf:ID="MinMeasurementRange_133">
+ <isPropertyOf rdf:resource="#OpticDistanceSensor_45"/>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.15</value> </MinMeasurementRange>
+ </hasProperty>
<hasProperty>
- <ScanningDistance rdf:ID="ScanningDistance_0.0125">
+ <Repeatability rdf:ID="Repeatability_129">
+ <isPropertyOf rdf:resource="#OpticDistanceSensor_45"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.0125</value>
+ >5.0E-4</value>
+ <hasEditable rdf:resource="#isEditable_9"/> </Repeatability>
+ </hasProperty>
+ <hasProperty>
+ <Accuracy rdf:ID="Accuracy_0.0020">
<hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf>
- <OpticColorSensor rdf:ID="Sick_CSM1-N1114">
- <hasProperty>
- <LightType rdf:ID="LightType_LEDgreen">
- <hasEditable rdf:resource="#isEditable_false"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >LEDgreen</value>
- <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
- <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
- <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
- </LightType>
- </hasProperty>
- <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
- <hasProperty>
- <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_55">
- <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
- <isPropertyOf>
- <OpticLuminescenceScanner rdf:ID="Sick_LUT3-610">
- <hasProperty>
- <MinAmbientTemperature rdf:ID="MinAmbientTemperature_-10">
- <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
- <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
- <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
- <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
- <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
- <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
- <hasEditable rdf:resource="#isEditable_false"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >-10.0</value>
- </MinAmbientTemperature>
- </hasProperty>
- <hasProperty>
- <ResponseTime rdf:ID="ResponseTime_0.0003">
- <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
- <hasEditable rdf:resource="#isEditable_false"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >3.0E-4</value>
- </ResponseTime>
- </hasProperty>
- <hasProperty rdf:resource="#MaxAmbientTemperature_55"/>
- <hasProperty>
- <ScanningDistance rdf:ID="ScanningDistance_0.01">
- <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
- <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
- <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
- <hasEditable rdf:resource="#isEditable_false"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.01</value>
- </ScanningDistance>
- </hasProperty>
- <hasProperty rdf:resource="#Weight_0.4"/>
- <hasSkill>
- <DetectLuminescence rdf:ID="DetectLuminescence_1">
- <isSkillOf rdf:resource="#Sick_LUT3-610"/>
- </DetectLuminescence>
- </hasSkill>
- <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
- <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
- <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>
- <VisionSensor rdf:ID="Sick_CVS2-P112">
- <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>
- <hasSkill>
- <SortObjects rdf:ID="SortObjectColor_15">
- <isSkillOf rdf:resource="#Sick_CVS2-P112"/>
- </SortObjects>
- </hasSkill>
- <hasProperty>
- <MaxVoltageSupply rdf:ID="MaxVoltageSupply_24">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >24.0</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf>
- <SimpleKinematicRobot rdf:ID="IPA_AMMS_FilterOrientator">
- <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>
- <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>
- <hasSkill>
- <Turn rdf:ID="Turn_90">
- <isSkillOf rdf:resource="#IPA_AMMS_FilterOrientator"/>
- <rdfs:comment rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#string"
- >Turn a workpiece by 90 degrees cw. or ccw.</rdfs:comment>
- </Turn>
- </hasSkill>
- <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>
- <hasProperty>
- <MinAmbientTemperature rdf:ID="MinAmbientTemperature_0">
- <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
- <isPropertyOf>
- <SmartCamera rdf:ID="Sick_IVC-2DM1111">
- <hasProperty>
- <IntelligentCtrl rdf:ID="IntelligentCtrl_1">
- <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
- <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
- <isPropertyOf>
- <ArticulatedRobot rdf:ID="ArticulatedRobot_CLOOS_R320">
- <hasProperty>
- <EnclosureRatingIP rdf:ID="EnclosureRatingIP_54">
- <hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
- <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
- <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
- <isPropertyOf>
- <ArticulatedRobot rdf:ID="ArticulatedRobot_CLOOS_R350">
- <hasProperty>
- <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_45">
- <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
- <isPropertyOf>
- <ArticulatedRobot rdf:ID="ArticulatedRobot_ABB_IRB-140">
- <hasProperty rdf:resource="#IntelligentCtrl_1"/>
- <hasSkill>
- <Circular rdf:ID="Circular_29">
- <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
- <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
- <isSkillOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
- <isSkillOf>
- <ArticulatedRobot rdf:ID="ArticulatedRobot_CLOOS_R410">
- <hasProperty>
- <MinVoltageSupply rdf:ID="MinVoltageSupply_350">
- <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"
- >350</value>
- </MinVoltageSupply>
- </hasProperty>
- <hasProperty>
- <Reachability rdf:ID="Reachability_2500">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
- >2500</value>
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
- </Reachability>
- </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>
- <hasSkill>
- <Karthesian rdf:ID="Karthesian_30">
- <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
- <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>
- <hasProperty>
- <DegreesOfFreedom rdf:ID="DegreesOfFreedom_6">
- <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
- >6</value>
- </DegreesOfFreedom>
- </hasProperty>
- <hasProperty rdf:resource="#MaxAmbientTemperature_45"/>
- <hasProperty>
- <MaxVoltageSupply rdf:ID="MaxVoltageSupply_450">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
- >450</value>
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
- </MaxVoltageSupply>
- </hasProperty>
- <hasProperty>
- <BusInterface rdf:ID="BusInterface_RS232">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >RS232</value>
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
- <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
- <hasEditable rdf:resource="#isEditable_false"/>
- </BusInterface>
- </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>
- <hasProperty>
- <PowerConsumption rdf:ID="PowerConsumption_3">
- <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"
- >3</value>
- </PowerConsumption>
- </hasProperty>
- <hasProperty rdf:resource="#EnclosureRatingIP_54"/>
- <hasProperty>
- <NumberOfJoints rdf:ID="NumberOfJoints_6">
- <hasEditable rdf:resource="#isEditable_false"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
- >6</value>
- <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
- </NumberOfJoints>
- </hasProperty>
- <hasProperty>
- <BusInterface rdf:ID="BusInterface_FastEthernet">
- <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
- <isPropertyOf>
- <VacuumGripper rdf:ID="IPA_AMMS_SimpleGripper-2DOF">
- <hasProperty rdf:resource="#MaxVoltageSupply_24"/>
- <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>
- <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>
- <Displace rdf:ID="IPA_AMMS_MoveFront">
- <isSubskillOf>
- <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK90DEGANDPLACE_Part6">
- <isSubskillOf>
- <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK90DEGANDPLACE_Part7">
- <isSubskillOf>
- <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK90DEGANDPLACE_Part8">
- <isSubskillOf>
- <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK90DEGANDPLACE">
- <hasSubskill>
- <Displace rdf:ID="IPA_AMMS_MoveUp">
- <isSkillOf>
- <VacuumGripper rdf:ID="IPA_AMMS_SimpleGripper-2DOF-Turnable">
- <hasSkill>
- <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PLACE_2DOF">
- <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
- <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF"/>
- <hasSubskill rdf:resource="#IPA_AMMS_MoveUp"/>
- <hasSubskill>
- <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PLACE_2DOF_Part3">
- <hasSubskill>
- <AdjustVacuumToRelease rdf:ID="VacuumRelease">
- <isSkillOf>
- <VacuumGripper rdf:ID="Schmalz_FSGPL_200_NBR-55_G1-2-IG">
- <hasSkill rdf:resource="#VacuumRelease"/>
- <hasSkill>
- <AdjustVacuumToGrip rdf:ID="VacuumGrip">
- <isSubskillOf>
- <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK90DEGANDPLACE_Part3">
- <hasSubskill rdf:resource="#VacuumGrip"/>
- <hasSubskill>
- <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK90DEGANDPLACE_Part2">
- <isSubskillOf rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part3"/>
- <hasSubskill>
- <Displace rdf:ID="IPA_AMMS_MoveDown">
- <isSubskillOf rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part7"/>
- <isSubskillOf rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part2"/>
- <isSubskillOf>
- <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICKANDPLACE_90DEG_Part7">
- <hasSubskill rdf:resource="#IPA_AMMS_MoveDown"/>
- <hasSubskill>
- <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICKANDPLACE_90DEG_Part6">
- <hasSubskill>
- <Displace rdf:ID="IPA_AMMS_TurnLeft">
- <isSubskillOf>
- <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK90DEGANDPLACE_Part1">
- <hasSubskill rdf:resource="#IPA_AMMS_TurnLeft"/>
- <isSubskillOf rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part2"/>
- </CompoundManipulationAndHandlingFunction>
- </isSubskillOf>
- <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part6"/>
- </Displace>
- </hasSubskill>
- <hasSubskill>
- <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICKANDPLACE_90DEG_Part5">
- <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part6"/>
- <hasSubskill rdf:resource="#IPA_AMMS_MoveUp"/>
- <hasSubskill>
- <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICKANDPLACE_90DEG_Part4">
- <hasSubskill rdf:resource="#VacuumGrip"/>
- <hasSubskill>
- <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICKANDPLACE_90DEG_Part3">
- <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part4"/>
- <hasSubskill rdf:resource="#IPA_AMMS_MoveDown"/>
- <hasSubskill>
- <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICKANDPLACE_90DEG_Part2">
- <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part3"/>
- <hasSubskill rdf:resource="#IPA_AMMS_MoveFront"/>
- <hasSubskill>
- <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICKANDPLACE_90DEG_Part1">
- <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part2"/>
- <hasSubskill>
- <Displace rdf:ID="IPA_AMMS_TurnFront">
- <isSubskillOf>
- <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK90DEGANDPLACE_Part5">
- <isSubskillOf rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part6"/>
- <hasSubskill rdf:resource="#IPA_AMMS_TurnFront"/>
- <hasSubskill>
- <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK90DEGANDPLACE_Part4">
- <isSubskillOf rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part5"/>
- <hasSubskill rdf:resource="#IPA_AMMS_MoveUp"/>
- <hasSubskill rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part3"/>
- </CompoundManipulationAndHandlingFunction>
- </hasSubskill>
- </CompoundManipulationAndHandlingFunction>
- </isSubskillOf>
- <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part1"/>
- </Displace>
- </hasSubskill>
- </CompoundManipulationAndHandlingFunction>
- </hasSubskill>
- </CompoundManipulationAndHandlingFunction>
- </hasSubskill>
- </CompoundManipulationAndHandlingFunction>
- </hasSubskill>
- <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part5"/>
- </CompoundManipulationAndHandlingFunction>
- </hasSubskill>
- </CompoundManipulationAndHandlingFunction>
- </hasSubskill>
- <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part7"/>
- </CompoundManipulationAndHandlingFunction>
- </hasSubskill>
- <isSubskillOf>
- <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICKANDPLACE_90DEG_Part8">
- <hasSubskill rdf:resource="#VacuumRelease"/>
- <hasSubskill rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part7"/>
- <isSubskillOf>
- <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICKANDPLACE_90DEG">
- <hasSubskill rdf:resource="#IPA_AMMS_MoveUp"/>
- <hasSubskill rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part8"/>
- <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
- </CompoundManipulationAndHandlingFunction>
- </isSubskillOf>
- </CompoundManipulationAndHandlingFunction>
- </isSubskillOf>
- </CompoundManipulationAndHandlingFunction>
- </isSubskillOf>
- <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part3"/>
- <isSubskillOf>
- <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK_2DOF_Part2">
- <hasSubskill rdf:resource="#IPA_AMMS_MoveDown"/>
- <hasSubskill>
- <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK_2DOF_Part1">
- <hasSubskill rdf:resource="#IPA_AMMS_MoveFront"/>
- <isSubskillOf rdf:resource="#AMMS_IPA_PICK_2DOF_Part2"/>
- </CompoundManipulationAndHandlingFunction>
- </hasSubskill>
- <isSubskillOf>
- <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK_2DOF_Part3">
- <hasSubskill rdf:resource="#VacuumGrip"/>
- <hasSubskill rdf:resource="#AMMS_IPA_PICK_2DOF_Part2"/>
- <isSubskillOf>
- <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK_2DOF">
- <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
- <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF"/>
- <hasSubskill rdf:resource="#IPA_AMMS_MoveUp"/>
- <hasSubskill rdf:resource="#AMMS_IPA_PICK_2DOF_Part3"/>
- <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>
- <isSubskillOf>
- <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PLACE_2DOF_Part2">
- <hasSubskill rdf:resource="#IPA_AMMS_MoveDown"/>
- <hasSubskill>
- <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PLACE_2DOF_Part1">
- <isSubskillOf rdf:resource="#AMMS_IPA_PLACE_2DOF_Part2"/>
- <hasSubskill rdf:resource="#IPA_AMMS_MoveFront"/>
- </CompoundManipulationAndHandlingFunction>
- </hasSubskill>
- <isSubskillOf rdf:resource="#AMMS_IPA_PLACE_2DOF_Part3"/>
- </CompoundManipulationAndHandlingFunction>
- </isSubskillOf>
- <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
- <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF"/>
- </Displace>
- </hasSubskill>
- <hasSubskill rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part1"/>
- </CompoundManipulationAndHandlingFunction>
- </hasSubskill>
- <isSubskillOf rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part4"/>
- </CompoundManipulationAndHandlingFunction>
- </isSubskillOf>
- <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part4"/>
- <isSubskillOf rdf:resource="#AMMS_IPA_PICK_2DOF_Part3"/>
- <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="#VacuumRelease"/>
- <hasSkill rdf:resource="#VacuumGrip"/>
- <hasProperty>
- <MaxForce rdf:ID="MaximumForce_4.7">
- <isPropertyOf rdf:resource="#Schmalz_FSGA_20_SI-55_M5-AG"/>
- <hasEditable rdf:resource="#isEditable_false"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >4.7</value>
- </MaxForce>
- </hasProperty>
- <hasProperty>
- <Worm rdf:ID="Worm_Outside">
- <isPropertyOf rdf:resource="#Schmalz_FSGA_20_SI-55_M5-AG"/>
- <hasEditable rdf:resource="#isEditable_false"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >Outside</value>
- </Worm>
- </hasProperty>
- <hasProperty>
- <WormDiameter rdf:ID="WormDiameter_M5">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >M5</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#Schmalz_FSGA_20_SI-55_M5-AG"/>
- </WormDiameter>
- </hasProperty>
- <hasProperty>
- <Material rdf:ID="Material_Silicon">
- <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.0020</value>
+ <isPropertyOf rdf:resource="#OpticDistanceSensor_45"/> </Accuracy>
+ </hasProperty>
+ <hasProperty>
+ <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_124">
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.3</value>
+ <isPropertyOf rdf:resource="#OpticDistanceSensor_45"/>
+ <isPropertyOf rdf:resource="#SmartCamera_24"/> </MaxCurrentConsumption>
+ </hasProperty>
+ <hasProperty>
+ <LightSpotSize rdf:ID="LightSpotSize_130">
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.13</value>
+ <isPropertyOf rdf:resource="#OpticDistanceSensor_45"/> </LightSpotSize>
+ </hasProperty>
+ <hasProperty>
+ <LaserClass rdf:ID="LaserClass_126">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >2</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#OpticDistanceSensor_45"/> </LaserClass>
+ </hasProperty>
+ <hasProperty rdf:resource="#MaxVoltageSupply_36"/>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_61"/>
+ <hasSkill>
+ <MeasureDistance rdf:ID="MeasureDistance_46">
+ <isSkillOf rdf:resource="#OpticDistanceSensor_45"/>
+ <isSkillOf rdf:resource="#OpticDistanceSensor_47"/> </MeasureDistance>
+ </hasSkill>
+ <hasProperty>
+ <MinVoltageSupply rdf:ID="MinVoltageSupply_127">
+ <isPropertyOf rdf:resource="#OpticDistanceSensor_45"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >18.0</value>
+ <hasEditable rdf:resource="#isEditable_9"/> </MinVoltageSupply>
+ </hasProperty>
+ </OpticDistanceSensor>
+ </isPropertyOf>
+ <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_11"/>
+ <isPropertyOf rdf:resource="#LightGrid_57"/>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#SmartCamera_22"/>
+ </EnclosureRatingIP>
+ </hasProperty>
+ <hasProperty rdf:resource="#ElectricalInterface_56"/>
+ </LightGrid>
+ </isPropertyOf>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >Connector M12, 5 Pins</value>
+ </ElectricalMedia>
+ </hasProperty>
+ <hasProperty rdf:resource="#MinVoltageSupply_109"/>
+ <hasProperty rdf:resource="#MaxVoltageSupply_36"/>
+ <hasProperty>
+ <LightSpotSize rdf:ID="LightSpotSize_112">
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#OpticContrastScanner_51"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >0.004x0.0008</value>
+ </LightSpotSize>
+ </hasProperty>
+ <hasProperty rdf:resource="#MinAmbientTemperature_55"/>
+ <hasSkill>
+ <DetectContrast rdf:ID="DetectContrast_52">
+ <isSkillOf rdf:resource="#OpticContrastScanner_51"/>
+ <isSkillOf rdf:resource="#OpticContrastScanner_53"/>
+ </DetectContrast>
+ </hasSkill>
+ <hasProperty>
+ <ResponseTime rdf:ID="ResponseTime_110">
+ <isPropertyOf rdf:resource="#OpticContrastScanner_51"/>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >1.0E-5</value>
+ </ResponseTime>
+ </hasProperty>
+ <hasIdentifier>
+ <Identifier rdf:ID="Identifier_115">
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >Sick_KT10-2P1115</value>
+ </Identifier>
+ </hasIdentifier>
+ <hasProperty>
+ <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_108">
+ <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
+ <isPropertyOf rdf:resource="#OpticColorSensor_35"/>
+ <isPropertyOf rdf:resource="#OpticContrastScanner_51"/>
+ <isPropertyOf rdf:resource="#SmartCamera_24"/>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >0.08</value>
+ </MaxCurrentConsumption>
+ </hasProperty>
+ <hasProperty>
+ <LightType rdf:ID="LightType_113">
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >LEDgreen</value>
+ <isPropertyOf rdf:resource="#OpticColorSensor_33"/>
+ <isPropertyOf rdf:resource="#OpticColorSensor_35"/>
+ <isPropertyOf rdf:resource="#OpticContrastScanner_51"/>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ </LightType>
+ </hasProperty>
+ <hasProperty>
+ <LightType rdf:ID="LightType_50">
+ <isPropertyOf rdf:resource="#OpticColorSensor_35"/>
+ <isPropertyOf rdf:resource="#OpticProximitySwitch_39"/>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >LEDred</value>
+ <isPropertyOf rdf:resource="#OpticThroughBeamSwitch_41"/>
+ <isPropertyOf rdf:resource="#OpticContrastScanner_51"/>
+ <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/>
+ <isPropertyOf rdf:resource="#OpticColorSensor_33"/>
+ <isPropertyOf rdf:resource="#OpticReflexSwitch_37"/>
+ </LightType>
+ </hasProperty>
+ <hasProperty rdf:resource="#LightType_111"/>
+ <hasProperty>
+ <ScanningDistance rdf:ID="ScanningDistance_102">
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#OpticLuminescenceScanner_30"/>
+ <isPropertyOf rdf:resource="#OpticContrastScanner_51"/>
+ <isPropertyOf rdf:resource="#OpticContrastScanner_53"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >0.01</value>
+ </ScanningDistance>
+ </hasProperty>
+ <hasProperty rdf:resource="#EnclosureRatingIP_96"/>
+ <hasProperty>
+ <SwitchingFrequency rdf:ID="SwitchingFrequency_114">
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >25000.0</value>
+ <isPropertyOf rdf:resource="#OpticContrastScanner_51"/>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ </SwitchingFrequency>
+ </hasProperty>
+ <hasProperty>
+ <Weight rdf:ID="Weight_54">
+ <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
+ <isPropertyOf rdf:resource="#OpticLuminescenceScanner_30"/>
+ <isPropertyOf rdf:resource="#OpticColorSensor_35"/>
+ <isPropertyOf rdf:resource="#OpticContrastScanner_51"/>
+ <isPropertyOf rdf:resource="#OpticContrastScanner_53"/>
+ <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_11"/>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >0.4</value>
+ </Weight>
+ </hasProperty>
+ </OpticContrastScanner>
+ </isPropertyOf>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >10.0</value>
+ </MinVoltageSupply>
+ </hasProperty>
+ <hasProperty rdf:resource="#MaxVoltageSupply_36"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_96"/>
+ <hasProperty>
+ <ElectricalMedia rdf:ID="ElectricalInterface_40">
+ <isPropertyOf rdf:resource="#OpticLuminescenceScanner_30"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Connector M12, 4 Pins</value>
+ <isPropertyOf rdf:resource="#OpticThroughBeamSwitch_41"/>
+ <isPropertyOf rdf:resource="#SmartCamera_22"/>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#SmartCamera_20"/>
+ <isPropertyOf rdf:resource="#OpticColorSensor_33"/>
+ <isPropertyOf rdf:resource="#OpticProximitySwitch_39"/>
+ <isPropertyOf rdf:resource="#OpticReflexSwitch_37"/>
+ </ElectricalMedia>
+ </hasProperty>
+ <hasSkill rdf:resource="#DetectObject_38"/>
+ <hasProperty>
+ <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_43">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >60.0</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#OpticReflexSwitch_37"/>
+ <isPropertyOf rdf:resource="#OpticProximitySwitch_39"/>
+ <isPropertyOf rdf:resource="#OpticThroughBeamSwitch_41"/>
+ </MaxAmbientTemperature>
+ </hasProperty>
+ <hasProperty rdf:resource="#ElectricalInterface_97"/>
+ <hasProperty rdf:resource="#LightType_50"/>
+ <hasProperty>
+ <ResponseTime rdf:ID="ResponseTime_143">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >7.0E-4</value>
+ <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
+ <isPropertyOf rdf:resource="#OpticProximitySwitch_39"/>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ </ResponseTime>
+ </hasProperty>
+ <hasProperty>
+ <MaxMeasurementRange rdf:ID="MaxMeasurementRange_144">
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.6</value>
+ <isPropertyOf rdf:resource="#OpticProximitySwitch_39"/>
+ </MaxMeasurementRange>
+ </hasProperty>
+ <hasProperty>
+ <Weight rdf:ID="Weight_118">
+ <isPropertyOf rdf:resource="#OpticReflexSwitch_37"/>
+ <isPropertyOf rdf:resource="#OpticProximitySwitch_39"/>
+ <isPropertyOf rdf:resource="#OpticThroughBeamSwitch_41"/>
+ <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/>
+ <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_11"/>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.04</value>
+ </Weight>
+ </hasProperty>
+ <hasProperty>
+ <LightSpotSize rdf:ID="LightSpotSize_142">
+ <isPropertyOf rdf:resource="#OpticProximitySwitch_39"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.015</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ </LightSpotSize>
+ </hasProperty>
+ <hasProperty>
+ <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_146">
+ <isPropertyOf rdf:resource="#OpticProximitySwitch_39"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.04</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ </MaxCurrentConsumption>
+ </hasProperty>
+ <hasProperty>
+ <MinAmbientTemperature rdf:ID="MinAmbientTemperature_140">
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >-40.0</value>
+ <isPropertyOf rdf:resource="#OpticReflexSwitch_37"/>
+ <isPropertyOf rdf:resource="#OpticProximitySwitch_39"/>
+ <isPropertyOf rdf:resource="#OpticThroughBeamSwitch_41"/>
+ </MinAmbientTemperature>
+ </hasProperty>
+ <hasProperty>
+ <MinMeasurementRange rdf:ID="MinMeasurementRange_48">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.05</value>
+ <isPropertyOf rdf:resource="#OpticProximitySwitch_39"/>
+ <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ </MinMeasurementRange>
+ </hasProperty>
+ </OpticProximitySwitch>
+ </isSkillOf>
+ </DetectObject>
+ </hasSkill>
+ <hasProperty rdf:resource="#Weight_118"/>
+ <hasProperty>
+ <MaxMeasurementRange rdf:ID="MaxMeasurementRange_42">
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#OpticThroughBeamSwitch_41"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >20.0</value>
+ </MaxMeasurementRange>
+ </hasProperty>
+ <hasProperty rdf:resource="#SwitchingFrequency_44"/>
+ <hasProperty>
+ <ResponseTime rdf:ID="ResponseTime_138">
+ <isPropertyOf rdf:resource="#OpticColorSensor_33"/>
+ <isPropertyOf rdf:resource="#OpticReflexSwitch_37"/>
+ <isPropertyOf rdf:resource="#OpticThroughBeamSwitch_41"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >5.0E-4</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ </ResponseTime>
+ </hasProperty>
+ <hasProperty rdf:resource="#MinVoltageSupply_109"/>
+ <hasProperty rdf:resource="#ElectricalInterface_40"/>
+ <hasProperty rdf:resource="#MinAmbientTemperature_140"/>
+ <hasProperty rdf:resource="#LightType_50"/>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_43"/>
+ <hasProperty rdf:resource="#ElectricalInterface_97"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_96"/>
+ <hasProperty>
+ <MinMeasurementRange rdf:ID="MinMeasurementRange_136">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.0</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#OpticReflexSwitch_37"/>
+ <isPropertyOf rdf:resource="#OpticThroughBeamSwitch_41"/>
+ </MinMeasurementRange>
+ </hasProperty>
+ <hasIdentifier>
+ <Identifier rdf:ID="Identifier_141">
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Sick_WSWE18-3P430</value>
+ </Identifier>
+ </hasIdentifier>
+ <hasProperty>
+ <LightSpotSize rdf:ID="LightSpotSize_139">
+ <isPropertyOf rdf:resource="#OpticThroughBeamSwitch_41"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.45</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ </LightSpotSize>
+ </hasProperty>
+ <hasProperty>
+ <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_137">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.055</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#OpticThroughBeamSwitch_41"/>
+ </MaxCurrentConsumption>
+ </hasProperty>
+ </OpticThroughBeamSwitch>
+ </isPropertyOf>
+ <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/>
+ <isPropertyOf rdf:resource="#OpticDistanceSensor_45"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >1000.0</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ </SwitchingFrequency>
+ </hasProperty>
+ <hasProperty>
+ <LightSpotSize rdf:ID="LightSpotSize_148">
+ <isPropertyOf rdf:resource="#OpticReflexSwitch_37"/>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.04</value>
+ </LightSpotSize>
+ </hasProperty>
+ <hasProperty rdf:resource="#MaxMeasurementRange_63"/>
+ <hasProperty rdf:resource="#ElectricalInterface_97"/>
+ <hasProperty rdf:resource="#ElectricalInterface_40"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_96"/>
+ <hasProperty rdf:resource="#ResponseTime_138"/>
+ <hasProperty>
+ <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_149">
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.03</value>
+ <isPropertyOf rdf:resource="#OpticReflexSwitch_37"/>
+ </MaxCurrentConsumption>
+ </hasProperty>
+ <hasProperty rdf:resource="#Weight_118"/>
+ <hasProperty rdf:resource="#MinMeasurementRange_136"/>
+ <hasSkill rdf:resource="#DetectObject_38"/>
+ <hasProperty rdf:resource="#MinVoltageSupply_109"/>
+ <hasProperty rdf:resource="#LightType_50"/>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_43"/>
+ <hasProperty rdf:resource="#MaxVoltageSupply_36"/>
+ <hasIdentifier>
+ <Identifier rdf:ID="Identifier_150">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Sick_WL18-3P430</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ </Identifier>
+ </hasIdentifier>
+ <hasProperty rdf:resource="#MinAmbientTemperature_140"/>
+ </OpticReflexSwitch>
+ </isPropertyOf>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#OpticProximitySwitch_39"/>
<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>
- <DiameterOfGripper rdf:ID="DiameterOfGripper_20">
- <hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#Schmalz_FSGA_20_SI-55_M5-AG"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >20.0</value>
- </DiameterOfGripper>
+ >open collector PNP</value>
+ <isPropertyOf rdf:resource="#VisionSensor_65"/>
+ <isPropertyOf rdf:resource="#OpticContrastScanner_53"/>
+ <isPropertyOf rdf:resource="#OpticContrastScanner_51"/>
+ <isPropertyOf rdf:resource="#OpticColorSensor_35"/>
+ <isPropertyOf rdf:resource="#OpticThroughBeamSwitch_41"/>
+ <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/>
+ </ElectricalMedia>
</hasProperty>
- <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>
- </VacuumGripper>
- </isSkillOf>
- <isSkillOf>
- <VacuumGripper rdf:ID="VacuumGripper_SIARAS">
- <hasIdentifier>
- <Identifier rdf:ID="ID_VG_SIARAS">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >VG_SIARAS</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- </Identifier>
- </hasIdentifier>
- <hasSkill rdf:resource="#VacuumRelease"/>
- <hasSkill rdf:resource="#VacuumGrip"/>
<hasProperty>
- <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.4">
- <hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#VacuumGripper_SIARAS"/>
- <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
- <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
+ <ScanningDistance rdf:ID="ScanningDistance_151">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.4</value>
- </MaxCurrentConsumption>
+ >0.0125</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#OpticColorSensor_33"/>
+ <isPropertyOf rdf:resource="#OpticColorSensor_35"/>
+ </ScanningDistance>
</hasProperty>
+ <hasProperty rdf:resource="#LightType_113"/>
+ <hasProperty rdf:resource="#ElectricalInterface_56"/>
+ <hasProperty rdf:resource="#MinAmbientTemperature_55"/>
+ <hasSkill>
+ <DetectColor rdf:ID="DetectColor_34">
+ <isSkillOf rdf:resource="#OpticColorSensor_33"/>
+ <isSkillOf rdf:resource="#OpticColorSensor_35"/>
+ </DetectColor>
+ </hasSkill>
+ <hasProperty rdf:resource="#MinVoltageSupply_109"/>
<hasProperty>
- <Payload rdf:ID="Payload_5.0">
- <isPropertyOf rdf:resource="#VacuumGripper_SIARAS"/>
- <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >5.0</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- </Payload>
+ <LightSpotSize rdf:ID="LightSpotSize_152">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >0.004x0.002</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#OpticColorSensor_35"/>
+ </LightSpotSize>
</hasProperty>
- </VacuumGripper>
- </isSkillOf>
- </AdjustVacuumToGrip>
- </hasSkill>
+ <hasProperty rdf:resource="#MaxVoltageSupply_36"/>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_61"/>
+ <hasIdentifier>
+ <Identifier rdf:ID="Identifier_153">
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Sick_CS81-P1112</value>
+ </Identifier>
+ </hasIdentifier>
+ <hasProperty rdf:resource="#LightType_111"/>
+ <hasProperty rdf:resource="#MaxCurrentConsumption_108"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_96"/>
+ <hasProperty rdf:resource="#LightType_50"/>
+ <hasProperty rdf:resource="#Weight_54"/>
+ </OpticColorSensor>
+ </isPropertyOf>
+ <isPropertyOf rdf:resource="#OpticContrastScanner_51"/>
+ </LightType>
+ </hasProperty>
+ <hasSkill rdf:resource="#DetectColor_34"/>
<hasProperty>
- <WormDiameter rdf:ID="WormDiameter_G1-2">
- <isPropertyOf rdf:resource="#Schmalz_FSGPL_200_NBR-55_G1-2-IG"/>
+ <ElectricalMedia rdf:ID="ElectricalInterface_159">
+ <hasEditable rdf:resource="#isEditable_9"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >G1/2"</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- </WormDiameter>
+ >open collector NPN</value>
+ <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
+ <isPropertyOf rdf:resource="#OpticLuminescenceScanner_30"/>
+ <isPropertyOf rdf:resource="#OpticColorSensor_33"/>
+ </ElectricalMedia>
</hasProperty>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_61"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_96"/>
<hasProperty>
- <MaxForce rdf:ID="MaximumForce_850">
- <hasEditable rdf:resource="#isEditable_false"/>
- <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>
+ <LightSpotSize rdf:ID="LightSpotSize_155">
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#OpticColorSensor_33"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >0.0015x0.0065</value>
+ </LightSpotSize>
</hasProperty>
- <hasProperty>
- <Material rdf:ID="Material_Perbunan">
- <hasEditable rdf:resource="#isEditable_false"/>
+ <hasProperty rdf:resource="#MaxVoltageSupply_156"/>
+ <hasProperty rdf:resource="#LightType_113"/>
+ <hasProperty rdf:resource="#ResponseTime_138"/>
+ <hasIdentifier>
+ <Identifier rdf:ID="Identifier_160">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >Perbunan NBR 55+-5</value>
- <isPropertyOf rdf:resource="#Schmalz_FSGPL_200_NBR-55_G1-2-IG"/>
- </Material>
+ >Sick_CSM1-N1114</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ </Identifier>
+ </hasIdentifier>
+ <hasProperty>
+ <Weight rdf:ID="Weight_157">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.011</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#OpticColorSensor_33"/>
+ </Weight>
</hasProperty>
+ <hasProperty rdf:resource="#ScanningDistance_151"/>
+ <hasProperty rdf:resource="#LightType_50"/>
+ <hasProperty rdf:resource="#ElectricalInterface_40"/>
+ <hasProperty rdf:resource="#MinAmbientTemperature_55"/>
<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>
+ <MinVoltageSupply rdf:ID="MinVoltageSupply_158">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >19.2</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#OpticColorSensor_33"/>
+ <isPropertyOf rdf:resource="#SmartCamera_22"/>
+ <isPropertyOf rdf:resource="#SmartCamera_20"/>
+ <isPropertyOf rdf:resource="#SmartCamera_24"/>
+ </MinVoltageSupply>
</hasProperty>
<hasProperty>
- <DiameterOfGripper rdf:ID="DiameterOfGripper_200">
- <isPropertyOf rdf:resource="#Schmalz_FSGPL_200_NBR-55_G1-2-IG"/>
- <hasEditable rdf:resource="#isEditable_false"/>
+ <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_154">
+ <isPropertyOf rdf:resource="#OpticColorSensor_33"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >200.0</value>
- </DiameterOfGripper>
+ >0.035</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ </MaxCurrentConsumption>
</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> </VacuumGripper>
- </isSkillOf>
- <isSkillOf rdf:resource="#Schmalz_FSGA_20_SI-55_M5-AG"/>
- <isSkillOf rdf:resource="#VacuumGripper_SIARAS"/>
- <isSubskillOf rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part8"/>
- <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part8"/>
- <isSubskillOf rdf:resource="#AMMS_IPA_PLACE_2DOF_Part3"/>
- </AdjustVacuumToRelease>
- </hasSubskill>
- <hasSubskill rdf:resource="#AMMS_IPA_PLACE_2DOF_Part2"/>
- <isSubskillOf rdf:resource="#AMMS_IPA_PLACE_2DOF"/>
- </CompoundManipulationAndHandlingFunction>
- </hasSubskill>
- </CompoundManipulationAndHandlingFunction>
- </hasSkill>
- <hasSkill rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE"/>
- <hasProperty rdf:resource="#MaxVoltageSupply_24"/>
- <hasSkill rdf:resource="#IPA_AMMS_MoveUp"/>
- <hasSkill rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG"/>
- <hasSkill rdf:resource="#IPA_AMMS_MoveFront"/>
- <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
- <hasProperty rdf:resource="#MinAmbientTemperature_0"/>
- <hasSkill rdf:resource="#IPA_AMMS_MoveDown"/>
- <hasSkill rdf:resource="#AMMS_IPA_PICK_2DOF"/>
- <hasProperty>
- <DegreesOfFreedom rdf:ID="DegreesOfFreedom_2">
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#integer"
- >2</value>
- <isPropertyOf>
- <SimpleKinematicRobot rdf:ID="IPA_AMMS_Carrier-2DOF">
- <hasSkill>
- <Circular rdf:ID="Circular_2D">
- <isSkillOf rdf:resource="#IPA_AMMS_Carrier-2DOF"/>
- <rdfs:comment
- rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#string"
- >Circular motion in a planar area.</rdfs:comment>
- </Circular>
- </hasSkill>
- <hasProperty>
- <NumberOfJoints rdf:ID="NumberOfJoints_0">
- <isPropertyOf rdf:resource="#IPA_AMMS_Carrier-2DOF"/>
- <value
- rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#int"
- >0</value>
- </NumberOfJoints>
- </hasProperty>
- <hasProperty>
- <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_50">
- <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
- <isPropertyOf rdf:resource="#IPA_AMMS_FilterOrientator"/>
- <hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
- <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
- <isPropertyOf rdf:resource="#IPA_AMMS_Carrier-2DOF"/>
- <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
- <rdfs:comment
- rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#string"
- >in degrees celsius</rdfs:comment>
+ <hasProperty>
+ <SwitchingFrequency rdf:ID="SwitchingFrequency_32">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >1500.0</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#OpticLuminescenceScanner_30"/>
+ <isPropertyOf rdf:resource="#OpticColorSensor_33"/>
+ </SwitchingFrequency>
+ </hasProperty> </OpticColorSensor>
+ </isPropertyOf>
+ <isPropertyOf rdf:resource="#SmartCamera_22"/>
+ <isPropertyOf rdf:resource="#SmartCamera_20"/>
+ <isPropertyOf rdf:resource="#SmartCamera_24"/>
+ <hasEditable rdf:resource="#isEditable_9"/>
<value
rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
- >50.0</value>
- </MaxAmbientTemperature>
- </hasProperty>
- <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 rdf:resource="#DegreesOfFreedom_2"/>
- <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
- <hasProperty>
- <MaxVoltageSupply rdf:ID="MaxVoltageSupply_230">
- <value
- rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#int"
- >230</value>
- <isPropertyOf rdf:resource="#IPA_AMMS_Carrier-2DOF"/>
+ >28.8</value>
</MaxVoltageSupply>
</hasProperty>
<hasProperty>
- <MinVoltageSupply rdf:ID="MinVoltageSupply_210">
- <isPropertyOf rdf:resource="#IPA_AMMS_Carrier-2DOF"/>
+ <MinMeasurementRange rdf:ID="MinMeasurementRange_192">
+ <hasEditable rdf:resource="#isEditable_9"/>
<value
rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#int"
- >210</value>
- </MinVoltageSupply>
+ "http://www.w3.org/2001/XMLSchema#float"
+ >0.1</value>
+ <isPropertyOf rdf:resource="#SmartCamera_22"/>
+ <isPropertyOf rdf:resource="#SmartCamera_20"/>
+ </MinMeasurementRange>
</hasProperty>
<hasProperty>
- <TypeOfActuation rdf:ID="TypeOfActuation_Electric">
- <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <IntelligentCtrl rdf:ID="IntelligentCtrl_19">
+ <isPropertyOf rdf:resource="#SmartCamera_22"/>
+ <isPropertyOf rdf:resource="#SmartCamera_20"/>
<value
rdf:datatype=
"http://www.w3.org/2001/XMLSchema#string"
- >Electric</value>
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
- <hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
- <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
- <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
- <isPropertyOf rdf:resource="#IPA_AMMS_Carrier-2DOF"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
- </TypeOfActuation>
+ >yes</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ </IntelligentCtrl>
</hasProperty>
- <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>
- <hasSkill>
- <Feed rdf:ID="Feed_2D_CollisionFree">
- <isSkillOf rdf:resource="#IPA_AMMS_Carrier-2DOF"/>
- <rdfs:comment
- rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#string"
- >Collision-free motion in a planar area.</rdfs:comment>
- </Feed>
- </hasSkill>
+ <hasProperty rdf:resource="#MinAmbientTemperature_69"/>
+ <hasProperty rdf:resource="#ElectricalInterface_40"/>
<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>
+ <MeasureOrientationOfObject rdf:ID="MeasureOrientationOfObject_21">
+ <isSkillOf rdf:resource="#SmartCamera_20"/>
+ <isSkillOf rdf:resource="#SmartCamera_22"/>
+ </MeasureOrientationOfObject>
</hasSkill>
- </SimpleKinematicRobot>
- </isPropertyOf>
- <isPropertyOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
- <isPropertyOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF"/>
- </DegreesOfFreedom>
- </hasProperty>
- <hasSkill>
- <Displace rdf:ID="IPA_AMMS_MoveBack">
- <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
- <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF"/>
- </Displace>
- </hasSkill>
- <hasProperty>
- <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_40">
- <isPropertyOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
- <isPropertyOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF"/>
- <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
- <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
- <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >40.0</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- </MaxAmbientTemperature>
- </hasProperty>
- <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>
- </VacuumGripper>
- </isSkillOf>
- <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF"/>
- <isSubskillOf rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE"/>
- <isSubskillOf rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part4"/>
- <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG"/>
- <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part5"/>
- <isSubskillOf rdf:resource="#AMMS_IPA_PICK_2DOF"/>
- <isSubskillOf rdf:resource="#AMMS_IPA_PLACE_2DOF"/>
- </Displace>
- </hasSubskill>
- <hasSubskill rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part8"/>
- <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
- </CompoundManipulationAndHandlingFunction>
- </isSubskillOf>
- <hasSubskill rdf:resource="#VacuumRelease"/>
- <hasSubskill rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part7"/>
- </CompoundManipulationAndHandlingFunction>
- </isSubskillOf>
- <hasSubskill rdf:resource="#IPA_AMMS_MoveDown"/>
- <hasSubskill rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part6"/>
- </CompoundManipulationAndHandlingFunction>
- </isSubskillOf>
- <hasSubskill rdf:resource="#IPA_AMMS_MoveFront"/>
- <hasSubskill rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part5"/>
- </CompoundManipulationAndHandlingFunction>
- </isSubskillOf>
- <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part2"/>
- <isSubskillOf rdf:resource="#AMMS_IPA_PICK_2DOF_Part1"/>
- <isSubskillOf rdf:resource="#AMMS_IPA_PLACE_2DOF_Part1"/>
- <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
- <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF"/>
- </Displace>
- </hasSkill>
- <hasSkill rdf:resource="#IPA_AMMS_MoveBack"/>
- <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >2DOF-Gripper of the IPA AMMS Demonstrator.</rdfs:comment>
- <hasSkill rdf:resource="#AMMS_IPA_PLACE_2DOF"/>
- <hasSkill rdf:resource="#IPA_AMMS_MoveDown"/>
- <hasSkill rdf:resource="#IPA_AMMS_MoveUp"/>
- <hasSkill rdf:resource="#AMMS_IPA_PICK_2DOF"/>
- <hasProperty rdf:resource="#DegreesOfFreedom_2"/>
- <hasProperty rdf:resource="#MaxAmbientTemperature_40"/>
- <hasProperty rdf:resource="#MinAmbientTemperature_0"/>
- <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
- </VacuumGripper>
- </isPropertyOf>
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
- <isPropertyOf rdf:resource="#IPA_AMMS_Carrier-2DOF"/>
- <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
- <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
- <isPropertyOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
- <hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#IPA_AMMS_FilterOrientator"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >Fast Ethernet</value>
- </BusInterface>
- </hasProperty>
- <hasProperty rdf:resource="#TypeOfActuation_Electric"/>
- <hasProperty rdf:resource="#IntelligentCtrl_1"/>
- <hasProperty>
- <MinAmbientTemperature rdf:ID="MinAmbientTemperature_-15">
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >-15.0</value>
- </MinAmbientTemperature>
- </hasProperty>
- <hasProperty>
- <Repeatability rdf:ID="Repeatability_0.1">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.1</value>
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
- <hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
- <isPropertyOf rdf:resource="http://www.owl-ontologies.com/siaras.owl#Schunk_MPG_64"/>
- <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
- </Repeatability>
- </hasProperty>
- <hasSkill rdf:resource="#AsFastAsPossible_28"/>
- <hasSkill rdf:resource="#Circular_29"/>
- <hasIdentifier>
- <Identifier rdf:ID="ID_CLOOS_R410">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >CLOOS_R410</value>
- </Identifier>
- </hasIdentifier>
- </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 rdf:resource="#NumberOfJoints_6"/>
- <hasProperty rdf:resource="#DegreesOfFreedom_6"/>
- <hasSkill rdf:resource="#AsFastAsPossible_28"/>
- <hasProperty rdf:resource="#Payload_5.0"/>
- <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="#MinVoltageSupply_200"/>
- <hasSkill>
- <Detach rdf:ID="Detach_SIARAS">
- <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
- <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
- <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
- </Detach>
- </hasSkill>
- <hasSkill>
- <Attach rdf:ID="Attach_SIARAS">
- <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
- <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
- <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
- </Attach>
- </hasSkill>
- <hasSkill>
- <Displace rdf:ID="L_Move">
- <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
- <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
- <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
- </Displace>
- </hasSkill>
- <hasProperty>
- <Repeatability rdf:ID="Repeatability_0.03">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.03</value>
- <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
- <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
- <isPropertyOf rdf:resource="http://www.owl-ontologies.com/siaras.owl#Schunk_MPG_64"/>
- <hasEditable rdf:resource="#isEditable_false"/>
- </Repeatability>
- </hasProperty>
- <hasProperty>
- <Weight rdf:ID="Weight_460">
- <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >460.0</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- </Weight>
- </hasProperty>
- <hasSkill rdf:resource="#Karthesian_30"/>
- <hasIdentifier>
- <Identifier rdf:ID="ID_ABB_IRB-140">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >ABB_IRB-140</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- </Identifier>
- </hasIdentifier>
- <hasProperty>
- <Reachability rdf:ID="Reachability_810">
- <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
- <hasEditable rdf:resource="#isEditable_false"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
- >810</value>
- </Reachability>
- </hasProperty>
- <hasProperty>
- <MaxVoltageSupply rdf:ID="MaxVoltageSupply_600">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >600.0</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
- </MaxVoltageSupply>
- </hasProperty>
- <hasProperty rdf:resource="#MaxAmbientTemperature_45"/>
- <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
- <hasProperty>
- <MinAmbientTemperature rdf:ID="MinAmbientTemperature_5">
- <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >5.0</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="http://www.owl-ontologies.com/siaras.owl#Schunk_MPG_64"/>
- <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
- <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
- <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
- <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
- </MinAmbientTemperature>
- </hasProperty>
- <hasProperty rdf:resource="#TypeOfActuation_Electric"/> </ArticulatedRobot>
- </isPropertyOf>
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
+ <hasProperty>
+ <ElectricalMedia rdf:ID="ElectricalInterface_193">
+ <isPropertyOf rdf:resource="#SmartCamera_22"/>
+ <isPropertyOf rdf:resource="#SmartCamera_20"/>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >Connector M12, 8 Pins</value>
+ </ElectricalMedia>
+ </hasProperty>
+ <hasProperty rdf:resource="#EnclosureRatingIP_85"/>
+ <hasSkill>
+ <CheckPosition rdf:ID="CheckPosition_189">
+ <isSkillOf rdf:resource="#SmartCamera_20"/>
+ <isSkillOf rdf:resource="#SmartCamera_22"/>
+ </CheckPosition>
+ </hasSkill>
+ <hasSkill>
+ <MeasureAngle rdf:ID="MeasureAngle_188">
+ <isSkillOf rdf:resource="#SmartCamera_20"/>
+ <isSkillOf rdf:resource="#SmartCamera_22"/>
+ </MeasureAngle>
+ </hasSkill>
+ <hasProperty>
+ <Height rdf:ID="Height_195">
+ <isPropertyOf rdf:resource="#SmartCamera_22"/>
+ <isPropertyOf rdf:resource="#SmartCamera_20"/>
+ <hasEditable rdf:resource="#isEditable_9"/>
<value
rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
- >45.0</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- </MaxAmbientTemperature>
+ >55.0</value>
+ </Height>
</hasProperty>
- <hasProperty rdf:resource="#Repeatability_0.1"/>
- <hasProperty rdf:resource="#MinAmbientTemperature_-15"/>
- <hasSkill rdf:resource="#Circular_29"/>
- <hasSkill rdf:resource="#Karthesian_30"/>
- <hasProperty rdf:resource="#TypeOfActuation_Electric"/>
- <hasProperty rdf:resource="#BusInterface_RS232"/>
- <hasProperty rdf:resource="#MaxVoltageSupply_450"/>
+ <hasSkill>
+ <MeasurePositionOfObject rdf:ID="MeasurePositionOfObject_73">
+ <isSkillOf rdf:resource="#SmartCamera_20"/>
+ <isSkillOf rdf:resource="#SmartCamera_22"/>
+ <isSkillOf rdf:resource="#LaserScanner2D_70"/>
+ </MeasurePositionOfObject>
+ </hasSkill>
+ <hasProperty rdf:resource="#MaxMeasurementRange_191"/>
<hasProperty>
- <Reachability rdf:ID="Reachability_2215">
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
+ <Length rdf:ID="Length_198">
<value
rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#integer"
- >2215</value>
- </Reachability>
+ "http://www.w3.org/2001/XMLSchema#float"
+ >161.0</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#SmartCamera_22"/>
+ <isPropertyOf rdf:resource="#SmartCamera_20"/>
+ </Length>
</hasProperty>
- <hasProperty rdf:resource="#IntelligentCtrl_1"/>
- <hasProperty rdf:resource="#NumberOfJoints_6"/>
- <hasSkill rdf:resource="#AsFastAsPossible_28"/>
- <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
- <hasProperty rdf:resource="#PowerConsumption_3"/>
+ <hasProperty rdf:resource="#MinVoltageSupply_158"/>
+ <hasQualProperty>
+ <Cost rdf:ID="Cost_2000">
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#double"
+ >2000</value>
+ <isQualProperty rdf:resource="#SmartCamera_20"/>
+ <isQualProperty rdf:resource="#SmartCamera_22"/>
+ <isQualProperty rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Cost>
+ </hasQualProperty>
+ <hasSkill>
+ <ReadBrailleCode rdf:ID="ReadBrailleCode_1">
+ <isSkillOf rdf:resource="#SmartCamera_20"/>
+ </ReadBrailleCode>
+ </hasSkill>
+ <hasSkill>
+ <ClassifyObject rdf:ID="ClassifyObject_190">
+ <isSkillOf rdf:resource="#SmartCamera_20"/>
+ <isSkillOf rdf:resource="#SmartCamera_22"/>
+ </ClassifyObject>
+ </hasSkill>
<hasIdentifier>
- <Identifier rdf:ID="ID_CLOOS_R350">
+ <Identifier rdf:ID="Identifier_204">
+ <hasEditable rdf:resource="#isEditable_9"/>
<value
rdf:datatype=
"http://www.w3.org/2001/XMLSchema#string"
- >CLOOS_R350</value>
+ >SmartCamera_20</value>
</Identifier>
</hasIdentifier>
- <hasProperty rdf:resource="#Weight_205"/>
- <hasProperty rdf:resource="#EnclosureRatingIP_54"/>
- <hasProperty rdf:resource="#MinVoltageSupply_350"/>
- <hasProperty rdf:resource="#DegreesOfFreedom_6"/>
- <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>
- </ArticulatedRobot>
+ <hasSkill>
+ <MeasureArea rdf:ID="MeasureArea_187">
+ <isSkillOf rdf:resource="#SmartCamera_20"/>
+ <isSkillOf rdf:resource="#SmartCamera_22"/>
+ </MeasureArea>
+ </hasSkill>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_79"/>
+ <hasSkill>
+ <Count rdf:ID="Count_72">
+ <isSkillOf rdf:resource="#SmartCamera_20"/>
+ <isSkillOf rdf:resource="#SmartCamera_22"/>
+ <isSkillOf rdf:resource="#LaserScanner2D_70"/>
+ </Count>
+ </hasSkill>
+ </SmartCamera>
</isPropertyOf>
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
- <isPropertyOf rdf:resource="http://www.owl-ontologies.com/siaras.owl#Schunk_MPG_64"/>
- <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#string"
- >30</value>
- <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
- </EnclosureRatingIP>
+ </MaxMeasurementRange>
</hasProperty>
- <hasProperty rdf:resource="#Payload_15"/>
- <hasProperty rdf:resource="#NumberOfJoints_6"/>
- <hasProperty rdf:resource="#Repeatability_0.1"/>
- <hasProperty rdf:resource="#IntelligentCtrl_1"/>
+ <hasProperty rdf:resource="#Length_198"/>
+ <hasSkill rdf:resource="#MeasurePositionOfObject_73"/>
+ <hasSkill rdf:resource="#ClassifyObject_190"/>
+ <hasSkill>
+ <ReadBarCode rdf:ID="ReadBarCode_26">
+ <isSkillOf rdf:resource="#SmartCamera_22"/>
+ <isSkillOf rdf:resource="#SmartCamera_24"/>
+ </ReadBarCode>
+ </hasSkill>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_79"/>
+ <hasSkill rdf:resource="#Count_72"/>
+ <hasProperty rdf:resource="#MinVoltageSupply_158"/>
+ <hasQualProperty rdf:resource="#Cost_2000"/>
+ <hasSkill rdf:resource="#MeasureArea_187"/>
+ <hasProperty rdf:resource="#Width_194"/>
+ <hasProperty rdf:resource="#MaxCurrentConsumption_197"/>
+ <hasProperty rdf:resource="#SwitchingFrequency_201"/>
+ <hasProperty rdf:resource="#MaxVoltageSupply_156"/>
+ <hasProperty rdf:resource="#MinAmbientTemperature_69"/>
+ <hasProperty rdf:resource="#ElectricalInterface_193"/>
+ <hasSkill rdf:resource="#CheckPresence_186"/>
+ <hasProperty rdf:resource="#Weight_199"/>
<hasIdentifier>
- <Identifier rdf:ID="ID_CLOOS_R320">
+ <Identifier rdf:ID="Identifier_202">
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#string"
- >CLOOS_R320</value>
+ >SmartCamera_22</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
</Identifier>
</hasIdentifier>
- <hasProperty rdf:resource="#MinVoltageSupply_350"/>
- <hasProperty rdf:resource="#MaxAmbientTemperature_45"/>
- <hasProperty rdf:resource="#TypeOfActuation_Electric"/>
- <hasSkill rdf:resource="#AsFastAsPossible_28"/>
- <hasProperty rdf:resource="#DegreesOfFreedom_6"/>
- <hasSkill rdf:resource="#Karthesian_30"/>
- <hasProperty rdf:resource="#Weight_205"/>
- <hasProperty rdf:resource="#MaxVoltageSupply_450"/>
- <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
- <hasProperty rdf:resource="#MinAmbientTemperature_-15"/>
- <hasProperty rdf:resource="#PowerConsumption_3"/>
+ <hasSkill rdf:resource="#MeasureDiameter_185"/>
+ <hasSkill rdf:resource="#CheckPosition_189"/>
+ <hasProperty rdf:resource="#IntelligentCtrl_19"/>
+ <hasSkill>
+ <ReadOpticalCharacters rdf:ID="ReadOpticalCharacters_23">
+ <isSkillOf rdf:resource="#SmartCamera_22"/>
+ <isSkillOf rdf:resource="#SmartCamera_24"/>
+ </ReadOpticalCharacters>
+ </hasSkill>
<hasProperty>
- <Reachability rdf:ID="Reachability_2100">
+ <Resolution rdf:ID="Resolution_196">
+ <isPropertyOf rdf:resource="#SmartCamera_22"/>
+ <hasEditable rdf:resource="#isEditable_9"/>
<value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#integer"
- >2100</value>
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
- </Reachability>
+ "http://www.w3.org/2001/XMLSchema#string"
+ >1024x768</value>
+ </Resolution>
</hasProperty>
- <hasSkill rdf:resource="#Circular_29"/>
- <hasProperty rdf:resource="#BusInterface_RS232"/>
- </ArticulatedRobot>
+ <hasSkill>
+ <Read2DMatrixCode rdf:ID="Read2DMatrixCode_25">
+ <isSkillOf rdf:resource="#SmartCamera_22"/>
+ <isSkillOf rdf:resource="#SmartCamera_24"/>
+ </Read2DMatrixCode>
+ </hasSkill>
+ <hasProperty rdf:resource="#MinMeasurementRange_192"/>
+ <hasSkill rdf:resource="#MeasureOrientationOfObject_21"/>
+ <hasSkill rdf:resource="#MeasureAngle_188"/>
+ <hasProperty rdf:resource="#ElectricalInterface_40"/>
+ <hasProperty rdf:resource="#Height_195"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_85"/>
+ </SmartCamera>
</isPropertyOf>
- <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
- <hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#string"
- >yes</value>
- </IntelligentCtrl>
- </hasProperty>
- <hasProperty>
- <MinMeasurementRange rdf:ID="MinMeasurementRange_0.10">
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >0.1</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
- <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
- </MinMeasurementRange>
- </hasProperty>
- <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
- <hasProperty rdf:resource="#MaxAmbientTemperature_50"/>
- <hasProperty>
- <BusInterface rdf:ID="BusInterface_RS485">
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#string"
- >RS485</value>
- <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
- <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
- <hasEditable rdf:resource="#isEditable_false"/>
- </BusInterface>
- </hasProperty>
- <hasSkill>
- <CheckPresence rdf:ID="CheckPresence_1">
- <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
- <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
- </CheckPresence>
- </hasSkill>
- <hasSkill>
- <CheckPosition rdf:ID="CheckPosition_1">
- <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
- <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
- </CheckPosition>
- </hasSkill>
- <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>
- <Height rdf:ID="Height_55">
- <hasEditable rdf:resource="#isEditable_false"/>
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >55.0</value>
- <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
- <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
- </Height>
- </hasProperty>
- <hasProperty>
- <Width rdf:ID="Width_60">
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >60.0</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
- <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
- </Width>
- </hasProperty>
- <hasProperty rdf:resource="#MaxCurrentConsumption_0.4"/>
- <hasSkill>
- <MeasureDiameter rdf:ID="MeasureDiameter_1">
- <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
- <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
- </MeasureDiameter>
- </hasSkill>
- <hasQualProperty>
- <Cost rdf:ID="Cost_3000">
- <hasEditable rdf:resource="#isEditable_false"/>
- <isQualProperty rdf:resource="#Sick_IVC-2DM1111"/>
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#double"
- >3000</value>
- </Cost>
- </hasQualProperty>
- <hasSkill>
- <MeasureOrientationOfObject rdf:ID="MeasureOrientationOfObject_1">
- <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
- <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
- </MeasureOrientationOfObject>
- </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>
- <ElectricalInterface rdf:ID="ElectricalInterface_ConnectorM12-8Pins">
- <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
- <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#string"
- >Connector M12, 8 Pins</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- </ElectricalInterface>
- </hasProperty>
- <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
- <hasProperty rdf:resource="#MinAmbientTemperature_0"/>
- <hasProperty>
- <Weight rdf:ID="Weight_0.5">
+ <isPropertyOf rdf:resource="#SmartCamera_20"/>
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
- >0.5</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
- <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
- </Weight>
+ >0.0</value>
+ </MinAmbientTemperature>
</hasProperty>
<hasProperty>
- <MaxVoltageSupply rdf:ID="MaxVoltageSupply_28.8">
- <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"/>
+ <MinVoltageSupply rdf:ID="MinVoltageSupply_29">
+ <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
+ <isPropertyOf rdf:resource="#VisionSensor_65"/>
+ <isPropertyOf rdf:resource="#OpticLuminescenceScanner_30"/>
+ <hasEditable rdf:resource="#isEditable_9"/>
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
- >28.8</value>
- </MaxVoltageSupply>
+ >12.0</value>
+ </MinVoltageSupply>
</hasProperty>
<hasProperty>
- <MaxMeasurementRange rdf:ID="MaxMeasurementRange_1">
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >1.0</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
- <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
- </MaxMeasurementRange>
- </hasProperty>
- <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
- <hasSkill>
- <ClassifyObject rdf:ID="ClassifyObject_1">
- <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
- <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
- </ClassifyObject>
- </hasSkill>
- <hasSkill rdf:resource="#DeterminePositionOfObject_1"/>
- <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>
- <hasQualProperty>
- <Cost rdf:ID="Cost_6000">
- <hasEditable rdf:resource="#isEditable_false"/>
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#double"
- >6000</value>
- <isQualProperty>
- <LaserScanner2D rdf:ID="LaserScanner2D_70">
- <hasProperty>
- <Resolution rdf:ID="Resolution_86">
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#LaserScanner2D_70"/>
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >0.5</value>
- </Resolution>
- </hasProperty>
- <hasProperty>
- <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_79">
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >50.0</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#SmartCamera_20"/>
- <isPropertyOf rdf:resource="#SmartCamera_22"/>
- <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/>
- <isPropertyOf rdf:resource="#LaserScanner2D_70"/>
- </MaxAmbientTemperature>
- </hasProperty>
+ <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_67">
+ <isPropertyOf>
+ <ScaraRobot rdf:ID="ScaraRobot_3">
<hasSkill>
- <MeasurePositionOfObject rdf:ID="MeasurePositionOfObject_73">
- <isSkillOf rdf:resource="#SmartCamera_20"/>
- <isSkillOf rdf:resource="#SmartCamera_22"/>
- <isSkillOf rdf:resource="#LaserScanner2D_70"/>
- </MeasurePositionOfObject>
- </hasSkill>
- <hasProperty>
- <Weight rdf:ID="Weight_82">
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >4.5</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#LaserScanner2D_70"/>
- </Weight>
- </hasProperty>
- <hasProperty>
- <MaxMeasurementRange rdf:ID="MaxMeasurementRange_84">
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#LaserScanner2D_70"/>
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >80.0</value>
- </MaxMeasurementRange>
- </hasProperty>
- <hasProperty>
- <PowerConsumption rdf:ID="PowerConsumption_81">
- <isPropertyOf rdf:resource="#LaserScanner2D_70"/>
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >20.0</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- </PowerConsumption>
- </hasProperty>
- <hasProperty>
- <Resolution rdf:ID="Resolution_88">
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >0.01</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#LaserScanner2D_70"/>
- </Resolution>
- </hasProperty>
- <hasProperty>
- <MinVoltageSupply rdf:ID="MinVoltageSupply_83">
- <isPropertyOf rdf:resource="#LaserScanner2D_70"/>
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >20.4</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- </MinVoltageSupply>
- </hasProperty>
- <hasProperty>
- <ResponseTime rdf:ID="ResponseTime_78">
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#LaserScanner2D_70"/>
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >0.026</value>
- </ResponseTime>
- </hasProperty>
- <hasQualProperty rdf:resource="#Cost_6000"/>
- <hasProperty>
- <LaserClass rdf:ID="LaserClass_80">
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#string"
- >1</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#LaserScanner2D_70"/>
- </LaserClass>
- </hasProperty>
- <hasProperty>
- <MinAmbientTemperature rdf:ID="MinAmbientTemperature_69">
- <isPropertyOf rdf:resource="#SmartCamera_20"/>
- <isPropertyOf rdf:resource="#SmartCamera_22"/>
- <isPropertyOf>
- <VisionSensor rdf:ID="VisionSensor_65">
- <hasProperty rdf:resource="#MinAmbientTemperature_69"/>
+ <AsFastAsPossible rdf:ID="AsFastAsPossible_6">
+ <isSkillOf rdf:resource="#ScaraRobot_3"/>
+ <isSkillOf>
+ <ScaraRobot rdf:ID="ScaraRobot_7">
+ <hasIdentifier>
+ <Identifier rdf:ID="Identifier_224">
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >Staeubli_RS80</value>
+ </Identifier>
+ </hasIdentifier>
<hasProperty>
- <MinVoltageSupply rdf:ID="MinVoltageSupply_29">
+ <EnclosureRatingIP rdf:ID="EnclosureRatingIP_16">
+ <isPropertyOf rdf:resource="#ScaraRobot_3"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_7"/>
+ <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_11"/>
+ <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_17"/>
<hasEditable rdf:resource="#isEditable_9"/>
<value
rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >12.0</value>
- <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
- <isPropertyOf rdf:resource="#VisionSensor_65"/>
- <isPropertyOf rdf:resource="#OpticLuminescenceScanner_30"/>
- </MinVoltageSupply>
+ "http://www.w3.org/2001/XMLSchema#string"
+ >30</value>
+ </EnclosureRatingIP>
</hasProperty>
<hasProperty>
- <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_67">
+ <Payload rdf:ID="Payload_222">
<hasEditable rdf:resource="#isEditable_9"/>
<value
rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
- >40.0</value>
+ >2.0</value>
<isPropertyOf rdf:resource="#ScaraRobot_3"/>
<isPropertyOf rdf:resource="#ScaraRobot_7"/>
- <isPropertyOf rdf:resource="#VisionSensor_65"/>
- </MaxAmbientTemperature>
+ <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_11"/>
+ </Payload>
</hasProperty>
+ <hasSkill rdf:resource="#AsFastAsPossible_6"/>
<hasProperty>
- <LightType rdf:ID="LightType_93">
- <isPropertyOf rdf:resource="#VisionSensor_65"/>
- <hasEditable rdf:resource="#isEditable_9"/>
+ <TypeOfActuation rdf:ID="TypeOfActuation_12">
<value
rdf:datatype=
"http://www.w3.org/2001/XMLSchema#string"
- >LEDwhite</value>
- </LightType>
+ >Electric</value>
+ <isPropertyOf rdf:resource="#ScaraRobot_3"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_7"/>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ </TypeOfActuation>
</hasProperty>
<hasProperty>
- <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_64">
- <isPropertyOf>
- <LightGrid rdf:ID="LightGrid_57">
- <hasProperty>
- <LightType rdf:ID="LightType_62">
- <isPropertyOf rdf:resource="#LightGrid_57"/>
- <hasEditable rdf:resource="#isEditable_9"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >LEDinfrared</value>
- </LightType>
- </hasProperty>
- <hasIdentifier>
- <Identifier rdf:ID="Identifier_101">
- <hasEditable rdf:resource="#isEditable_9"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >Sick_MLG2-0280F511</value>
- </Identifier>
- </hasIdentifier>
- <hasProperty>
- <ResponseTime rdf:ID="ResponseTime_60">
- <hasEditable rdf:resource="#isEditable_9"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.0030</value>
- <isPropertyOf rdf:resource="#LightGrid_57"/>
- </ResponseTime>
- </hasProperty>
- <hasProperty rdf:resource="#MaxAmbientTemperature_61"/>
- <hasProperty>
- <MaxMeasurementRange rdf:ID="MaxMeasurementRange_63">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >5.0</value>
- <isPropertyOf rdf:resource="#OpticReflexSwitch_37"/>
- <isPropertyOf rdf:resource="#LightGrid_57"/>
- <hasEditable rdf:resource="#isEditable_9"/>
- </MaxMeasurementRange>
- </hasProperty>
- <hasProperty rdf:resource="#MaxCurrentConsumption_64"/>
- <hasProperty rdf:resource="#MaxVoltageSupply_36"/>
- <hasProperty>
- <MinAmbientTemperature rdf:ID="MinAmbientTemperature_100">
- <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/>
- <isPropertyOf rdf:resource="#LightGrid_57"/>
- <hasEditable rdf:resource="#isEditable_9"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >-25.0</value>
- </MinAmbientTemperature>
- </hasProperty>
- <hasProperty>
- <MinVoltageSupply rdf:ID="MinVoltageSupply_59">
- <hasEditable rdf:resource="#isEditable_9"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >15.0</value>
- <isPropertyOf rdf:resource="#LightGrid_57"/>
- </MinVoltageSupply>
- </hasProperty>
+ <Reachability rdf:ID="Reachability_221">
+ <isPropertyOf rdf:resource="#ScaraRobot_7"/>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#integer"
+ >800</value>
+ </Reachability>
+ </hasProperty>
+ <hasProperty>
+ <Repeatability rdf:ID="Repeatability_223">
+ <isQualProperty>
+ <MechanicalFixture rdf:ID="MechanicalFixture_1">
+ <hasSkill>
+ <Detach rdf:ID="WorkpieceRelease">
+ <isSkillOf rdf:resource="#MechanicalFixture_1"/>
+ </Detach>
+ </hasSkill>
<hasSkill>
- <DetectObject rdf:ID="DetectObject_58">
- <isSkillOf rdf:resource="#LightGrid_57"/>
- </DetectObject>
+ <Attach rdf:ID="WorkpieceFix">
+ <isSkillOf rdf:resource="#MechanicalFixture_1"/>
+ </Attach>
</hasSkill>
+ <hasQualProperty rdf:resource="#Repeatability_223"/>
+ <hasQualProperty rdf:resource="#Cost_1000"/>
<hasProperty>
- <EnclosureRatingIP rdf:ID="EnclosureRatingIP_85">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >65</value>
- <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_17"/>
- <isPropertyOf rdf:resource="#LaserScanner2D_70"/>
- <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
- <isPropertyOf rdf:resource="#SmartCamera_20"/>
+ <DigitalIn rdf:ID="DigitalIn_1">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#unsignedInt"
+ >1</value>
+ <isPropertyOf rdf:resource="#MechanicalFixture_1"/>
+ </DigitalIn>
+ </hasProperty> </MechanicalFixture>
+ </isQualProperty>
+ <isPropertyOf rdf:resource="#ScaraRobot_3"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_7"/>
+ <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_11"/>
+ <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_17"/>
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >0.01</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ </Repeatability>
+ </hasProperty>
+ <hasSkill>
+ <Karthesian rdf:ID="Karthesian_2">
+ <isSkillOf rdf:resource="#ScaraRobot_7"/>
+ <isSkillOf rdf:resource="#ScaraRobot_3"/>
+ </Karthesian>
+ </hasSkill>
+ <hasProperty>
+ <Weight rdf:ID="Weight_10">
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_7"/>
+ <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_11"/>
+ <isPropertyOf>
+ <DrillMachine rdf:ID="Bosch_GBM_13_RE_Heavy">
+ <hasProperty>
+ <ChuckDiameter rdf:ID="ChuckDiameter_13">
<isPropertyOf>
- <OpticDistanceSensor rdf:ID="OpticDistanceSensor_45">
- <hasProperty rdf:resource="#EnclosureRatingIP_85"/>
- <hasProperty rdf:resource="#SwitchingFrequency_44"/>
+ <DrillMachine rdf:ID="Bosch_GBM_13_RE">
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_Bosch_GBM_13_RE">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Bosch_GBM_13_RE</value>
+ </Identifier>
+ </hasIdentifier>
+ <hasSkill>
+ <StartDrillRotation rdf:ID="StartRotation_SIARAS">
+ <isSkillOf>
+ <Manufacturing rdf:ID="Drill_SIARAS">
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_Drill_SIARAS">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Drill_SIARAS</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Identifier>
+ </hasIdentifier>
+ <hasProperty>
+ <Accuracy rdf:ID="Accuracy_0.0030">
+ <isPropertyOf rdf:resource="#Drill_SIARAS"/>
+ <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.0030</value>
+ </Accuracy>
+ </hasProperty>
+ <hasSkill rdf:resource="#StartRotation_SIARAS"/>
+ <hasSkill>
+ <StopDrillRotation rdf:ID="StopRotation_SIARAS">
+ <isSkillOf rdf:resource="#Drill_SIARAS"/>
+ <isSkillOf>
+ <DrillMachine rdf:ID="Bosch_GBM_10_RE">
+ <hasProperty>
+ <ChuckDiameter rdf:ID="ChuckDiameter_9">
+ <isPropertyOf rdf:resource="#Bosch_GBM_10_RE"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >9</value>
+ </ChuckDiameter>
+ </hasProperty>
+ <hasProperty>
+ <Weight rdf:ID="Weight_1.6">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >1.6</value>
+ <isPropertyOf>
+ <OpticDistanceSensor rdf:ID="Sick_DME5000-112">
+ <hasProperty rdf:resource="#SwitchingFrequency_1000"/>
+ <hasProperty rdf:resource="#Weight_1.6"/>
+ <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>
+ <MeasureDistance rdf:ID="MeasureDistance_1">
+ <isSkillOf rdf:resource="#Sick_DT10-P10B5"/>
+ <isSkillOf rdf:resource="#Sick_DME5000-112"/>
+ </MeasureDistance>
+ </hasSkill>
+ <hasProperty>
+ <MinVoltageSupply rdf:ID="MinVoltageSupply_18">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >18.0</value>
+ <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </MinVoltageSupply>
+ </hasProperty>
+ <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
+ <hasProperty>
+ <MaxMeasurementRange rdf:ID="MaxMeasurementRange_70">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >70.0</value>
+ <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
+ </MaxMeasurementRange>
+ </hasProperty>
+ <hasProperty>
+ <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.3">
+ <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
+ <isPropertyOf>
+ <SmartCamera rdf:ID="VisionComponents-VC4465">
+ <hasProperty>
+ <Resolution rdf:ID="Resolution_800x600">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >800x600</value>
+ </Resolution>
+ </hasProperty>
+ <hasSkill>
+ <DetectColor rdf:ID="DetectColor_3">
+ <isSkillOf>
+ <OpticColorSensor rdf:ID="Sensopart_FL64C">
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_Sensopart_FL64C">
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >Sensopart_FL64C</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Identifier>
+ </hasIdentifier>
+ <hasProperty>
+ <MinVoltageSupply rdf:ID="MinVoltageSupply_10.0">
+ <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
+ <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
+ <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
+ <isPropertyOf>
+ <OpticReflexSwitch rdf:ID="Sick_WL18-3P430">
+ <hasProperty>
+ <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_60">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >60.0</value>
+ <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
+ <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
+ <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
+ <hasEditable rdf:resource="#isEditable_false"/> </MaxAmbientTemperature>
+ </hasProperty>
+ <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
+ <hasProperty>
+ <MinMeasurementRange rdf:ID="MinMeasurementRange_0">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.0</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
+ <isPropertyOf rdf:resource="#Sick_WL18-3P430"/> </MinMeasurementRange>
+ </hasProperty>
+ <hasProperty>
+ <EnclosureRatingIP rdf:ID="EnclosureRatingIP_67">
+ <isPropertyOf rdf:resource="http://www.owl-ontologies.com/siaras.owl#Schunk_MPG_64"/>
+ <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
+ <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
+ <isPropertyOf>
+ <OpticColorSensor rdf:ID="Sick_CS81-P1112">
+ <hasProperty>
+ <ScanningDistance rdf:ID="ScanningDistance_0.0125">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.0125</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf>
+ <OpticColorSensor rdf:ID="Sick_CSM1-N1114">
+ <hasProperty>
+ <LightType rdf:ID="LightType_LEDgreen">
+ <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
+ <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
+ <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >LEDgreen</value>
+ </LightType>
+ </hasProperty>
+ <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
+ <hasProperty>
+ <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_55">
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <isPropertyOf>
+ <OpticLuminescenceScanner rdf:ID="Sick_LUT3-610">
+ <hasProperty>
+ <MinAmbientTemperature rdf:ID="MinAmbientTemperature_-10">
+ <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
+ <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
+ <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
+ <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
+ <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
+ <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >-10.0</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </MinAmbientTemperature>
+ </hasProperty>
+ <hasProperty>
+ <ResponseTime rdf:ID="ResponseTime_0.0003">
+ <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >3.0E-4</value>
+ </ResponseTime>
+ </hasProperty>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_55"/>
+ <hasProperty rdf:resource="#Weight_0.4"/>
+ <hasProperty>
+ <ScanningDistance rdf:ID="ScanningDistance_0.01">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.01</value>
+ <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
+ <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
+ <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
+ </ScanningDistance>
+ </hasProperty>
+ <hasSkill>
+ <DetectLuminescence rdf:ID="DetectLuminescence_1">
+ <isSkillOf rdf:resource="#Sick_LUT3-610"/>
+ </DetectLuminescence>
+ </hasSkill>
+ <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
+ <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
+ <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>
+ <VisionSensor rdf:ID="Sick_CVS2-P112">
+ <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>
+ <hasSkill>
+ <SortObjects rdf:ID="SortObjectColor_15">
+ <isSkillOf rdf:resource="#Sick_CVS2-P112"/>
+ </SortObjects>
+ </hasSkill>
+ <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>
+ <SimpleKinematicRobot rdf:ID="IPA_AMMS_FilterOrientator">
+ <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>
+ <hasProperty>
+ <MinAmbientTemperature rdf:ID="MinAmbientTemperature_0">
+ <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
+ <rdfs:comment rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >in degrees celsius</rdfs:comment>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#IPA_AMMS_FilterOrientator"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isPropertyOf>
+ <VacuumGripper rdf:ID="IPA_AMMS_SimpleGripper-2DOF-Turnable">
+ <hasSkill>
+ <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PLACE_2DOF">
+ <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
+ <isSkillOf>
+ <VacuumGripper rdf:ID="IPA_AMMS_SimpleGripper-2DOF">
+ <hasProperty rdf:resource="#MaxVoltageSupply_24"/>
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_IPA_AMMS_SimpleGripper-2DOF">
+ <hasEditable>
+ <isEditable rdf:ID="isEditable_true">
+ <isPropertyOf>
+ <Controller rdf:ID="CellController">
+ <hasSkill>
+ <PerformSelfTest rdf:ID="PerformSelfTest_3">
+ <isSkillOf>
+ <Controller rdf:ID="ABB_IRC5">
+ <hasSubDevice>
+ <CommunicationPort rdf:ID="IO_Board_d328">
+ <hasSkill>
+ <Read rdf:ID="Read_6">
+ <isSkillOf rdf:resource="#IO_Board_d328"/>
+ </Read>
+ </hasSkill>
+ <hasIdentifier>
+ <Identifier rdf:ID="Identifier_9">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >dig328</value>
+ </Identifier>
+ </hasIdentifier>
+ <isSubDeviceOf rdf:resource="#ABB_IRC5"/>
+ <hasQualProperty rdf:resource="#Cost_1000"/>
+ <hasProperty>
+ <Weight rdf:ID="Weight_0.18">
+ <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
+ <isPropertyOf rdf:resource="#IO_Board_d328"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.18</value>
+ </Weight>
+ </hasProperty>
+ <hasProperty>
+ <ParallelOutSignal rdf:ID="DigitalOut_16">
+ <isPropertyOf rdf:resource="#IO_Board_d328"/>
+ </ParallelOutSignal>
+ </hasProperty>
+ <hasProperty>
+ <ParallelInSignal rdf:ID="DigitalIn_16">
+ <isPropertyOf rdf:resource="#IO_Board_d328"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#unsignedInt"
+ >16</value>
+ </ParallelInSignal>
+ </hasProperty>
+ </CommunicationPort>
+ </hasSubDevice>
+ <hasSubDevice>
+ <CommunicationPort rdf:ID="IRC5_NIC0">
+ <hasSkill rdf:resource="#PerformSelfTest_3"/>
+ <isSubDeviceOf rdf:resource="#ABB_IRC5"/>
+ <hasProperty>
+ <ElectricalMedia rdf:ID="Ethernet_100BaseT">
+ <isPropertyOf rdf:resource="#IRC5_NIC0"/>
+ <isPropertyOf>
+ <CommunicationPort rdf:ID="SmartCameraNIC">
+ <hasProperty>
+ <TransportProtocol rdf:ID="TCP">
+ <isPropertyOf rdf:resource="#IRC5_NIC0"/>
+ <isPropertyOf rdf:resource="#SmartCameraNIC"/>
+ <isPropertyOf>
+ <CommunicationPort rdf:ID="eth0">
+ <hasProperty>
+ <Plug rdf:ID="RJ45">
+ <isPropertyOf rdf:resource="#IRC5_NIC0"/>
+ <isPropertyOf rdf:resource="#SmartCameraNIC"/>
+ <isPropertyOf rdf:resource="#eth0"/>
+ </Plug>
+ </hasProperty>
+ <hasProperty>
+ <SerialInOutSignal rdf:ID="Ethernet">
+ <isPropertyOf rdf:resource="#IRC5_NIC0"/>
+ <isPropertyOf rdf:resource="#SmartCameraNIC"/>
+ <isPropertyOf rdf:resource="#eth0"/>
+ </SerialInOutSignal>
+ </hasProperty>
+ <hasProperty>
+ <ApplicationProtocol rdf:ID="FTP">
+ <isPropertyOf rdf:resource="#IRC5_NIC0"/>
+ <isPropertyOf rdf:resource="#SmartCameraNIC"/>
+ <isPropertyOf rdf:resource="#eth0"/>
+ </ApplicationProtocol>
+ </hasProperty>
+ <hasProperty>
+ <Protocol rdf:ID="UPnP">
+ <isPropertyOf rdf:resource="#SmartCameraNIC"/>
+ <isPropertyOf rdf:resource="#eth0"/>
+ </Protocol>
+ </hasProperty>
+ <hasProperty rdf:resource="#Ethernet_100BaseT"/>
+ <hasQualProperty rdf:resource="#Cost_1000"/>
+ <hasSkill rdf:resource="#PerformSelfTest_3"/>
+ <hasProperty rdf:resource="#TCP"/>
+ <isSubDeviceOf rdf:resource="#CellController"/>
+ </CommunicationPort>
+ </isPropertyOf>
+ </TransportProtocol>
+ </hasProperty>
+ <hasProperty rdf:resource="#FTP"/>
+ <isSubDeviceOf rdf:resource="#Sick_IVC-2DM1111"/>
+ <hasProperty rdf:resource="#UPnP"/>
+ <hasQualProperty rdf:resource="#Cost_1000"/>
+ <hasSkill rdf:resource="#PerformSelfTest_3"/>
+ <hasProperty rdf:resource="#Ethernet"/>
+ <hasProperty rdf:resource="#RJ45"/>
+ <hasProperty rdf:resource="#Ethernet_100BaseT"/>
+ </CommunicationPort>
+ </isPropertyOf>
+ <isPropertyOf rdf:resource="#eth0"/>
+ </ElectricalMedia>
+ </hasProperty>
+ <hasProperty rdf:resource="#TCP"/>
+ <hasProperty rdf:resource="#FTP"/>
+ <hasProperty rdf:resource="#Ethernet"/>
+ <hasProperty rdf:resource="#RJ45"/>
+ <hasQualProperty rdf:resource="#Cost_1000"/>
+ </CommunicationPort>
+ </hasSubDevice>
+ <hasQualProperty rdf:resource="#Cost_6000"/>
+ <hasProperty>
+ <IntelligentCtrl rdf:ID="IntelligentCtrl_2">
+ <isPropertyOf rdf:resource="#ABB_IRC5"/>
+ </IntelligentCtrl>
+ </hasProperty>
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_ABB_IRC5">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >ABB_IRC5</value>
+ </Identifier>
+ </hasIdentifier>
+ <hasSkill rdf:resource="#PerformSelfTest_3"/>
+ </Controller>
+ </isSkillOf>
+ <isSkillOf rdf:resource="#CellController"/>
+ <isSkillOf rdf:resource="#eth0"/>
+ <isSkillOf rdf:resource="#IRC5_NIC0"/>
+ <isSkillOf rdf:resource="#SmartCameraNIC"/>
+ </PerformSelfTest>
+ </hasSkill>
+ <hasQualProperty rdf:resource="#Cost_1000"/>
+ <hasProperty rdf:resource="#isEditable_true"/>
+ <hasSubDevice rdf:resource="#eth0"/>
+ </Controller>
+ </isPropertyOf>
+ <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>
+ <hasSkill>
+ <Displace rdf:ID="IPA_AMMS_MoveFront">
+ <isSubskillOf>
+ <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK90DEGANDPLACE_Part6">
+ <isSubskillOf>
+ <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK90DEGANDPLACE_Part7">
+ <hasSubskill>
+ <Displace rdf:ID="IPA_AMMS_MoveDown">
+ <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
+ <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF"/>
+ <isSubskillOf rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part7"/>
+ <isSubskillOf>
+ <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK90DEGANDPLACE_Part2">
+ <isSubskillOf>
+ <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK90DEGANDPLACE_Part3">
+ <hasSubskill>
+ <AdjustVacuumToGrip rdf:ID="VacuumGrip">
+ <isSubskillOf rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part3"/>
+ <isSubskillOf>
+ <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICKANDPLACE_90DEG_Part4">
+ <hasSubskill rdf:resource="#VacuumGrip"/>
+ <hasSubskill>
+ <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICKANDPLACE_90DEG_Part3">
+ <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part4"/>
+ <hasSubskill rdf:resource="#IPA_AMMS_MoveDown"/>
+ <hasSubskill>
+ <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICKANDPLACE_90DEG_Part2">
+ <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part3"/>
+ <hasSubskill rdf:resource="#IPA_AMMS_MoveFront"/>
+ <hasSubskill>
+ <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICKANDPLACE_90DEG_Part1">
+ <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part2"/>
+ <hasSubskill>
+ <Displace rdf:ID="IPA_AMMS_TurnFront">
+ <isSubskillOf>
+ <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK90DEGANDPLACE_Part5">
+ <hasSubskill rdf:resource="#IPA_AMMS_TurnFront"/>
+ <hasSubskill>
+ <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK90DEGANDPLACE_Part4">
+ <hasSubskill>
+ <Displace rdf:ID="IPA_AMMS_MoveUp">
+ <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
+ <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF"/>
+ <isSubskillOf>
+ <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK90DEGANDPLACE">
+ <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
+ <hasSubskill rdf:resource="#IPA_AMMS_MoveUp"/>
+ <hasSubskill>
+ <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK90DEGANDPLACE_Part8">
+ <hasSubskill>
+ <AdjustVacuumToRelease rdf:ID="VacuumRelease">
+ <isSkillOf>
+ <VacuumGripper rdf:ID="Schmalz_FSGPL_200_NBR-55_G1-2-IG">
<hasProperty>
- <MaxMeasurementRange rdf:ID="MaxMeasurementRange_132">
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#OpticDistanceSensor_45"/>
+ <WormDiameter rdf:ID="WormDiameter_G1-2">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >G1/2"</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Schmalz_FSGPL_200_NBR-55_G1-2-IG"/>
+ </WormDiameter>
+ </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"
- >70.0</value>
- </MaxMeasurementRange>
+ >850.0</value>
+ </MaxForce>
</hasProperty>
<hasProperty>
- <LightType rdf:ID="LightType_134">
- <hasEditable rdf:resource="#isEditable_9"/>
+ <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"
- >LaserRed</value>
- <isPropertyOf rdf:resource="#OpticDistanceSensor_45"/>
- </LightType>
+ >Perbunan NBR 55+-5</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Material>
+ </hasProperty>
+ <hasProperty>
+ <Worm rdf:ID="Worm_Inside">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Inside</value>
+ <isPropertyOf rdf:resource="#Schmalz_FSGPL_200_NBR-55_G1-2-IG"/>
+ </Worm>
</hasProperty>
- <hasProperty rdf:resource="#MinAmbientTemperature_55"/>
<hasProperty>
- <Weight rdf:ID="Weight_128">
+ <DiameterOfGripper rdf:ID="DiameterOfGripper_200">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >1.6</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#OpticDistanceSensor_45"/>
- </Weight>
+ >200.0</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Schmalz_FSGPL_200_NBR-55_G1-2-IG"/>
+ </DiameterOfGripper>
</hasProperty>
<hasIdentifier>
- <Identifier rdf:ID="Identifier_135">
+ <Identifier rdf:ID="ID_Schmalz_FSGPL_200_NBR-55_G1-2-IG">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >Sick_DME5000-112</value>
- <hasEditable rdf:resource="#isEditable_9"/>
+ >Schmalz_FSGPL_200_NBR-55_G1-2-IG</value>
</Identifier>
</hasIdentifier>
+ <hasSkill rdf:resource="#VacuumRelease"/>
+ <hasSkill rdf:resource="#VacuumGrip"/>
+ </VacuumGripper>
+ </isSkillOf>
+ <isSkillOf>
+ <VacuumGripper rdf:ID="Schmalz_FSGA_20_SI-55_M5-AG">
<hasProperty>
- <BusInterface rdf:ID="BusInterface_125">
- <isPropertyOf rdf:resource="#OpticDistanceSensor_45"/>
- <hasEditable rdf:resource="#isEditable_9"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >Profibus</value>
- </BusInterface>
- </hasProperty>
- <hasProperty>
- <MinMeasurementRange rdf:ID="MinMeasurementRange_133">
- <isPropertyOf rdf:resource="#OpticDistanceSensor_45"/>
- <hasEditable rdf:resource="#isEditable_9"/>
+ <MaxForce rdf:ID="MaximumForce_4.7">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Schmalz_FSGA_20_SI-55_M5-AG"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.15</value>
- </MinMeasurementRange>
+ >4.7</value>
+ </MaxForce>
</hasProperty>
<hasProperty>
- <Repeatability rdf:ID="Repeatability_129">
- <hasEditable rdf:resource="#isEditable_9"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >5.0E-4</value>
- <isPropertyOf rdf:resource="#OpticDistanceSensor_45"/>
- </Repeatability>
+ <Worm rdf:ID="Worm_Outside">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Outside</value>
+ <isPropertyOf rdf:resource="#Schmalz_FSGA_20_SI-55_M5-AG"/>
+ </Worm>
</hasProperty>
<hasProperty>
- <Accuracy rdf:ID="Accuracy_0.0020">
- <isPropertyOf rdf:resource="#OpticDistanceSensor_45"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.0020</value>
+ <WormDiameter rdf:ID="WormDiameter_M5">
+ <isPropertyOf rdf:resource="#Schmalz_FSGA_20_SI-55_M5-AG"/>
<hasEditable rdf:resource="#isEditable_false"/>
- </Accuracy>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >M5</value>
+ </WormDiameter>
</hasProperty>
<hasProperty>
- <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_124">
- <isPropertyOf rdf:resource="#SmartCamera_24"/>
- <isPropertyOf rdf:resource="#OpticDistanceSensor_45"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.3</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- </MaxCurrentConsumption>
+ <Material rdf:ID="Material_Silicon">
+ <isPropertyOf rdf:resource="#Schmalz_FSGA_20_SI-55_M5-AG"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Silicon SI 55+-5</value>
+ </Material>
</hasProperty>
<hasProperty>
- <LightSpotSize rdf:ID="LightSpotSize_130">
+ <DiameterOfGripper rdf:ID="DiameterOfGripper_20">
+ <hasEditable rdf:resource="#isEditable_false"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.13</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#OpticDistanceSensor_45"/>
- </LightSpotSize>
+ >20.0</value>
+ <isPropertyOf rdf:resource="#Schmalz_FSGA_20_SI-55_M5-AG"/>
+ </DiameterOfGripper>
</hasProperty>
- <hasProperty>
- <LaserClass rdf:ID="LaserClass_126">
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_Schmalz_FSGA_20_SI-55_M5-AG">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >2</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#OpticDistanceSensor_45"/>
- </LaserClass>
+ >Schmalz_FSGA_20_SI-55_M5-AG</value>
+ </Identifier>
+ </hasIdentifier>
+ <hasSkill rdf:resource="#VacuumRelease"/>
+ <hasSkill rdf:resource="#VacuumGrip"/>
+ </VacuumGripper>
+ </isSkillOf>
+ <isSkillOf>
+ <VacuumGripper rdf:ID="VacuumGripper_SIARAS">
+ <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="#VacuumGripper_SIARAS"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
+ </MaxCurrentConsumption>
</hasProperty>
- <hasProperty rdf:resource="#MaxVoltageSupply_36"/>
- <hasProperty rdf:resource="#MaxAmbientTemperature_61"/>
- <hasSkill>
- <MeasureDistance rdf:ID="MeasureDistance_46">
- <isSkillOf rdf:resource="#OpticDistanceSensor_45"/>
- <isSkillOf rdf:resource="#OpticDistanceSensor_47"/>
- </MeasureDistance>
- </hasSkill>
<hasProperty>
- <MinVoltageSupply rdf:ID="MinVoltageSupply_127">
- <isPropertyOf rdf:resource="#OpticDistanceSensor_45"/>
+ <Payload rdf:ID="Payload_5.0">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >18.0</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- </MinVoltageSupply>
+ >5.0</value>
+ <isPropertyOf rdf:resource="#VacuumGripper_SIARAS"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Payload>
</hasProperty>
- </OpticDistanceSensor>
- </isPropertyOf>
- <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_11"/>
- <isPropertyOf rdf:resource="#LightGrid_57"/>
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#SmartCamera_22"/>
- </EnclosureRatingIP>
- </hasProperty>
- <hasProperty rdf:resource="#ElectricalInterface_56"/> </LightGrid>
- </isPropertyOf>
- <isPropertyOf rdf:resource="#VisionSensor_65"/>
- <hasEditable rdf:resource="#isEditable_9"/>
- <value
- rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >0.2</value>
- </MaxCurrentConsumption>
- </hasProperty>
- <hasProperty>
- <ScanningDistance rdf:ID="ScanningDistance_92">
- <isPropertyOf rdf:resource="#VisionSensor_65"/>
- <hasEditable rdf:resource="#isEditable_9"/>
- <value
- rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >0.24</value>
- </ScanningDistance>
- </hasProperty>
- <hasProperty>
- <FieldOfView rdf:ID="FieldOfView_94">
- <value
- rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#string"
- >50x60</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#VisionSensor_65"/>
- </FieldOfView>
- </hasProperty>
- <hasProperty>
- <Resolution rdf:ID="Resolution_98">
- <value
- rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#string"
- >208x238</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#VisionSensor_65"/>
- </Resolution>
- </hasProperty>
- <hasProperty>
- <ResponseTime rdf:ID="ResponseTime_68">
- <value
- rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >0.0050</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#VisionSensor_65"/>
- </ResponseTime>
- </hasProperty>
- <hasProperty>
- <EnclosureRatingIP rdf:ID="EnclosureRatingIP_96">
- <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_11"/>
- <isPropertyOf rdf:resource="#VisionSensor_65"/>
- <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_17"/>
- <value
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_VG_SIARAS">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >VG_SIARAS</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Identifier>
+ </hasIdentifier>
+ <hasSkill rdf:resource="#VacuumRelease"/>
+ <hasSkill rdf:resource="#VacuumGrip"/>
+ </VacuumGripper>
+ </isSkillOf>
+ <isSubskillOf rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part8"/>
+ <isSubskillOf>
+ <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICKANDPLACE_90DEG_Part8">
+ <hasSubskill rdf:resource="#VacuumRelease"/>
+ <hasSubskill>
+ <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICKANDPLACE_90DEG_Part7">
+ <hasSubskill rdf:resource="#IPA_AMMS_MoveDown"/>
+ <hasSubskill>
+ <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICKANDPLACE_90DEG_Part6">
+ <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part7"/>
+ <hasSubskill>
+ <Displace rdf:ID="IPA_AMMS_TurnLeft">
+ <isSubskillOf>
+ <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK90DEGANDPLACE_Part1">
+ <hasSubskill rdf:resource="#IPA_AMMS_TurnLeft"/>
+ <isSubskillOf rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part2"/>
+ </CompoundManipulationAndHandlingFunction>
+ </isSubskillOf>
+ <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part6"/>
+ </Displace>
+ </hasSubskill>
+ <hasSubskill>
+ <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICKANDPLACE_90DEG_Part5">
+ <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part6"/>
+ <hasSubskill rdf:resource="#IPA_AMMS_MoveUp"/>
+ <hasSubskill rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part4"/>
+ </CompoundManipulationAndHandlingFunction>
+ </hasSubskill>
+ </CompoundManipulationAndHandlingFunction>
+ </hasSubskill>
+ <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part8"/>
+ </CompoundManipulationAndHandlingFunction>
+ </hasSubskill>
+ <isSubskillOf>
+ <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICKANDPLACE_90DEG">
+ <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
+ <hasSubskill rdf:resource="#IPA_AMMS_MoveUp"/>
+ <hasSubskill rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part8"/>
+ </CompoundManipulationAndHandlingFunction>
+ </isSubskillOf>
+ </CompoundManipulationAndHandlingFunction>
+ </isSubskillOf>
+ <isSubskillOf>
+ <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PLACE_2DOF_Part3">
+ <isSubskillOf rdf:resource="#AMMS_IPA_PLACE_2DOF"/>
+ <hasSubskill rdf:resource="#VacuumRelease"/>
+ <hasSubskill>
+ <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PLACE_2DOF_Part2">
+ <hasSubskill rdf:resource="#IPA_AMMS_MoveDown"/>
+ <hasSubskill>
+ <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PLACE_2DOF_Part1">
+ <hasSubskill rdf:resource="#IPA_AMMS_MoveFront"/>
+ <isSubskillOf rdf:resource="#AMMS_IPA_PLACE_2DOF_Part2"/>
+ </CompoundManipulationAndHandlingFunction>
+ </hasSubskill>
+ <isSubskillOf rdf:resource="#AMMS_IPA_PLACE_2DOF_Part3"/>
+ </CompoundManipulationAndHandlingFunction>
+ </hasSubskill>
+ </CompoundManipulationAndHandlingFunction>
+ </isSubskillOf>
+ </AdjustVacuumToRelease>
+ </hasSubskill>
+ <hasSubskill rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part7"/>
+ <isSubskillOf rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE"/>
+ </CompoundManipulationAndHandlingFunction>
+ </hasSubskill>
+ </CompoundManipulationAndHandlingFunction>
+ </isSubskillOf>
+ <isSubskillOf rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part4"/>
+ <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG"/>
+ <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part5"/>
+ <isSubskillOf>
+ <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK_2DOF">
+ <hasSubskill rdf:resource="#IPA_AMMS_MoveUp"/>
+ <hasSubskill>
+ <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK_2DOF_Part3">
+ <isSubskillOf rdf:resource="#AMMS_IPA_PICK_2DOF"/>
+ <hasSubskill rdf:resource="#VacuumGrip"/>
+ <hasSubskill>
+ <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK_2DOF_Part2">
+ <hasSubskill rdf:resource="#IPA_AMMS_MoveDown"/>
+ <hasSubskill>
+ <CompoundManipulationAndHandlingFunction rdf:ID="AMMS_IPA_PICK_2DOF_Part1">
+ <hasSubskill rdf:resource="#IPA_AMMS_MoveFront"/>
+ <isSubskillOf rdf:resource="#AMMS_IPA_PICK_2DOF_Part2"/>
+ </CompoundManipulationAndHandlingFunction>
+ </hasSubskill>
+ <isSubskillOf rdf:resource="#AMMS_IPA_PICK_2DOF_Part3"/>
+ </CompoundManipulationAndHandlingFunction>
+ </hasSubskill> </CompoundManipulationAndHandlingFunction>
+ </hasSubskill>
+ <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
+ <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF"/>
+ <rdfs:comment
rdf:datatype=
"http://www.w3.org/2001/XMLSchema#string"
- >67</value>
- <isPropertyOf rdf:resource="#OpticColorSensor_33"/>
- <isPropertyOf rdf:resource="#OpticThroughBeamSwitch_41"/>
- <isPropertyOf rdf:resource="#OpticContrastScanner_51"/>
- <isPropertyOf rdf:resource="#OpticContrastScanner_53"/>
- <isPropertyOf rdf:resource="#OpticLuminescenceScanner_30"/>
- <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
- <isPropertyOf rdf:resource="#OpticColorSensor_35"/>
- <isPropertyOf rdf:resource="#OpticReflexSwitch_37"/>
- <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/>
- <isPropertyOf rdf:resource="#OpticProximitySwitch_39"/>
- <hasEditable rdf:resource="#isEditable_9"/>
- </EnclosureRatingIP>
- </hasProperty>
- <hasProperty rdf:resource="#ElectricalInterface_97"/>
- <hasSkill>
- <SortObjects rdf:ID="SortObjects_66">
- <isSkillOf rdf:resource="#VisionSensor_65"/>
- </SortObjects>
+ >Pick operation for IPA-2DOF Picker from AMMS.
+Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
+ </CompoundManipulationAndHandlingFunction>
+ </isSubskillOf>
+ <isSubskillOf rdf:resource="#AMMS_IPA_PLACE_2DOF"/>
+ </Displace>
+ </hasSubskill>
+ <hasSubskill rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part3"/>
+ <isSubskillOf rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part5"/>
+ </CompoundManipulationAndHandlingFunction>
+ </hasSubskill>
+ <isSubskillOf rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part6"/>
+ </CompoundManipulationAndHandlingFunction>
+ </isSubskillOf>
+ <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part1"/>
+ </Displace>
+ </hasSubskill>
+ </CompoundManipulationAndHandlingFunction>
+ </hasSubskill>
+ </CompoundManipulationAndHandlingFunction>
+ </hasSubskill>
+ </CompoundManipulationAndHandlingFunction>
+ </hasSubskill>
+ <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part5"/>
+ </CompoundManipulationAndHandlingFunction>
+ </isSubskillOf>
+ <isSubskillOf rdf:resource="#AMMS_IPA_PICK_2DOF_Part3"/>
+ <isSkillOf rdf:resource="#Schmalz_FSGPL_200_NBR-55_G1-2-IG"/>
+ <isSkillOf rdf:resource="#Schmalz_FSGA_20_SI-55_M5-AG"/>
+ <isSkillOf rdf:resource="#VacuumGripper_SIARAS"/>
+ </AdjustVacuumToGrip>
+ </hasSubskill>
+ <hasSubskill rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part2"/>
+ <isSubskillOf rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part4"/>
+ </CompoundManipulationAndHandlingFunction>
+ </isSubskillOf>
+ <hasSubskill rdf:resource="#IPA_AMMS_MoveDown"/>
+ <hasSubskill rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part1"/>
+ </CompoundManipulationAndHandlingFunction>
+ </isSubskillOf>
+ <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part7"/>
+ <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part3"/>
+ <isSubskillOf rdf:resource="#AMMS_IPA_PICK_2DOF_Part2"/>
+ <isSubskillOf rdf:resource="#AMMS_IPA_PLACE_2DOF_Part2"/>
+ </Displace>
+ </hasSubskill>
+ <hasSubskill rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part6"/>
+ <isSubskillOf rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part8"/>
+ </CompoundManipulationAndHandlingFunction>
+ </isSubskillOf>
+ <hasSubskill rdf:resource="#IPA_AMMS_MoveFront"/>
+ <hasSubskill rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE_Part5"/>
+ </CompoundManipulationAndHandlingFunction>
+ </isSubskillOf>
+ <isSubskillOf rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG_Part2"/>
+ <isSubskillOf rdf:resource="#AMMS_IPA_PICK_2DOF_Part1"/>
+ <isSubskillOf rdf:resource="#AMMS_IPA_PLACE_2DOF_Part1"/>
+ <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
+ <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF"/>
+ </Displace>
</hasSkill>
- <hasIdentifier>
- <Identifier rdf:ID="Identifier_99">
- <value
- rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#string"
- >Sick_CVS2-P112</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- </Identifier>
- </hasIdentifier>
+ <hasSkill>
+ <Displace rdf:ID="IPA_AMMS_MoveBack">
+ <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
+ <isSkillOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF"/>
+ </Displace>
+ </hasSkill>
+ <rdfs:comment
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >2DOF-Gripper of the IPA AMMS Demonstrator.</rdfs:comment>
+ <hasSkill rdf:resource="#AMMS_IPA_PLACE_2DOF"/>
+ <hasSkill rdf:resource="#IPA_AMMS_MoveDown"/>
+ <hasSkill rdf:resource="#IPA_AMMS_MoveUp"/>
+ <hasSkill rdf:resource="#AMMS_IPA_PICK_2DOF"/>
<hasProperty>
- <Weight rdf:ID="Weight_95">
- <isPropertyOf rdf:resource="#VisionSensor_65"/>
- <hasEditable rdf:resource="#isEditable_9"/>
+ <DegreesOfFreedom rdf:ID="DegreesOfFreedom_2">
+ <isPropertyOf>
+ <SimpleKinematicRobot rdf:ID="IPA_AMMS_Carrier-2DOF">
+ <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>
+ <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>
+ <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_50">
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isPropertyOf rdf:resource="#IPA_AMMS_FilterOrientator"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
+ <isPropertyOf rdf:resource="#IPA_AMMS_Carrier-2DOF"/>
+ <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >in degrees celsius</rdfs:comment>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >50.0</value>
+ </MaxAmbientTemperature>
+ </hasProperty>
+ <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 rdf:resource="#DegreesOfFreedom_2"/>
+ <hasProperty>
+ <SerialInOutSignal rdf:ID="BusInterface_FastEthernet">
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ <isPropertyOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
+ <isPropertyOf rdf:resource="#IPA_AMMS_Carrier-2DOF"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isPropertyOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#IPA_AMMS_FilterOrientator"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Fast Ethernet</value>
+ </SerialInOutSignal>
+ </hasProperty>
+ <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>
+ <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>
+ <hasProperty>
+ <TypeOfActuation rdf:ID="TypeOfActuation_Electric">
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Electric</value>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
+ <isPropertyOf rdf:resource="#IPA_AMMS_Carrier-2DOF"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
+ </TypeOfActuation>
+ </hasProperty>
+ <hasSkill>
+ <Feed rdf:ID="Feed_2D_CollisionFree">
+ <isSkillOf rdf:resource="#IPA_AMMS_Carrier-2DOF"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Collision-free motion in a planar area.</rdfs:comment>
+ </Feed>
+ </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>
+ <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> </SimpleKinematicRobot>
+ </isPropertyOf>
+ <isPropertyOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
+ <isPropertyOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF"/>
<value
rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >0.18</value>
- </Weight>
+ "http://www.w3.org/2001/XMLSchema#integer"
+ >2</value>
+ </DegreesOfFreedom>
</hasProperty>
<hasProperty>
- <MaxVoltageSupply rdf:ID="MaxVoltageSupply_91">
- <isPropertyOf rdf:resource="#VisionSensor_65"/>
- <hasEditable rdf:resource="#isEditable_9"/>
+ <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_40">
+ <hasEditable rdf:resource="#isEditable_false"/>
<value
rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
- >24.0</value>
- </MaxVoltageSupply>
+ >40.0</value>
+ <isPropertyOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
+ <isPropertyOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
+ <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
+ </MaxAmbientTemperature>
</hasProperty>
- </VisionSensor>
- </isPropertyOf>
- <isPropertyOf rdf:resource="#LaserScanner2D_70"/>
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >0.0</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- </MinAmbientTemperature>
- </hasProperty>
- <hasProperty rdf:resource="#EnclosureRatingIP_85"/>
- <hasSkill>
- <ClassifyObject rdf:ID="ClassifyObject_77">
- <isSkillOf rdf:resource="#LaserScanner2D_70"/>
- </ClassifyObject>
- </hasSkill>
- <hasSkill>
- <Count rdf:ID="Count_72">
- <isSkillOf rdf:resource="#SmartCamera_20"/>
- <isSkillOf rdf:resource="#SmartCamera_22"/>
- <isSkillOf rdf:resource="#LaserScanner2D_70"/>
- </Count>
+ <hasProperty rdf:resource="#MinAmbientTemperature_0"/>
+ <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
+ </VacuumGripper>
+ </isSkillOf>
+ <hasSubskill rdf:resource="#IPA_AMMS_MoveUp"/>
+ <hasSubskill rdf:resource="#AMMS_IPA_PLACE_2DOF_Part3"/>
+ </CompoundManipulationAndHandlingFunction>
</hasSkill>
- <hasProperty>
- <MaxScanAngle rdf:ID="MaxScanAngle_89">
- <isPropertyOf rdf:resource="#LaserScanner2D_70"/>
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >180.0</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- </MaxScanAngle>
- </hasProperty>
+ <hasSkill rdf:resource="#AMMS_IPA_PICK90DEGANDPLACE"/>
+ <hasProperty rdf:resource="#MaxVoltageSupply_24"/>
+ <hasSkill rdf:resource="#IPA_AMMS_MoveUp"/>
+ <hasSkill rdf:resource="#AMMS_IPA_PICKANDPLACE_90DEG"/>
+ <hasSkill rdf:resource="#IPA_AMMS_MoveFront"/>
+ <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
+ <hasProperty rdf:resource="#MinAmbientTemperature_0"/>
+ <hasSkill rdf:resource="#IPA_AMMS_MoveDown"/>
+ <hasSkill rdf:resource="#AMMS_IPA_PICK_2DOF"/>
+ <hasProperty rdf:resource="#DegreesOfFreedom_2"/>
+ <hasSkill rdf:resource="#IPA_AMMS_MoveBack"/>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_40"/>
<hasIdentifier>
- <Identifier rdf:ID="Identifier_90">
+ <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"
- >ID-LaserScanner2D</value>
- <hasEditable rdf:resource="#isEditable_9"/>
+ >IPA_AMMS_SimpleGripper-2DOF-Turnable</value>
</Identifier>
</hasIdentifier>
- <hasSkill>
- <DetectCollision rdf:ID="DetectCollision_76">
- <isSkillOf rdf:resource="#LaserScanner2D_70"/>
- </DetectCollision>
- </hasSkill>
- <hasSkill>
- <MeasureVolume rdf:ID="MeasureVolume_71">
- <isSkillOf rdf:resource="#LaserScanner2D_70"/>
- </MeasureVolume>
- </hasSkill>
- <hasSkill>
- <Scan rdf:ID="Scan_75">
- <isSkillOf rdf:resource="#LaserScanner2D_70"/>
- </Scan>
- </hasSkill>
- <hasProperty>
- <MaxVoltageSupply rdf:ID="MaxVoltageSupply_87">
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >27.6</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#LaserScanner2D_70"/>
- </MaxVoltageSupply>
- </hasProperty>
- <hasSkill>
- <MeasureDistance rdf:ID="MeasureDistance_74">
- <isSkillOf rdf:resource="#LaserScanner2D_70"/>
- </MeasureDistance>
- </hasSkill>
- </LaserScanner2D>
- </isQualProperty>
- <isQualProperty rdf:resource="#Sick_IVC-2DM1111"/>
- </Cost>
- </hasQualProperty>
- <hasSkill>
- <MeasureArea rdf:ID="MeasureArea_1">
- <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
- <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
- </MeasureArea>
- </hasSkill>
- <hasProperty>
- <MinVoltageSupply rdf:ID="MinVoltageSupply_19.2">
+ </VacuumGripper>
+ </isPropertyOf>
+ <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
+ <isPropertyOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF"/>
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
- >19.2</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
- <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
- <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
- <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
- </MinVoltageSupply>
+ >0.0</value>
+ </MinAmbientTemperature>
</hasProperty>
- <hasProperty>
- <Resolution rdf:ID="Resolution_640x480">
- <hasEditable rdf:resource="#isEditable_false"/>
+ <hasProperty rdf:resource="#MaxVoltageSupply_24"/>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_50"/>
+ <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_IPA_AMMS_FilterOrientator">
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#string"
- >640x480</value>
- <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
- </Resolution>
- </hasProperty>
- <hasProperty>
- <SwitchingFrequency rdf:ID="SwitchingFrequency_30fps">
- <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
- <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
- <hasEditable rdf:resource="#isEditable_false"/>
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >30.0</value>
- </SwitchingFrequency>
- </hasProperty>
+ >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>
<hasSkill>
- <MeasureAngle rdf:ID="MeasureAngle_1">
- <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
- <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
- </MeasureAngle>
+ <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>
- </SmartCamera>
+ </SimpleKinematicRobot>
</isPropertyOf>
- <rdfs:comment rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#string"
- >in degrees celsius</rdfs:comment>
- <hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#IPA_AMMS_FilterOrientator"/>
- <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
<isPropertyOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
- <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
<isPropertyOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF"/>
+ <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
+ </MaxVoltageSupply>
+ </hasProperty>
+ <hasProperty>
+ <ResponseTime rdf:ID="ResponseTime_0.005">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.0</value>
- </MinAmbientTemperature>
+ >0.0050</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
+ </ResponseTime>
</hasProperty>
- <hasProperty rdf:resource="#MaxVoltageSupply_24"/>
- <hasProperty rdf:resource="#MaxAmbientTemperature_50"/>
- <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
- </SimpleKinematicRobot>
- </isPropertyOf>
- <isPropertyOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF-Turnable"/>
- <isPropertyOf rdf:resource="#IPA_AMMS_SimpleGripper-2DOF"/>
- <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
- </MaxVoltageSupply>
- </hasProperty>
- <hasProperty>
- <ResponseTime rdf:ID="ResponseTime_0.005">
- <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
- <hasEditable rdf:resource="#isEditable_false"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.0050</value>
- </ResponseTime>
- </hasProperty>
- <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
- <hasProperty>
- <FieldOfView rdf:ID="FieldOfView_50x60">
- <hasEditable rdf:resource="#isEditable_false"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >50x60</value>
- <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
- </FieldOfView>
- </hasProperty>
- <hasProperty>
- <Weight rdf:ID="Weight_0.18">
- <isPropertyOf>
- <IO_Board rdf:ID="IO_Board_d328">
+ <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
<hasProperty>
- <DigOut rdf:ID="DigOut_8">
- <isPropertyOf rdf:resource="#IO_Board_d328"/>
+ <FieldOfView rdf:ID="FieldOfView_50x60">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >16</value>
- </DigOut>
+ >50x60</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
+ </FieldOfView>
</hasProperty>
+ <hasProperty rdf:resource="#Weight_0.18"/>
+ <hasProperty rdf:resource="#MinAmbientTemperature_0"/>
<hasProperty>
- <DigIn rdf:ID="DigIn_7">
- <isPropertyOf rdf:resource="#IO_Board_d328"/>
+ <ElectricalMedia rdf:ID="ElectricalInterface_OpenCollectorPNP">
+ <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
+ <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
+ <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
+ <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
+ <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
+ <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >16</value>
- </DigIn>
+ >open collector PNP</value>
+ <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
+ </ElectricalMedia>
</hasProperty>
- <hasProperty rdf:resource="#Weight_0.18"/>
- <hasSkill>
- <Read rdf:ID="Read_6">
- <isSkillOf rdf:resource="#IO_Board_d328"/>
- </Read>
- </hasSkill>
+ <hasProperty>
+ <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.2">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
+ <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.2</value>
+ </MaxCurrentConsumption>
+ </hasProperty>
+ <hasProperty>
+ <ScanningDistance rdf:ID="ScanningDistance_0.24">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.24</value>
+ <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </ScanningDistance>
+ </hasProperty>
+ <hasProperty rdf:resource="#MinVoltageSupply_12.0"/>
<hasIdentifier>
- <Identifier rdf:ID="Identifier_9">
+ <Identifier rdf:ID="ID_Sick_CVS2-P112">
+ <hasEditable rdf:resource="#isEditable_false"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >dig328</value>
+ >Sick_CVS2-P112</value>
</Identifier>
</hasIdentifier>
- <isSubDeviceOf>
- <Controller rdf:ID="ABB_IRC5">
- <hasProperty>
- <IntelligentCtrl rdf:ID="IntelligentCtrl_2">
- <isPropertyOf rdf:resource="#ABB_IRC5"/>
- </IntelligentCtrl>
- </hasProperty>
- <hasSubDevice rdf:resource="#IO_Board_d328"/>
- <hasIdentifier>
- <Identifier rdf:ID="ID_ABB_IRC5">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >ABB_IRC5</value>
- </Identifier>
- </hasIdentifier>
- <hasSkill>
- <PerformSelfTest rdf:ID="PerformSelfTest_3">
- <isSkillOf rdf:resource="#ABB_IRC5"/>
- </PerformSelfTest>
- </hasSkill>
- </Controller>
- </isSubDeviceOf>
- </IO_Board>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_40"/>
+ <hasProperty>
+ <Resolution rdf:ID="Resolution_208x238">
+ <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >208x238</value>
+ </Resolution>
+ </hasProperty>
+ </VisionSensor>
</isPropertyOf>
- <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>
+ <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ </MinVoltageSupply>
</hasProperty>
- <hasProperty rdf:resource="#MinAmbientTemperature_0"/>
<hasProperty>
- <ElectricalInterface rdf:ID="ElectricalInterface_OpenCollectorPNP">
- <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
- <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
+ <ElectricalMedia rdf:ID="ElectricalInterface_OpenCollectorNPN">
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
+ <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
<hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
- <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
- <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
- <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
- <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >open collector PNP</value>
- <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
- </ElectricalInterface>
+ >open collector NPN</value>
+ </ElectricalMedia>
</hasProperty>
<hasProperty>
- <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.2">
- <hasEditable rdf:resource="#isEditable_false"/>
+ <SwitchingFrequency rdf:ID="SwitchingFrequency_1500">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.2</value>
- <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
- <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
- </MaxCurrentConsumption>
+ >1500.0</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
+ <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
+ </SwitchingFrequency>
</hasProperty>
<hasProperty>
- <ScanningDistance rdf:ID="ScanningDistance_0.24">
- <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
+ <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.06">
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.24</value>
+ >0.06</value>
<hasEditable rdf:resource="#isEditable_false"/>
- </ScanningDistance>
+ </MaxCurrentConsumption>
</hasProperty>
- <hasProperty rdf:resource="#MinVoltageSupply_12.0"/>
- <hasIdentifier>
- <Identifier rdf:ID="ID_Sick_CVS2-P112">
+ <hasProperty>
+ <LightSpotSize rdf:ID="LightSpotSize_0.002x0.006">
<hasEditable rdf:resource="#isEditable_false"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >Sick_CVS2-P112</value>
- </Identifier>
- </hasIdentifier>
+ >0.002x0.006</value>
+ <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
+ </LightSpotSize>
+ </hasProperty>
+ <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
<hasProperty>
- <Resolution rdf:ID="Resolution_208x238">
- <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
+ <LightType rdf:ID="LightType_UV">
<hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >208x238</value>
- </Resolution>
+ >UV</value>
+ </LightType>
</hasProperty>
- <hasProperty rdf:resource="#MaxAmbientTemperature_40"/>
- </VisionSensor>
+ <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>
+ </OpticLuminescenceScanner>
</isPropertyOf>
- <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
- <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
- </MinVoltageSupply>
+ <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
+ <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >55.0</value>
+ <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
+ <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
+ <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
+ </MaxAmbientTemperature>
</hasProperty>
+ <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorNPN"/>
<hasProperty>
- <ElectricalInterface rdf:ID="ElectricalInterface_OpenCollectorNPN">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >open collector NPN</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
- <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
+ <LightType rdf:ID="LightType_LEDblue">
+ <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
+ <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
<isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
- </ElectricalInterface>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >LEDblue</value>
+ </LightType>
</hasProperty>
+ <hasProperty rdf:resource="#MinAmbientTemperature_-10"/>
<hasProperty>
- <SwitchingFrequency rdf:ID="SwitchingFrequency_1500">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >1500.0</value>
+ <MaxVoltageSupply rdf:ID="MaxVoltageSupply_28.8">
+ <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"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >28.8</value>
+ </MaxVoltageSupply>
+ </hasProperty>
+ <hasProperty>
+ <LightSpotSize rdf:ID="LightSpotSize_0.0015x0.0065">
<isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
- <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
- </SwitchingFrequency>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >0.0015x0.0065</value>
+ </LightSpotSize>
</hasProperty>
<hasProperty>
- <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.06">
+ <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.035">
+ <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.06</value>
+ >0.035</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 rdf:resource="#ScanningDistance_0.0125"/>
<hasProperty>
- <LightSpotSize rdf:ID="LightSpotSize_0.002x0.006">
- <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
+ <LightType rdf:ID="LightType_LEDred">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >0.002x0.006</value>
+ >LEDred</value>
+ <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
<hasEditable rdf:resource="#isEditable_false"/>
- </LightSpotSize>
+ <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
+ <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
+ <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
+ <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
+ <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
+ <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
+ </LightType>
+ </hasProperty>
+ <hasProperty rdf:resource="#SwitchingFrequency_1500"/>
+ <hasProperty>
+ <Weight rdf:ID="Weight_0.011">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.011</value>
+ <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
+ </Weight>
</hasProperty>
- <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
<hasIdentifier>
- <Identifier rdf:ID="ID_Sick_LUT3-610">
+ <Identifier rdf:ID="ID_Sick_CSM1-N1114">
<hasEditable rdf:resource="#isEditable_false"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >Sick_LUT3-610</value>
+ >Sick_CSM1-N1114</value>
</Identifier>
</hasIdentifier>
<hasProperty>
- <LightType rdf:ID="LightType_UV">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >UV</value>
- <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
+ <MinVoltageSupply rdf:ID="MinVoltageSupply_19.2">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >19.2</value>
<hasEditable rdf:resource="#isEditable_false"/>
- </LightType>
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
+ <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
+ </MinVoltageSupply>
+ </hasProperty>
+ <hasProperty>
+ <ResponseTime rdf:ID="ResponseTime_0.0005">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >5.0E-4</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
+ <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
+ <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
+ </ResponseTime>
</hasProperty>
- </OpticLuminescenceScanner>
+ <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
+ <hasSkill>
+ <DetectColor rdf:ID="DetectColor_1">
+ <isSkillOf rdf:resource="#Sick_CSM1-N1114"/>
+ <isSkillOf rdf:resource="#Sick_CS81-P1112"/>
+ </DetectColor>
+ </hasSkill>
+ </OpticColorSensor>
</isPropertyOf>
<isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
- <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >55.0</value>
- <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
- <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
- <hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
- <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
- </MaxAmbientTemperature>
+ </ScanningDistance>
</hasProperty>
- <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorNPN"/>
- <hasProperty rdf:resource="#MinAmbientTemperature_-10"/>
<hasProperty>
- <LightType rdf:ID="LightType_LEDblue">
- <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
- <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
- <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
+ <LightSpotSize rdf:ID="LightSpotSize_0.004x0.002">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >LEDblue</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- </LightType>
- </hasProperty>
- <hasProperty rdf:resource="#MaxVoltageSupply_28.8"/>
- <hasProperty>
- <LightSpotSize rdf:ID="LightSpotSize_0.0015x0.0065">
+ >0.004x0.002</value>
<hasEditable rdf:resource="#isEditable_false"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >0.0015x0.0065</value>
- <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
+ <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
</LightSpotSize>
</hasProperty>
+ <hasProperty rdf:resource="#LightType_LEDred"/>
+ <hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
<hasProperty>
- <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.035">
+ <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.08">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.035</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
- </MaxCurrentConsumption>
- </hasProperty>
- <hasProperty rdf:resource="#ScanningDistance_0.0125"/>
- <hasProperty>
- <LightType rdf:ID="LightType_LEDred">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >LEDred</value>
- <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
+ >0.08</value>
<hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
- <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
- <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
<isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
- <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
- <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
- </LightType>
- </hasProperty>
- <hasProperty rdf:resource="#SwitchingFrequency_1500"/>
- <hasProperty>
- <Weight rdf:ID="Weight_0.011">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.011</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
- </Weight>
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
+ </MaxCurrentConsumption>
</hasProperty>
+ <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-5Pins"/>
+ <hasProperty rdf:resource="#LightType_LEDblue"/>
+ <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
+ <hasProperty rdf:resource="#LightType_LEDgreen"/>
+ <hasProperty rdf:resource="#MinAmbientTemperature_-10"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_55"/>
<hasIdentifier>
- <Identifier rdf:ID="ID_Sick_CSM1-N1114">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >Sick_CSM1-N1114</value>
+ <Identifier rdf:ID="ID_Sick_CS81-P1112">
<hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Sick_CS81-P1112</value>
</Identifier>
</hasIdentifier>
- <hasProperty rdf:resource="#MinVoltageSupply_19.2"/>
- <hasProperty>
- <ResponseTime rdf:ID="ResponseTime_0.0005">
- <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
- <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
- <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >5.0E-4</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- </ResponseTime>
- </hasProperty>
- <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
- <hasSkill>
- <DetectColor rdf:ID="DetectColor_1">
- <isSkillOf rdf:resource="#Sick_CSM1-N1114"/>
- <isSkillOf rdf:resource="#Sick_CS81-P1112"/>
- </DetectColor>
- </hasSkill>
+ <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
+ <hasProperty rdf:resource="#Weight_0.4"/>
+ <hasSkill rdf:resource="#DetectColor_1"/>
</OpticColorSensor>
</isPropertyOf>
- <isPropertyOf rdf:resource="#Sick_CS81-P1112"/> </ScanningDistance>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
+ <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
+ <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
+ <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
+ <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
+ <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >67</value> </EnclosureRatingIP>
+ </hasProperty>
+ <hasSkill>
+ <DetectObject rdf:ID="DetectObject_1">
+ <isSkillOf rdf:resource="#Sick_WSWE18-3P430"/>
+ <isSkillOf rdf:resource="#Sick_WT18-3P430"/>
+ <isSkillOf rdf:resource="#Sick_WL18-3P430"/> </DetectObject>
+ </hasSkill>
+ <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
+ <hasProperty>
+ <Weight rdf:ID="Weight_0.04">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.04</value>
+ <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
+ <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
+ <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <isPropertyOf rdf:resource="#Sick_WT18-3P430"/> </Weight>
</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>
+ <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"/>
- <isPropertyOf rdf:resource="#Sick_CS81-P1112"/> </LightSpotSize>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >-40.0</value> </MinAmbientTemperature>
</hasProperty>
<hasProperty rdf:resource="#LightType_LEDred"/>
- <hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
<hasProperty>
- <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.08">
+ <MaxMeasurementRange rdf:ID="MaxMeasurementRange_5">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.08</value>
+ >5.0</value>
<hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
- <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
- <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
- <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/> </MaxCurrentConsumption>
+ <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
+ <isPropertyOf rdf:resource="#Sick_WL18-3P430"/> </MaxMeasurementRange>
</hasProperty>
- <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-5Pins"/>
- <hasProperty rdf:resource="#LightType_LEDblue"/>
- <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
- <hasProperty rdf:resource="#LightType_LEDgreen"/>
- <hasProperty rdf:resource="#MinAmbientTemperature_-10"/>
- <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
- <hasProperty rdf:resource="#MaxAmbientTemperature_55"/>
+ <hasProperty>
+ <LightSpotSize rdf:ID="LightSpotSize_0.040">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.04</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_WL18-3P430"/> </LightSpotSize>
+ </hasProperty>
+ <hasProperty rdf:resource="#SwitchingFrequency_1000"/>
<hasIdentifier>
- <Identifier rdf:ID="ID_Sick_CS81-P1112">
+ <Identifier rdf:ID="ID_Sick_WL18-3P430">
<hasEditable rdf:resource="#isEditable_false"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >Sick_CS81-P1112</value> </Identifier>
+ >Sick_WL18-3P430</value> </Identifier>
</hasIdentifier>
- <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
- <hasSkill rdf:resource="#DetectColor_1"/>
- <hasProperty rdf:resource="#Weight_0.4"/>
- </OpticColorSensor>
+ <hasProperty>
+ <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.03">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.03</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_WL18-3P430"/> </MaxCurrentConsumption>
+ </hasProperty>
+ <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
+ <hasProperty rdf:resource="#ResponseTime_0.0005"/>
+ </OpticReflexSwitch>
</isPropertyOf>
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >10.0</value>
<isPropertyOf rdf:resource="#Sensopart_FL64C"/>
- <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
- <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
- <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
<isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
- <isPropertyOf rdf:resource="#Sick_LUT3-610"/>
- <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
- <isPropertyOf rdf:resource="#Sick_CSM1-N1114"/>
- <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
- <isPropertyOf rdf:resource="#Sick_CVS2-P112"/>
+ <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </MinVoltageSupply>
+ </hasProperty>
+ <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
+ <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorNPN"/>
+ <hasProperty rdf:resource="#MaxCurrentConsumption_0.08"/>
+ <hasProperty>
+ <ResponseTime rdf:ID="ResponseTime_0.0009">
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >9.0E-4</value>
+ </ResponseTime>
+ </hasProperty>
+ <hasProperty rdf:resource="#Weight_0.4"/>
+ <hasProperty>
+ <LightType rdf:ID="LightType_LED">
<hasEditable rdf:resource="#isEditable_false"/>
<value
rdf:datatype=
"http://www.w3.org/2001/XMLSchema#string"
- >67</value>
- </EnclosureRatingIP>
+ >LED</value>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ </LightType>
</hasProperty>
- <hasSkill>
- <DetectObject rdf:ID="DetectObject_1">
- <isSkillOf rdf:resource="#Sick_WSWE18-3P430"/>
- <isSkillOf rdf:resource="#Sick_WT18-3P430"/>
- <isSkillOf rdf:resource="#Sick_WL18-3P430"/>
- </DetectObject>
- </hasSkill>
- <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
<hasProperty>
- <Weight rdf:ID="Weight_0.04">
+ <MinAmbientTemperature rdf:ID="MinAmbientTemperature_5">
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <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_DT10-P10B5"/>
- <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
+ <isPropertyOf rdf:resource="http://www.owl-ontologies.com/siaras.owl#Schunk_MPG_64"/>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
<isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
+ </MinAmbientTemperature>
+ </hasProperty>
+ <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
+ <hasProperty>
+ <ResponseTime rdf:ID="ResponseTime_0.0007">
<isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
<value
rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
- >0.04</value>
- </Weight>
+ >7.0E-4</value>
+ </ResponseTime>
</hasProperty>
- <hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
<hasProperty>
- <MinAmbientTemperature rdf:ID="MinAmbientTemperature_-40">
- <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
- <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
- <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
+ <Material rdf:ID="Material_Polycarbonat">
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
<value
rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >-40.0</value>
+ "http://www.w3.org/2001/XMLSchema#string"
+ >Polycarbonat</value>
<hasEditable rdf:resource="#isEditable_false"/>
- </MinAmbientTemperature>
+ </Material>
</hasProperty>
- <hasProperty rdf:resource="#LightType_LEDred"/>
+ <hasSkill rdf:resource="#DetectColor_3"/>
<hasProperty>
- <MaxMeasurementRange rdf:ID="MaxMeasurementRange_5">
+ <Length rdf:ID="Length_66.25">
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
<value
rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
- >5.0</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
- <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
- </MaxMeasurementRange>
+ >66.25</value>
+ </Length>
</hasProperty>
<hasProperty>
- <LightSpotSize rdf:ID="LightSpotSize_0.040">
+ <Width rdf:ID="Width_12">
<value
rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
- >0.04</value>
+ >12.0</value>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
<hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
- </LightSpotSize>
+ </Width>
</hasProperty>
- <hasProperty rdf:resource="#SwitchingFrequency_1000"/>
<hasProperty>
- <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.03">
- <isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
+ <MaxVoltageSupply rdf:ID="MaxVoltageSupply_26.4">
<value
rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
- >0.03</value>
+ >26.4</value>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
<hasEditable rdf:resource="#isEditable_false"/>
- </MaxCurrentConsumption>
+ </MaxVoltageSupply>
</hasProperty>
- <hasIdentifier>
- <Identifier rdf:ID="ID_Sick_WL18-3P430">
+ <hasProperty>
+ <Height rdf:ID="Height_53">
<hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
<value
rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#string"
- >Sick_WL18-3P430</value>
- </Identifier>
- </hasIdentifier>
- <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
- <hasProperty rdf:resource="#ResponseTime_0.0005"/>
- </OpticReflexSwitch>
- </isPropertyOf>
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >10.0</value>
- <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
- <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
- <isPropertyOf rdf:resource="#Sick_CS81-P1112"/>
- <hasEditable rdf:resource="#isEditable_false"/>
- </MinVoltageSupply>
- </hasProperty>
- <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
- <hasProperty rdf:resource="#ElectricalInterface_OpenCollectorNPN"/>
- <hasProperty rdf:resource="#MaxCurrentConsumption_0.08"/>
+ "http://www.w3.org/2001/XMLSchema#float"
+ >53.0</value>
+ </Height>
+ </hasProperty>
+ <hasProperty>
+ <Width rdf:ID="Width_80">
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <value
+ rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >80.0</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Width>
+ </hasProperty>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_55"/>
+ <hasProperty rdf:resource="#MaxCurrentConsumption_0.06"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
+ <hasProperty rdf:resource="#MinVoltageSupply_12.0"/>
+ <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>
+ </OpticColorSensor>
+ </isSkillOf>
+ <isSkillOf rdf:resource="#VisionComponents-VC4465"/>
+ </DetectColor>
+ </hasSkill>
+ <hasProperty rdf:resource="#MaxCurrentConsumption_0.06"/>
<hasProperty>
- <ResponseTime rdf:ID="ResponseTime_0.0009">
- <hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <Weight rdf:ID="Weight_0.25">
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
- >9.0E-4</value>
- </ResponseTime>
- </hasProperty>
- <hasProperty rdf:resource="#Weight_0.4"/>
- <hasProperty>
- <LightType rdf:ID="LightType_LED">
- <hasEditable rdf:resource="#isEditable_false"/>
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#string"
- >LED</value>
- <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
- </LightType>
- </hasProperty>
- <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
- <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
- <hasProperty>
- <ResponseTime rdf:ID="ResponseTime_0.0007">
- <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
- <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ >0.25</value>
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
<hasEditable rdf:resource="#isEditable_false"/>
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >7.0E-4</value>
- </ResponseTime>
+ </Weight>
</hasProperty>
- <hasProperty>
- <Material rdf:ID="Material_Polycarbonat">
+ <hasProperty rdf:resource="#MaxCurrentConsumption_0.3"/>
+ <hasSkill>
+ <ReadBarCode rdf:ID="ReadBarCode_1">
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isSkillOf rdf:resource="#VisionComponents-VC4465"/>
+ </ReadBarCode>
+ </hasSkill>
+ <hasProperty rdf:resource="#Length_66.25"/>
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_VisionComponents-VC4465">
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#string"
- >Polycarbonat</value>
+ >VisionComponents-VC4465</value>
<hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
- </Material>
- </hasProperty>
- <hasSkill rdf:resource="#DetectColor_3"/>
+ </Identifier>
+ </hasIdentifier>
+ <hasProperty rdf:resource="#Height_53"/>
<hasProperty>
- <Length rdf:ID="Length_66.25">
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >66.25</value>
+ <Length rdf:ID="Length_120">
<hasEditable rdf:resource="#isEditable_false"/>
<isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
- <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
- </Length>
- </hasProperty>
- <hasProperty>
- <Width rdf:ID="Width_12">
- <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
- >12.0</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- </Width>
+ >120.0</value>
+ </Length>
</hasProperty>
<hasProperty>
- <MaxVoltageSupply rdf:ID="MaxVoltageSupply_26.4">
+ <Length rdf:ID="Length_30.4">
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
<hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
- >26.4</value>
- </MaxVoltageSupply>
+ >30.4</value>
+ </Length>
</hasProperty>
+ <hasProperty rdf:resource="#MaxVoltageSupply_28.8"/>
+ <hasQualProperty>
+ <Cost rdf:ID="Cost_5000">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#double"
+ >5000</value>
+ <isQualProperty rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
+ <isQualProperty rdf:resource="#VisionComponents-VC4465"/>
+ <isQualProperty rdf:resource="#Sick_LMS200-30106"/>
+ <isQualProperty rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
+ </Cost>
+ </hasQualProperty>
+ <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
+ <hasSkill>
+ <Read2DMatrixCode rdf:ID="Read2DMatrixCode_1">
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isSkillOf rdf:resource="#VisionComponents-VC4465"/>
+ </Read2DMatrixCode>
+ </hasSkill>
+ <hasSkill>
+ <ReadOpticalCharacters rdf:ID="ReadOpticalCharacters_1">
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isSkillOf rdf:resource="#VisionComponents-VC4465"/>
+ </ReadOpticalCharacters>
+ </hasSkill>
+ <hasProperty rdf:resource="#MaxCurrentConsumption_0.08"/>
<hasProperty>
- <Height rdf:ID="Height_53">
+ <Height rdf:ID="Height_50">
<hasEditable rdf:resource="#isEditable_false"/>
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
- >53.0</value>
+ >50.0</value>
<isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
- <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
</Height>
</hasProperty>
+ <hasProperty rdf:resource="#MinVoltageSupply_19.2"/>
+ <hasProperty rdf:resource="#Height_43"/>
<hasProperty>
- <Width rdf:ID="Width_80">
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >80.0</value>
- <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
+ <SerialInOutSignal rdf:ID="BusInterface_RS232">
<hasEditable rdf:resource="#isEditable_false"/>
- </Width>
- </hasProperty>
- <hasProperty rdf:resource="#MaxAmbientTemperature_55"/>
- <hasProperty rdf:resource="#MaxCurrentConsumption_0.06"/>
- <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
- <hasProperty rdf:resource="#MinVoltageSupply_12.0"/>
- <hasProperty>
- <Height rdf:ID="Height_43">
- <isPropertyOf rdf:resource="#Sensopart_FL64C"/>
- <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
<value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >43.0</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- </Height>
+ "http://www.w3.org/2001/XMLSchema#string"
+ >RS232</value>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
+ <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ </SerialInOutSignal>
</hasProperty>
- </OpticColorSensor>
- </isSkillOf>
- <isSkillOf rdf:resource="#VisionComponents-VC4465"/>
- </DetectColor>
- </hasSkill>
+ </SmartCamera>
+ </isPropertyOf>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.3</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </MaxCurrentConsumption>
+ </hasProperty>
<hasProperty>
- <Resolution rdf:ID="Resolution_800x600">
- <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >800x600</value>
+ <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>
+ </hasProperty>
+ <hasProperty rdf:resource="#MinAmbientTemperature_-10"/>
+ <hasProperty>
+ <LightSpotSize rdf:ID="LightSpotSize_0.13">
<hasEditable rdf:resource="#isEditable_false"/>
- </Resolution>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.13</value>
+ <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
+ </LightSpotSize>
</hasProperty>
- <hasProperty rdf:resource="#MaxCurrentConsumption_0.06"/>
- <hasProperty rdf:resource="#MaxCurrentConsumption_0.3"/>
<hasProperty>
- <Weight rdf:ID="Weight_0.25">
+ <Accuracy rdf:ID="Accuracy_0.002">
+ <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
<hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.25</value>
- </Weight>
+ >0.0020</value>
+ </Accuracy>
</hasProperty>
- <hasSkill>
- <ReadBarCode rdf:ID="ReadBarCode_1">
- <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
- <isSkillOf rdf:resource="#VisionComponents-VC4465"/>
- </ReadBarCode>
- </hasSkill>
- <hasProperty rdf:resource="#Length_66.25"/>
<hasIdentifier>
- <Identifier rdf:ID="ID_VisionComponents-VC4465">
+ <Identifier rdf:ID="ID_Sick_DME5000-112">
<hasEditable rdf:resource="#isEditable_false"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >VisionComponents-VC4465</value>
+ >Sick_DME5000-112</value>
</Identifier>
</hasIdentifier>
- <hasProperty rdf:resource="#Height_53"/>
+ <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_55"/>
<hasProperty>
- <Length rdf:ID="Length_120">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >120.0</value>
+ <LaserClass rdf:ID="LaserClass_2">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >2</value>
<hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
- </Length>
+ <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
+ </LaserClass>
</hasProperty>
<hasProperty>
- <Length rdf:ID="Length_30.4">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >30.4</value>
+ <SerialInOutSignal rdf:ID="BusInterface_Profibus">
+ <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
<hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
- </Length>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Profibus</value>
+ </SerialInOutSignal>
</hasProperty>
- <hasProperty rdf:resource="#MaxVoltageSupply_28.8"/>
- <hasQualProperty>
- <Cost rdf:ID="Cost_5000">
- <isQualProperty rdf:resource="#VisionComponents-VC4465"/>
- <isQualProperty rdf:resource="#Sick_LMS200-30106"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#double"
- >5000</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- </Cost>
- </hasQualProperty>
- <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
- <hasSkill>
- <Read2DMatrixCode rdf:ID="Read2DMatrixCode_1">
- <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
- <isSkillOf rdf:resource="#VisionComponents-VC4465"/>
- </Read2DMatrixCode>
- </hasSkill>
- <hasSkill>
- <ReadOpticalCharacters rdf:ID="ReadOpticalCharacters_1">
- <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
- <isSkillOf rdf:resource="#VisionComponents-VC4465"/>
- </ReadOpticalCharacters>
- </hasSkill>
- <hasProperty rdf:resource="#MaxCurrentConsumption_0.08"/>
<hasProperty>
- <Height rdf:ID="Height_50">
+ <MinMeasurementRange rdf:ID="MinMeasurementRange_0.15">
+ <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >50.0</value>
- <isPropertyOf rdf:resource="#VisionComponents-VC4465"/>
+ >0.15</value>
<hasEditable rdf:resource="#isEditable_false"/>
- </Height>
+ </MinMeasurementRange>
</hasProperty>
- <hasProperty rdf:resource="#MinVoltageSupply_19.2"/>
- <hasProperty rdf:resource="#BusInterface_RS232"/>
- <hasProperty rdf:resource="#Height_43"/>
- </SmartCamera>
+ </OpticDistanceSensor>
</isPropertyOf>
- </MaxCurrentConsumption>
- </hasProperty>
- <hasProperty rdf:resource="#MinAmbientTemperature_-10"/>
- <hasProperty>
- <Repeatability rdf:ID="Repeatability_0.0005">
- <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >5.0E-4</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- </Repeatability>
- </hasProperty>
- <hasProperty>
- <LightSpotSize rdf:ID="LightSpotSize_0.13">
- <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.13</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- </LightSpotSize>
- </hasProperty>
- <hasProperty>
- <Accuracy rdf:ID="Accuracy_0.002">
- <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.0020</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- </Accuracy>
+ <isPropertyOf rdf:resource="#Bosch_GBM_10_RE"/>
+ </Weight>
</hasProperty>
+ <hasSkill rdf:resource="#StartRotation_SIARAS"/>
+ <hasSkill rdf:resource="#StopRotation_SIARAS"/>
<hasIdentifier>
- <Identifier rdf:ID="ID_Sick_DME5000-112">
+ <Identifier rdf:ID="ID_Bosch_GBM_10_RE">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >Sick_DME5000-112</value>
- <hasEditable rdf:resource="#isEditable_false"/>
+ >Bosch_GBM_10_RE</value>
</Identifier>
</hasIdentifier>
- <hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
- <hasProperty rdf:resource="#MaxAmbientTemperature_55"/>
- <hasProperty>
- <LaserClass rdf:ID="LaserClass_2">
- <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
- <hasEditable rdf:resource="#isEditable_false"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >2</value>
- </LaserClass>
- </hasProperty>
- <hasProperty>
- <BusInterface rdf:ID="BusInterface_Profibus">
- <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
- <hasEditable rdf:resource="#isEditable_false"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >Profibus</value>
- </BusInterface>
- </hasProperty>
- <hasProperty>
- <MinMeasurementRange rdf:ID="MinMeasurementRange_0.15">
- <isPropertyOf rdf:resource="#Sick_DME5000-112"/>
- <hasEditable rdf:resource="#isEditable_false"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.15</value>
- </MinMeasurementRange>
- </hasProperty>
- </OpticDistanceSensor>
- </isPropertyOf>
- <isPropertyOf rdf:resource="#Bosch_GBM_10_RE"/>
- </Weight>
- </hasProperty>
- </DrillMachine>
+ </DrillMachine>
+ </isSkillOf>
+ <isSkillOf rdf:resource="#Bosch_GBM_13_RE"/>
+ <isSkillOf rdf:resource="#Bosch_GBM_13_RE_Heavy"/>
+ </StopDrillRotation>
+ </hasSkill>
+ </Manufacturing>
</isSkillOf>
+ <isSkillOf rdf:resource="#Bosch_GBM_10_RE"/>
<isSkillOf rdf:resource="#Bosch_GBM_13_RE"/>
<isSkillOf rdf:resource="#Bosch_GBM_13_RE_Heavy"/>
</StartDrillRotation>
</hasSkill>
<hasSkill rdf:resource="#StopRotation_SIARAS"/>
- </Manufacturing>
+ <hasProperty>
+ <Weight rdf:ID="Weight_4.5">
+ <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
+ <isPropertyOf rdf:resource="#Bosch_GBM_13_RE"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >4.5</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Weight>
+ </hasProperty>
+ <hasProperty rdf:resource="#ChuckDiameter_13"/>
+ </DrillMachine>
</isPropertyOf>
- <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/>
- </Accuracy>
- </hasProperty>
- <hasProperty rdf:resource="#EnclosureRatingIP_96"/>
- <hasProperty>
- <Repeatability rdf:ID="Repeatability_120">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.0030</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/>
- </Repeatability>
- </hasProperty>
- <hasProperty>
- <ElectricalInterface rdf:ID="ElectricalInterface_121">
- <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/>
- <hasEditable rdf:resource="#isEditable_9"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >4...20 mA</value>
- </ElectricalInterface>
- </hasProperty>
- <hasProperty>
- <LightType rdf:ID="LightType_50">
- <isPropertyOf rdf:resource="#OpticColorSensor_35"/>
- <isPropertyOf rdf:resource="#OpticProximitySwitch_39"/>
- <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#Bosch_GBM_13_RE_Heavy"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >LEDred</value>
- <isPropertyOf rdf:resource="#OpticThroughBeamSwitch_41"/>
- <isPropertyOf rdf:resource="#OpticContrastScanner_51"/>
- <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/>
- <isPropertyOf rdf:resource="#OpticColorSensor_33"/>
- <isPropertyOf rdf:resource="#OpticReflexSwitch_37"/>
- </LightType>
- </hasProperty>
- <hasProperty>
- <Weight rdf:ID="Weight_118">
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#OpticReflexSwitch_37"/>
- <isPropertyOf rdf:resource="#OpticProximitySwitch_39"/>
- <isPropertyOf rdf:resource="#OpticThroughBeamSwitch_41"/>
- <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/>
- <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_11"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.04</value>
- </Weight>
+ >13</value>
+ </ChuckDiameter>
</hasProperty>
- <hasProperty rdf:resource="#ElectricalInterface_97"/>
- <hasProperty rdf:resource="#ElectricalInterface_56"/>
+ <hasProperty rdf:resource="#Weight_10"/>
+ <hasSkill rdf:resource="#StartRotation_SIARAS"/>
+ <hasSkill rdf:resource="#StopRotation_SIARAS"/>
<hasIdentifier>
- <Identifier rdf:ID="Identifier_123">
- <hasEditable rdf:resource="#isEditable_9"/>
+ <Identifier rdf:ID="ID_Bosch_GBM_13_RE_Heavy">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >Sick_DT10-P10B5</value>
+ >Bosch_GBM_13_RE_Heavy</value>
</Identifier>
- </hasIdentifier>
- <hasProperty rdf:resource="#MaxAmbientTemperature_79"/>
- <hasProperty>
- <ResponseTime rdf:ID="ResponseTime_119">
- <hasEditable rdf:resource="#isEditable_9"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.02</value>
- <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/>
- </ResponseTime>
- </hasProperty>
- <hasProperty rdf:resource="#SwitchingFrequency_44"/>
- <hasProperty>
- <MinVoltageSupply rdf:ID="MinVoltageSupply_109">
- <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/>
- <isPropertyOf rdf:resource="#OpticProximitySwitch_39"/>
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
- <isPropertyOf rdf:resource="#OpticReflexSwitch_37"/>
- <isPropertyOf rdf:resource="#OpticColorSensor_35"/>
- <isPropertyOf rdf:resource="#OpticThroughBeamSwitch_41"/>
- <isPropertyOf rdf:resource="#OpticContrastScanner_51"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >10.0</value>
- </MinVoltageSupply>
- </hasProperty>
- <hasProperty>
- <LightSpotSize rdf:ID="LightSpotSize_116">
- <hasEditable rdf:resource="#isEditable_9"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.02</value>
- <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/>
- </LightSpotSize>
- </hasProperty>
- <hasProperty rdf:resource="#MaxVoltageSupply_36"/>
- <hasProperty>
- <MinMeasurementRange rdf:ID="MinMeasurementRange_48">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.05</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#OpticProximitySwitch_39"/>
- <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/>
- </MinMeasurementRange>
- </hasProperty>
- <hasProperty>
- <PowerConsumption rdf:ID="PowerConsumption_49">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >1.2</value>
- <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/>
- <hasEditable rdf:resource="#isEditable_9"/>
- </PowerConsumption>
- </hasProperty>
- <hasSkill rdf:resource="#MeasureDistance_46"/>
- <hasProperty>
- <MaxMeasurementRange rdf:ID="MaxMeasurementRange_122">
- <hasEditable rdf:resource="#isEditable_9"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.4</value>
- <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/>
- </MaxMeasurementRange>
- </hasProperty>
- <hasProperty rdf:resource="#MinAmbientTemperature_100"/> </OpticDistanceSensor>
+ </hasIdentifier> </DrillMachine>
</isPropertyOf>
- <isPropertyOf rdf:resource="#OpticContrastScanner_51"/>
- <isPropertyOf rdf:resource="#OpticContrastScanner_53"/>
- <isPropertyOf rdf:resource="#LightGrid_57"/>
- </ElectricalInterface>
- </hasProperty>
- <hasProperty rdf:resource="#MinVoltageSupply_109"/>
- <hasProperty rdf:resource="#MaxVoltageSupply_36"/>
- <hasProperty>
- <LightSpotSize rdf:ID="LightSpotSize_112">
- <isPropertyOf rdf:resource="#OpticContrastScanner_51"/>
- <hasEditable rdf:resource="#isEditable_9"/>
- <value
- rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#string"
- >0.004x0.0008</value>
- </LightSpotSize>
- </hasProperty>
- <hasSkill>
- <DetectContrast rdf:ID="DetectContrast_52">
- <isSkillOf rdf:resource="#OpticContrastScanner_51"/>
- <isSkillOf rdf:resource="#OpticContrastScanner_53"/>
- </DetectContrast>
- </hasSkill>
- <hasProperty rdf:resource="#MinAmbientTemperature_55"/>
- <hasProperty>
- <ResponseTime rdf:ID="ResponseTime_110">
- <isPropertyOf rdf:resource="#OpticContrastScanner_51"/>
<value
rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
- >1.0E-5</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- </ResponseTime>
- </hasProperty>
- <hasIdentifier>
- <Identifier rdf:ID="Identifier_115">
- <hasEditable rdf:resource="#isEditable_9"/>
- <value
- rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#string"
- >Sick_KT10-2P1115</value>
- </Identifier>
- </hasIdentifier>
- <hasProperty>
- <LightType rdf:ID="LightType_113">
- <value
- rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#string"
- >LEDgreen</value>
- <isPropertyOf rdf:resource="#OpticColorSensor_33"/>
- <isPropertyOf rdf:resource="#OpticColorSensor_35"/>
- <isPropertyOf rdf:resource="#OpticContrastScanner_51"/>
- <hasEditable rdf:resource="#isEditable_9"/>
- </LightType>
+ >51.0</value>
+ </Weight>
</hasProperty>
- <hasProperty rdf:resource="#MaxCurrentConsumption_108"/>
- <hasProperty rdf:resource="#LightType_50"/>
- <hasProperty rdf:resource="#LightType_111"/>
<hasProperty>
- <ScanningDistance rdf:ID="ScanningDistance_102">
+ <NumberOfJoints rdf:ID="NumberOfJoints_8">
+ <isPropertyOf rdf:resource="#ScaraRobot_3"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_7"/>
<hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#OpticLuminescenceScanner_30"/>
- <isPropertyOf rdf:resource="#OpticContrastScanner_51"/>
- <isPropertyOf rdf:resource="#OpticContrastScanner_53"/>
<value
rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >0.01</value>
- </ScanningDistance>
+ "http://www.w3.org/2001/XMLSchema#integer"
+ >4</value>
+ </NumberOfJoints>
</hasProperty>
- <hasProperty rdf:resource="#EnclosureRatingIP_96"/>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_67"/>
+ <hasSkill>
+ <Circular rdf:ID="Circular_4">
+ <isSkillOf rdf:resource="#ScaraRobot_3"/>
+ <isSkillOf rdf:resource="#ScaraRobot_7"/>
+ </Circular>
+ </hasSkill>
<hasProperty>
- <SwitchingFrequency rdf:ID="SwitchingFrequency_114">
+ <MinAmbientTemperature rdf:ID="MinAmbientTemperature_174">
<value
rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
- >25000.0</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#OpticContrastScanner_51"/>
- </SwitchingFrequency>
- </hasProperty>
- <hasProperty>
- <Weight rdf:ID="Weight_54">
+ >5.0</value>
<hasEditable rdf:resource="#isEditable_9"/>
- <value
- rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >0.4</value>
+ <isPropertyOf rdf:resource="#ScaraRobot_3"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_7"/>
<isPropertyOf rdf:resource="#OpticColorSensor_28"/>
- <isPropertyOf rdf:resource="#OpticLuminescenceScanner_30"/>
- <isPropertyOf rdf:resource="#OpticColorSensor_35"/>
- <isPropertyOf rdf:resource="#OpticContrastScanner_51"/>
- <isPropertyOf rdf:resource="#OpticContrastScanner_53"/>
- <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_11"/>
- </Weight>
- </hasProperty>
- </OpticContrastScanner>
- </isPropertyOf>
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >0.08</value>
- </MaxCurrentConsumption>
- </hasProperty>
- <hasIdentifier>
- <Identifier rdf:ID="Identifier_184">
- <hasEditable rdf:resource="#isEditable_9"/>
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#string"
- >SmartCamera_24</value>
- </Identifier>
- </hasIdentifier>
- <hasProperty>
- <Resolution rdf:ID="Resolution_178">
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#SmartCamera_24"/>
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#string"
- >800x600</value>
- </Resolution>
- </hasProperty>
- <hasProperty>
- <Length rdf:ID="Length_177">
- <hasEditable rdf:resource="#isEditable_9"/>
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >120.0</value>
- <isPropertyOf rdf:resource="#SmartCamera_24"/>
- </Length>
- </hasProperty>
- <hasSkill>
- <Read2DMatrixCode rdf:ID="Read2DMatrixCode_25">
- <isSkillOf rdf:resource="#SmartCamera_22"/>
- <isSkillOf rdf:resource="#SmartCamera_24"/>
- </Read2DMatrixCode>
- </hasSkill>
- <hasProperty>
- <Height rdf:ID="Height_166">
- <isPropertyOf rdf:resource="#SmartCamera_24"/>
- <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
- <hasEditable rdf:resource="#isEditable_9"/>
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >53.0</value>
- </Height>
- </hasProperty>
- <hasProperty rdf:resource="#MaxCurrentConsumption_124"/>
- <hasSkill>
- <ReadOpticalCharacters rdf:ID="ReadOpticalCharacters_23">
- <isSkillOf rdf:resource="#SmartCamera_22"/>
- <isSkillOf rdf:resource="#SmartCamera_24"/>
- </ReadOpticalCharacters>
- </hasSkill>
- <hasProperty>
- <MaxVoltageSupply rdf:ID="MaxVoltageSupply_156">
- <hasEditable rdf:resource="#isEditable_9"/>
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >28.8</value>
- <isPropertyOf rdf:resource="#SmartCamera_20"/>
- <isPropertyOf rdf:resource="#SmartCamera_22"/>
- <isPropertyOf rdf:resource="#SmartCamera_24"/>
- <isPropertyOf rdf:resource="#OpticColorSensor_33"/>
- </MaxVoltageSupply>
- </hasProperty>
- <hasProperty>
- <Weight rdf:ID="Weight_181">
- <isPropertyOf rdf:resource="#SmartCamera_24"/>
- <hasEditable rdf:resource="#isEditable_9"/>
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >0.25</value>
- </Weight>
- </hasProperty>
- <hasProperty>
- <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_163">
- <hasEditable rdf:resource="#isEditable_9"/>
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >0.06</value>
- <isPropertyOf rdf:resource="#SmartCamera_24"/>
- <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
- <isPropertyOf rdf:resource="#OpticLuminescenceScanner_30"/>
- </MaxCurrentConsumption>
- </hasProperty>
+ <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_11"/>
+ <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_17"/>
+ </MinAmbientTemperature>
+ </hasProperty>
+ </ScaraRobot>
+ </isSkillOf>
+ </AsFastAsPossible>
+ </hasSkill>
<hasProperty>
- <BusInterface rdf:ID="BusInterface_183">
+ <DegreesOfFreedom rdf:ID="DegreesOfFreedom_231">
<value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#string"
- >RS232</value>
+ "http://www.w3.org/2001/XMLSchema#integer"
+ >4</value>
<hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#SmartCamera_24"/>
- </BusInterface>
+ <isPropertyOf rdf:resource="#ScaraRobot_3"/>
+ </DegreesOfFreedom>
</hasProperty>
- <hasProperty>
- <Height rdf:ID="Height_182">
+ <hasProperty rdf:resource="#TypeOfActuation_12"/>
+ <hasIdentifier>
+ <Identifier rdf:ID="Identifier_236">
<value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >50.0</value>
+ "http://www.w3.org/2001/XMLSchema#string"
+ >Staeubli_RS40B</value>
<hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#SmartCamera_24"/>
- </Height>
- </hasProperty>
+ </Identifier>
+ </hasIdentifier>
+ <hasProperty rdf:resource="#Repeatability_223"/>
+ <hasProperty rdf:resource="#NumberOfJoints_8"/>
<hasProperty>
- <Length rdf:ID="Length_180">
- <isPropertyOf rdf:resource="#SmartCamera_24"/>
+ <Weight rdf:ID="Weight_235">
+ <isPropertyOf rdf:resource="#ScaraRobot_3"/>
+ <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_11"/>
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
- >30.4</value>
+ >40.5</value>
<hasEditable rdf:resource="#isEditable_9"/>
- </Length>
+ </Weight>
</hasProperty>
+ <hasProperty rdf:resource="#Payload_222"/>
+ <hasSkill rdf:resource="#Karthesian_2"/>
<hasProperty>
- <Length rdf:ID="Length_175">
- <isPropertyOf rdf:resource="#SmartCamera_24"/>
- <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
+ <Reachability rdf:ID="Reachability_228">
+ <isPropertyOf rdf:resource="#ScaraRobot_3"/>
<hasEditable rdf:resource="#isEditable_9"/>
<value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >66.25</value>
- </Length>
- </hasProperty>
- <hasProperty>
- <MinVoltageSupply rdf:ID="MinVoltageSupply_158">
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >19.2</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#SmartCamera_20"/>
- <isPropertyOf rdf:resource="#SmartCamera_22"/>
- <isPropertyOf rdf:resource="#SmartCamera_24"/>
- <isPropertyOf rdf:resource="#OpticColorSensor_33"/>
- </MinVoltageSupply>
+ "http://www.w3.org/2001/XMLSchema#integer"
+ >400</value>
+ </Reachability>
</hasProperty>
- <hasProperty rdf:resource="#BusInterface_179"/>
- <hasSkill>
- <DetectColor rdf:ID="DetectColor_27">
- <isSkillOf rdf:resource="#SmartCamera_24"/>
- <isSkillOf rdf:resource="#OpticColorSensor_28"/>
- </DetectColor>
- </hasSkill>
- <hasSkill>
- <ReadBarCode rdf:ID="ReadBarCode_26">
- <isSkillOf rdf:resource="#SmartCamera_22"/>
- <isSkillOf rdf:resource="#SmartCamera_24"/>
- </ReadBarCode>
- </hasSkill>
- </SmartCamera>
+ <hasSkill rdf:resource="#Circular_4"/>
+ <hasProperty rdf:resource="#MinAmbientTemperature_174"/>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_67"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_16"/>
+ </ScaraRobot>
</isPropertyOf>
- <hasEditable rdf:resource="#isEditable_9"/>
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#string"
- >Fast Ethernet</value>
- </BusInterface>
- </hasProperty>
- <hasProperty>
- <Weight rdf:ID="Weight_199">
- <isPropertyOf rdf:resource="#SmartCamera_20"/>
- <isPropertyOf rdf:resource="#SmartCamera_22"/>
+ <isPropertyOf rdf:resource="#ScaraRobot_7"/>
+ <isPropertyOf rdf:resource="#VisionSensor_65"/>
<hasEditable rdf:resource="#isEditable_9"/>
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
- >0.5</value>
- </Weight>
+ >40.0</value>
+ </MaxAmbientTemperature>
</hasProperty>
- <hasSkill>
- <CheckPresence rdf:ID="CheckPresence_186">
- <isSkillOf rdf:resource="#SmartCamera_20"/>
- <isSkillOf rdf:resource="#SmartCamera_22"/>
- </CheckPresence>
- </hasSkill>
<hasProperty>
- <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_197">
+ <LightType rdf:ID="LightType_93">
+ <isPropertyOf rdf:resource="#VisionSensor_65"/>
<value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >0.4</value>
- <isPropertyOf rdf:resource="#SmartCamera_20"/>
- <isPropertyOf rdf:resource="#SmartCamera_22"/>
+ "http://www.w3.org/2001/XMLSchema#string"
+ >LEDwhite</value>
<hasEditable rdf:resource="#isEditable_9"/>
- </MaxCurrentConsumption>
+ </LightType>
</hasProperty>
+ <hasProperty rdf:resource="#MaxCurrentConsumption_64"/>
<hasProperty>
- <Width rdf:ID="Width_194">
- <isPropertyOf rdf:resource="#SmartCamera_20"/>
- <isPropertyOf rdf:resource="#SmartCamera_22"/>
+ <ScanningDistance rdf:ID="ScanningDistance_92">
+ <isPropertyOf rdf:resource="#VisionSensor_65"/>
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
- >60.0</value>
+ >0.24</value>
<hasEditable rdf:resource="#isEditable_9"/>
- </Width>
+ </ScanningDistance>
</hasProperty>
<hasProperty>
- <SwitchingFrequency rdf:ID="SwitchingFrequency_201">
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >30.0</value>
+ <FieldOfView rdf:ID="FieldOfView_94">
<hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#SmartCamera_20"/>
- <isPropertyOf rdf:resource="#SmartCamera_22"/>
- </SwitchingFrequency>
- </hasProperty>
- <hasProperty>
- <Resolution rdf:ID="Resolution_203">
+ <isPropertyOf rdf:resource="#VisionSensor_65"/>
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#string"
- >640x480</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#SmartCamera_20"/>
- </Resolution>
+ >50x60</value>
+ </FieldOfView>
</hasProperty>
- <hasSkill>
- <MeasureDiameter rdf:ID="MeasureDiameter_185">
- <isSkillOf rdf:resource="#SmartCamera_20"/>
- <isSkillOf rdf:resource="#SmartCamera_22"/>
- </MeasureDiameter>
- </hasSkill>
<hasProperty>
- <IntelligentCtrl rdf:ID="IntelligentCtrl_19">
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#SmartCamera_22"/>
- <isPropertyOf rdf:resource="#SmartCamera_20"/>
+ <Resolution rdf:ID="Resolution_98">
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#string"
- >yes</value>
- </IntelligentCtrl>
+ >208x238</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#VisionSensor_65"/>
+ </Resolution>
</hasProperty>
- <hasProperty rdf:resource="#MaxVoltageSupply_156"/>
<hasProperty>
- <MinMeasurementRange rdf:ID="MinMeasurementRange_192">
- <isPropertyOf rdf:resource="#SmartCamera_20"/>
- <isPropertyOf rdf:resource="#SmartCamera_22"/>
+ <ResponseTime rdf:ID="ResponseTime_68">
<hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#VisionSensor_65"/>
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
- >0.1</value>
- </MinMeasurementRange>
+ >0.0050</value>
+ </ResponseTime>
</hasProperty>
- <hasProperty rdf:resource="#MinAmbientTemperature_69"/>
- <hasProperty rdf:resource="#ElectricalInterface_40"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_96"/>
+ <hasProperty rdf:resource="#ElectricalInterface_97"/>
<hasSkill>
- <MeasureOrientationOfObject rdf:ID="MeasureOrientationOfObject_21">
- <isSkillOf rdf:resource="#SmartCamera_20"/>
- <isSkillOf rdf:resource="#SmartCamera_22"/>
- </MeasureOrientationOfObject>
+ <SortObjects rdf:ID="SortObjects_66">
+ <isSkillOf rdf:resource="#VisionSensor_65"/>
+ </SortObjects>
</hasSkill>
- <hasProperty>
- <ElectricalInterface rdf:ID="ElectricalInterface_193">
+ <hasIdentifier>
+ <Identifier rdf:ID="Identifier_99">
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#string"
- >Connector M12, 8 Pins</value>
- <isPropertyOf rdf:resource="#SmartCamera_20"/>
- <isPropertyOf rdf:resource="#SmartCamera_22"/>
+ >Sick_CVS2-P112</value>
<hasEditable rdf:resource="#isEditable_9"/>
- </ElectricalInterface>
- </hasProperty>
- <hasProperty rdf:resource="#EnclosureRatingIP_85"/>
- <hasSkill>
- <CheckPosition rdf:ID="CheckPosition_189">
- <isSkillOf rdf:resource="#SmartCamera_20"/>
- <isSkillOf rdf:resource="#SmartCamera_22"/>
- </CheckPosition>
- </hasSkill>
- <hasSkill>
- <MeasureAngle rdf:ID="MeasureAngle_188">
- <isSkillOf rdf:resource="#SmartCamera_20"/>
- <isSkillOf rdf:resource="#SmartCamera_22"/>
- </MeasureAngle>
- </hasSkill>
+ </Identifier>
+ </hasIdentifier>
<hasProperty>
- <Height rdf:ID="Height_195">
- <hasEditable rdf:resource="#isEditable_9"/>
+ <Weight rdf:ID="Weight_95">
+ <isPropertyOf rdf:resource="#VisionSensor_65"/>
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
- >55.0</value>
- <isPropertyOf rdf:resource="#SmartCamera_20"/>
- <isPropertyOf rdf:resource="#SmartCamera_22"/>
- </Height>
- </hasProperty>
- <hasProperty>
- <BusInterface rdf:ID="BusInterface_200">
+ >0.18</value>
<hasEditable rdf:resource="#isEditable_9"/>
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#string"
- >RS485</value>
- <isPropertyOf rdf:resource="#SmartCamera_20"/>
- <isPropertyOf rdf:resource="#SmartCamera_22"/>
- </BusInterface>
+ </Weight>
</hasProperty>
- <hasSkill rdf:resource="#MeasurePositionOfObject_73"/>
- <hasProperty rdf:resource="#MaxMeasurementRange_191"/>
<hasProperty>
- <Length rdf:ID="Length_198">
- <isPropertyOf rdf:resource="#SmartCamera_20"/>
- <isPropertyOf rdf:resource="#SmartCamera_22"/>
+ <MaxVoltageSupply rdf:ID="MaxVoltageSupply_91">
+ <isPropertyOf rdf:resource="#VisionSensor_65"/>
<hasEditable rdf:resource="#isEditable_9"/>
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
- >161.0</value>
- </Length>
+ >24.0</value>
+ </MaxVoltageSupply>
</hasProperty>
- <hasProperty rdf:resource="#MinVoltageSupply_158"/>
- <hasQualProperty>
- <Cost rdf:ID="Cost_2000">
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#double"
- >2000</value>
- <isQualProperty rdf:resource="#SmartCamera_20"/>
- <isQualProperty rdf:resource="#SmartCamera_22"/>
- <hasEditable rdf:resource="#isEditable_false"/>
- </Cost>
- </hasQualProperty>
- <hasSkill>
- <ClassifyObject rdf:ID="ClassifyObject_190">
- <isSkillOf rdf:resource="#SmartCamera_20"/>
- <isSkillOf rdf:resource="#SmartCamera_22"/>
- </ClassifyObject>
- </hasSkill>
- <hasIdentifier>
- <Identifier rdf:ID="Identifier_204">
- <value rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#string"
- >SmartCamera_20</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- </Identifier>
- </hasIdentifier>
- <hasSkill>
- <MeasureArea rdf:ID="MeasureArea_187">
- <isSkillOf rdf:resource="#SmartCamera_20"/>
- <isSkillOf rdf:resource="#SmartCamera_22"/>
- </MeasureArea>
- </hasSkill>
- <hasProperty rdf:resource="#MaxAmbientTemperature_79"/>
- <hasSkill rdf:resource="#Count_72"/>
- </SmartCamera>
+ </VisionSensor>
</isPropertyOf>
- <isPropertyOf rdf:resource="#SmartCamera_22"/>
+ <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_17"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >67</value>
+ <isPropertyOf rdf:resource="#OpticColorSensor_33"/>
+ <isPropertyOf rdf:resource="#OpticThroughBeamSwitch_41"/>
+ <isPropertyOf rdf:resource="#OpticContrastScanner_51"/>
+ <isPropertyOf rdf:resource="#OpticContrastScanner_53"/>
+ <isPropertyOf rdf:resource="#OpticLuminescenceScanner_30"/>
+ <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
+ <isPropertyOf rdf:resource="#OpticColorSensor_35"/>
+ <isPropertyOf rdf:resource="#OpticReflexSwitch_37"/>
+ <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/>
+ <isPropertyOf rdf:resource="#OpticProximitySwitch_39"/>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ </EnclosureRatingIP>
+ </hasProperty>
+ <hasProperty rdf:resource="#Accuracy_0.0030"/>
+ <hasProperty>
+ <Repeatability rdf:ID="Repeatability_120">
+ <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/>
+ <hasEditable rdf:resource="#isEditable_9"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >1.0</value>
+ >0.0030</value>
+ </Repeatability>
+ </hasProperty>
+ <hasProperty>
+ <ElectricalMedia rdf:ID="ElectricalInterface_121">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >4...20 mA</value>
<hasEditable rdf:resource="#isEditable_9"/>
- </MaxMeasurementRange>
+ <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/>
+ </ElectricalMedia>
</hasProperty>
- <hasProperty rdf:resource="#Length_198"/>
- <hasProperty rdf:resource="#BusInterface_200"/>
- <hasSkill rdf:resource="#MeasurePositionOfObject_73"/>
- <hasSkill rdf:resource="#ClassifyObject_190"/>
- <hasProperty rdf:resource="#MaxAmbientTemperature_79"/>
- <hasSkill rdf:resource="#ReadBarCode_26"/>
- <hasSkill rdf:resource="#Count_72"/>
- <hasProperty rdf:resource="#MinVoltageSupply_158"/>
- <hasProperty rdf:resource="#Width_194"/>
- <hasQualProperty rdf:resource="#Cost_2000"/>
- <hasSkill rdf:resource="#MeasureArea_187"/>
- <hasProperty rdf:resource="#MaxCurrentConsumption_197"/>
- <hasProperty rdf:resource="#SwitchingFrequency_201"/>
- <hasProperty rdf:resource="#BusInterface_179"/>
- <hasProperty rdf:resource="#MaxVoltageSupply_156"/>
- <hasProperty rdf:resource="#MinAmbientTemperature_69"/>
- <hasProperty rdf:resource="#Weight_199"/>
- <hasProperty rdf:resource="#ElectricalInterface_193"/>
- <hasSkill rdf:resource="#CheckPresence_186"/>
+ <hasProperty rdf:resource="#LightType_50"/>
+ <hasProperty rdf:resource="#Weight_118"/>
+ <hasProperty rdf:resource="#ElectricalInterface_97"/>
+ <hasProperty rdf:resource="#ElectricalInterface_56"/>
<hasIdentifier>
- <Identifier rdf:ID="Identifier_202">
- <hasEditable rdf:resource="#isEditable_9"/>
+ <Identifier rdf:ID="Identifier_123">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >SmartCamera_22</value>
+ >Sick_DT10-P10B5</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
</Identifier>
</hasIdentifier>
- <hasProperty rdf:resource="#IntelligentCtrl_19"/>
- <hasSkill rdf:resource="#MeasureDiameter_185"/>
- <hasSkill rdf:resource="#CheckPosition_189"/>
- <hasSkill rdf:resource="#ReadOpticalCharacters_23"/>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_79"/>
<hasProperty>
- <Resolution rdf:ID="Resolution_196">
- <isPropertyOf rdf:resource="#SmartCamera_22"/>
+ <ResponseTime rdf:ID="ResponseTime_119">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.02</value>
<hasEditable rdf:resource="#isEditable_9"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >1024x768</value>
- </Resolution>
+ <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/>
+ </ResponseTime>
+ </hasProperty>
+ <hasProperty rdf:resource="#MinVoltageSupply_109"/>
+ <hasProperty rdf:resource="#MaxVoltageSupply_36"/>
+ <hasProperty>
+ <LightSpotSize rdf:ID="LightSpotSize_116">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.02</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/>
+ </LightSpotSize>
+ </hasProperty>
+ <hasProperty rdf:resource="#MinMeasurementRange_48"/>
+ <hasProperty rdf:resource="#SwitchingFrequency_44"/>
+ <hasProperty>
+ <PowerConsumption rdf:ID="PowerConsumption_49">
+ <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >1.2</value>
+ </PowerConsumption>
+ </hasProperty>
+ <hasSkill rdf:resource="#MeasureDistance_46"/>
+ <hasProperty>
+ <MaxMeasurementRange rdf:ID="MaxMeasurementRange_122">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.4</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/>
+ </MaxMeasurementRange>
</hasProperty>
- <hasProperty rdf:resource="#MinMeasurementRange_192"/>
- <hasSkill rdf:resource="#Read2DMatrixCode_25"/>
- <hasSkill rdf:resource="#MeasureOrientationOfObject_21"/>
- <hasSkill rdf:resource="#MeasureAngle_188"/>
- <hasProperty rdf:resource="#ElectricalInterface_40"/>
- <hasProperty rdf:resource="#Height_195"/>
- <hasProperty rdf:resource="#EnclosureRatingIP_85"/>
- </SmartCamera>
+ <hasProperty rdf:resource="#MinAmbientTemperature_100"/>
+ </OpticDistanceSensor>
</isPropertyOf>
- <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#LaserScanner2D_70"/>
+ <isPropertyOf rdf:resource="#SmartCamera_22"/>
<isPropertyOf rdf:resource="#SmartCamera_20"/>
- <isPropertyOf rdf:resource="#OpticColorSensor_33"/>
- <isPropertyOf rdf:resource="#OpticProximitySwitch_39"/>
- <isPropertyOf rdf:resource="#OpticReflexSwitch_37"/>
- </ElectricalInterface>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >50.0</value>
+ </MaxAmbientTemperature>
</hasProperty>
+ <hasSkill rdf:resource="#MeasurePositionOfObject_73"/>
<hasProperty>
- <SwitchingFrequency rdf:ID="SwitchingFrequency_145">
- <isPropertyOf rdf:resource="#OpticProximitySwitch_39"/>
- <hasEditable rdf:resource="#isEditable_9"/>
+ <Weight rdf:ID="Weight_82">
+ <isPropertyOf rdf:resource="#LaserScanner2D_70"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >700.0</value>
- </SwitchingFrequency>
+ >4.5</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ </Weight>
</hasProperty>
- <hasProperty rdf:resource="#MaxVoltageSupply_36"/>
- <hasProperty rdf:resource="#MinVoltageSupply_109"/>
- <hasProperty rdf:resource="#EnclosureRatingIP_96"/>
- <hasSkill rdf:resource="#DetectObject_38"/>
- <hasIdentifier>
- <Identifier rdf:ID="Identifier_147">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >Sick_WT18-3P430</value>
+ <hasProperty>
+ <MaxMeasurementRange rdf:ID="MaxMeasurementRange_84">
+ <isPropertyOf rdf:resource="#LaserScanner2D_70"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >80.0</value>
<hasEditable rdf:resource="#isEditable_9"/>
- </Identifier>
- </hasIdentifier>
+ </MaxMeasurementRange>
+ </hasProperty>
<hasProperty>
- <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_43">
- <isPropertyOf rdf:resource="#OpticReflexSwitch_37"/>
- <isPropertyOf rdf:resource="#OpticProximitySwitch_39"/>
- <isPropertyOf rdf:resource="#OpticThroughBeamSwitch_41"/>
+ <PowerConsumption rdf:ID="PowerConsumption_81">
+ <isPropertyOf rdf:resource="#LaserScanner2D_70"/>
<hasEditable rdf:resource="#isEditable_9"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >60.0</value>
- </MaxAmbientTemperature>
+ >20.0</value>
+ </PowerConsumption>
</hasProperty>
- <hasProperty rdf:resource="#ElectricalInterface_97"/>
- <hasProperty rdf:resource="#LightType_50"/>
<hasProperty>
- <ResponseTime rdf:ID="ResponseTime_143">
+ <Resolution rdf:ID="Resolution_88">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >7.0E-4</value>
- <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
- <isPropertyOf rdf:resource="#OpticProximitySwitch_39"/>
+ >0.01</value>
+ <isPropertyOf rdf:resource="#LaserScanner2D_70"/>
<hasEditable rdf:resource="#isEditable_9"/>
- </ResponseTime>
+ </Resolution>
</hasProperty>
<hasProperty>
- <MaxMeasurementRange rdf:ID="MaxMeasurementRange_144">
- <isPropertyOf rdf:resource="#OpticProximitySwitch_39"/>
+ <MinVoltageSupply rdf:ID="MinVoltageSupply_83">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.6</value>
+ >20.4</value>
<hasEditable rdf:resource="#isEditable_9"/>
- </MaxMeasurementRange>
+ <isPropertyOf rdf:resource="#LaserScanner2D_70"/>
+ </MinVoltageSupply>
</hasProperty>
- <hasProperty rdf:resource="#Weight_118"/>
<hasProperty>
- <LightSpotSize rdf:ID="LightSpotSize_142">
+ <ResponseTime rdf:ID="ResponseTime_78">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.015</value>
+ >0.026</value>
+ <isPropertyOf rdf:resource="#LaserScanner2D_70"/>
<hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#OpticProximitySwitch_39"/>
- </LightSpotSize>
+ </ResponseTime>
</hasProperty>
+ <hasQualProperty rdf:resource="#Cost_6000"/>
<hasProperty>
- <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_146">
+ <LaserClass rdf:ID="LaserClass_80">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >1</value>
+ <isPropertyOf rdf:resource="#LaserScanner2D_70"/>
<hasEditable rdf:resource="#isEditable_9"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.04</value>
- <isPropertyOf rdf:resource="#OpticProximitySwitch_39"/>
- </MaxCurrentConsumption>
+ </LaserClass>
</hasProperty>
- <hasProperty rdf:resource="#MinMeasurementRange_48"/>
+ <hasProperty rdf:resource="#MinAmbientTemperature_69"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_85"/>
+ <hasSkill>
+ <ClassifyObject rdf:ID="ClassifyObject_77">
+ <isSkillOf rdf:resource="#LaserScanner2D_70"/>
+ </ClassifyObject>
+ </hasSkill>
+ <hasSkill rdf:resource="#Count_72"/>
<hasProperty>
- <MinAmbientTemperature rdf:ID="MinAmbientTemperature_140">
+ <MaxScanAngle rdf:ID="MaxScanAngle_89">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >180.0</value>
<hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#LaserScanner2D_70"/>
+ </MaxScanAngle>
+ </hasProperty>
+ <hasIdentifier>
+ <Identifier rdf:ID="Identifier_90">
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >ID-LaserScanner2D</value>
+ </Identifier>
+ </hasIdentifier>
+ <hasSkill>
+ <MeasureVolume rdf:ID="MeasureVolume_71">
+ <isSkillOf rdf:resource="#LaserScanner2D_70"/>
+ </MeasureVolume>
+ </hasSkill>
+ <hasSkill>
+ <DetectCollision rdf:ID="DetectCollision_76">
+ <isSkillOf rdf:resource="#LaserScanner2D_70"/>
+ </DetectCollision>
+ </hasSkill>
+ <hasSkill>
+ <Scan rdf:ID="Scan_75">
+ <isSkillOf rdf:resource="#LaserScanner2D_70"/>
+ </Scan>
+ </hasSkill>
+ <hasProperty>
+ <MaxVoltageSupply rdf:ID="MaxVoltageSupply_87">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >-40.0</value>
- <isPropertyOf rdf:resource="#OpticReflexSwitch_37"/>
- <isPropertyOf rdf:resource="#OpticProximitySwitch_39"/>
- <isPropertyOf rdf:resource="#OpticThroughBeamSwitch_41"/>
- </MinAmbientTemperature>
+ >27.6</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#LaserScanner2D_70"/>
+ </MaxVoltageSupply>
</hasProperty>
- </OpticProximitySwitch>
- </isSkillOf>
- </DetectObject>
- </hasSkill>
+ <hasSkill>
+ <MeasureDistance rdf:ID="MeasureDistance_74">
+ <isSkillOf rdf:resource="#LaserScanner2D_70"/>
+ </MeasureDistance>
+ </hasSkill>
+ </LaserScanner2D>
+ </isQualProperty>
+ <isQualProperty rdf:resource="#Sick_IVC-2DM1111"/>
+ <isQualProperty rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
+ <isQualProperty>
+ <ToolChanger rdf:ID="ToolChanger_1">
+ <hasSkill>
+ <Attach rdf:ID="ToolChangerAttach">
+ <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
+ <isSkillOf rdf:resource="#ToolChanger_1"/>
+ </Attach>
+ </hasSkill>
+ <hasSkill>
+ <Detach rdf:ID="ToolChangerDetach">
+ <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
+ <isSkillOf rdf:resource="#ToolChanger_1"/>
+ </Detach>
+ </hasSkill>
+ <hasQualProperty rdf:resource="#Cost_6000"/>
+ <hasProperty>
+ <PneumaticConnector rdf:ID="Festo_QC_KD">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >18</value>
+ <isPropertyOf rdf:resource="#ToolChanger_1"/>
+ </PneumaticConnector>
+ </hasProperty>
+ <hasProperty>
+ <MechanicalConnector rdf:ID="Schunk_GWS_Connector">
+ <isPropertyOf rdf:resource="#ToolChanger_1"/>
+ </MechanicalConnector>
+ </hasProperty>
+ </ToolChanger>
+ </isQualProperty>
+ <isQualProperty rdf:resource="#ABB_IRC5"/>
+ </Cost>
+ </hasQualProperty>
<hasProperty>
- <MaxMeasurementRange rdf:ID="MaxMeasurementRange_42">
- <isPropertyOf rdf:resource="#OpticThroughBeamSwitch_41"/>
- <hasEditable rdf:resource="#isEditable_9"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >20.0</value>
- </MaxMeasurementRange>
+ <DegreesOfFreedom rdf:ID="DegreesOfFreedom_6">
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
+ >6</value>
+ </DegreesOfFreedom>
</hasProperty>
- <hasProperty rdf:resource="#Weight_118"/>
- <hasProperty rdf:resource="#SwitchingFrequency_44"/>
- <hasProperty rdf:resource="#ElectricalInterface_40"/>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_45"/>
<hasProperty>
- <ResponseTime rdf:ID="ResponseTime_138">
- <isPropertyOf rdf:resource="#OpticColorSensor_33"/>
- <isPropertyOf rdf:resource="#OpticReflexSwitch_37"/>
- <isPropertyOf rdf:resource="#OpticThroughBeamSwitch_41"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >5.0E-4</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- </ResponseTime>
+ <MaxVoltageSupply rdf:ID="MaxVoltageSupply_450">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
+ >450</value>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
+ </MaxVoltageSupply>
</hasProperty>
- <hasProperty rdf:resource="#MinVoltageSupply_109"/>
- <hasProperty rdf:resource="#MinAmbientTemperature_140"/>
- <hasProperty rdf:resource="#LightType_50"/>
- <hasProperty rdf:resource="#MaxAmbientTemperature_43"/>
- <hasProperty rdf:resource="#ElectricalInterface_97"/>
- <hasProperty rdf:resource="#EnclosureRatingIP_96"/>
+ <hasProperty rdf:resource="#BusInterface_RS232"/>
<hasProperty>
- <MinMeasurementRange rdf:ID="MinMeasurementRange_136">
- <isPropertyOf rdf:resource="#OpticReflexSwitch_37"/>
- <isPropertyOf rdf:resource="#OpticThroughBeamSwitch_41"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.0</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- </MinMeasurementRange>
+ <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="Identifier_141">
- <hasEditable rdf:resource="#isEditable_9"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >Sick_WSWE18-3P430</value>
- </Identifier>
- </hasIdentifier>
<hasProperty>
- <LightSpotSize rdf:ID="LightSpotSize_139">
+ <PowerConsumption rdf:ID="PowerConsumption_3">
+ <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"
+ >3</value>
+ </PowerConsumption>
+ </hasProperty>
+ <hasProperty rdf:resource="#EnclosureRatingIP_54"/>
+ <hasProperty>
+ <NumberOfJoints rdf:ID="NumberOfJoints_6">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
+ >6</value>
+ </NumberOfJoints>
+ </hasProperty>
+ <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
+ <hasProperty rdf:resource="#TypeOfActuation_Electric"/>
+ <hasProperty rdf:resource="#IntelligentCtrl_1"/>
+ <hasProperty>
+ <MinAmbientTemperature rdf:ID="MinAmbientTemperature_-15">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.45</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#OpticThroughBeamSwitch_41"/>
- </LightSpotSize>
+ >-15.0</value>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
+ </MinAmbientTemperature>
</hasProperty>
<hasProperty>
- <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_137">
+ <Repeatability rdf:ID="Repeatability_0.1">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.055</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#OpticThroughBeamSwitch_41"/>
- </MaxCurrentConsumption>
+ >0.1</value>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
+ <isPropertyOf rdf:resource="http://www.owl-ontologies.com/siaras.owl#Schunk_MPG_64"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ </Repeatability>
</hasProperty>
- </OpticThroughBeamSwitch>
- </isPropertyOf>
- <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/>
- <isPropertyOf rdf:resource="#OpticDistanceSensor_45"/>
- <hasEditable rdf:resource="#isEditable_9"/>
- </SwitchingFrequency>
+ <hasSkill rdf:resource="#AsFastAsPossible_28"/>
+ <hasSkill rdf:resource="#Circular_29"/>
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_CLOOS_R410">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >CLOOS_R410</value>
+ </Identifier>
+ </hasIdentifier>
+ </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>
+ <hasSkill rdf:resource="#ToolChangerAttach"/>
+ <hasProperty rdf:resource="#NumberOfJoints_6"/>
+ <hasSkill rdf:resource="#ToolChangerDetach"/>
+ <hasProperty rdf:resource="#DegreesOfFreedom_6"/>
+ <hasSkill rdf:resource="#AsFastAsPossible_28"/>
+ <hasProperty>
+ <PowerConsumption rdf:ID="PowerConsumption_4.5">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >4.5</value>
+ </PowerConsumption>
</hasProperty>
- <hasProperty rdf:resource="#MaxMeasurementRange_63"/>
- <hasProperty rdf:resource="#ElectricalInterface_97"/>
- <hasProperty rdf:resource="#ElectricalInterface_40"/>
- <hasProperty rdf:resource="#EnclosureRatingIP_96"/>
- <hasProperty rdf:resource="#ResponseTime_138"/>
+ <hasProperty rdf:resource="#Payload_5.0"/>
+ <hasQualProperty rdf:resource="#Cost_2000"/>
+ <hasProperty rdf:resource="#MinVoltageSupply_200"/>
<hasProperty>
- <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_149">
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#OpticReflexSwitch_37"/>
+ <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="http://www.owl-ontologies.com/siaras.owl#Schunk_MPG_64"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
>0.03</value>
- </MaxCurrentConsumption>
+ </Repeatability>
</hasProperty>
- <hasProperty rdf:resource="#Weight_118"/>
- <hasProperty rdf:resource="#MinMeasurementRange_136"/>
- <hasSkill rdf:resource="#DetectObject_38"/>
- <hasProperty rdf:resource="#MinVoltageSupply_109"/>
- <hasProperty rdf:resource="#MaxAmbientTemperature_43"/>
- <hasProperty rdf:resource="#LightType_50"/>
- <hasProperty rdf:resource="#MaxVoltageSupply_36"/>
+ <hasSkill>
+ <Displace rdf:ID="L_Move">
+ <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
+ <isSkillOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ </Displace>
+ </hasSkill>
+ <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="#Karthesian_30"/>
<hasIdentifier>
- <Identifier rdf:ID="Identifier_150">
- <hasEditable rdf:resource="#isEditable_9"/>
+ <Identifier rdf:ID="ID_ABB_IRB-140">
+ <hasEditable rdf:resource="#isEditable_false"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >Sick_WL18-3P430</value>
+ >ABB_IRB-140</value>
</Identifier>
</hasIdentifier>
- <hasProperty rdf:resource="#MinAmbientTemperature_140"/>
- </OpticReflexSwitch>
+ <hasProperty>
+ <Reachability rdf:ID="Reachability_810">
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
+ >810</value>
+ </Reachability>
+ </hasProperty>
+ <hasProperty>
+ <MaxVoltageSupply rdf:ID="MaxVoltageSupply_600">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >600.0</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ </MaxVoltageSupply>
+ </hasProperty>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_45"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_67"/>
+ <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
+ <hasProperty rdf:resource="#TypeOfActuation_Electric"/>
+ </ArticulatedRobot>
</isPropertyOf>
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#OpticProximitySwitch_39"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >open collector PNP</value>
- <isPropertyOf rdf:resource="#VisionSensor_65"/>
- <isPropertyOf rdf:resource="#OpticContrastScanner_53"/>
- <isPropertyOf rdf:resource="#OpticContrastScanner_51"/>
- <isPropertyOf rdf:resource="#OpticColorSensor_35"/>
- <isPropertyOf rdf:resource="#OpticThroughBeamSwitch_41"/>
- <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/> </ElectricalInterface>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
+ </MaxAmbientTemperature>
</hasProperty>
- <hasProperty rdf:resource="#LightType_113"/>
- <hasProperty rdf:resource="#ElectricalInterface_56"/>
- <hasProperty rdf:resource="#MinAmbientTemperature_55"/>
- <hasSkill>
- <DetectColor rdf:ID="DetectColor_34">
- <isSkillOf rdf:resource="#OpticColorSensor_33"/>
- <isSkillOf rdf:resource="#OpticColorSensor_35"/> </DetectColor>
- </hasSkill>
- <hasProperty rdf:resource="#MinVoltageSupply_109"/>
+ <hasProperty rdf:resource="#Repeatability_0.1"/>
+ <hasProperty rdf:resource="#MinAmbientTemperature_-15"/>
+ <hasSkill rdf:resource="#Circular_29"/>
+ <hasSkill rdf:resource="#Karthesian_30"/>
+ <hasProperty rdf:resource="#TypeOfActuation_Electric"/>
+ <hasProperty rdf:resource="#BusInterface_RS232"/>
+ <hasProperty rdf:resource="#MaxVoltageSupply_450"/>
<hasProperty>
- <LightSpotSize rdf:ID="LightSpotSize_152">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >0.004x0.002</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#OpticColorSensor_35"/> </LightSpotSize>
- </hasProperty>
- <hasProperty rdf:resource="#MaxVoltageSupply_36"/>
- <hasProperty rdf:resource="#MaxAmbientTemperature_61"/>
+ <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>
+ <hasProperty rdf:resource="#IntelligentCtrl_1"/>
+ <hasProperty rdf:resource="#NumberOfJoints_6"/>
+ <hasSkill rdf:resource="#AsFastAsPossible_28"/>
+ <hasQualProperty rdf:resource="#Cost_5000"/>
+ <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
+ <hasProperty rdf:resource="#PowerConsumption_3"/>
<hasIdentifier>
- <Identifier rdf:ID="Identifier_153">
+ <Identifier rdf:ID="ID_CLOOS_R350">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >Sick_CS81-P1112</value>
- <hasEditable rdf:resource="#isEditable_9"/> </Identifier>
+ >CLOOS_R350</value> </Identifier>
</hasIdentifier>
- <hasProperty rdf:resource="#LightType_111"/>
- <hasProperty rdf:resource="#MaxCurrentConsumption_108"/>
- <hasProperty rdf:resource="#EnclosureRatingIP_96"/>
- <hasProperty rdf:resource="#LightType_50"/>
- <hasProperty rdf:resource="#Weight_54"/>
- </OpticColorSensor>
+ <hasProperty rdf:resource="#Weight_205"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_54"/>
+ <hasProperty rdf:resource="#MinVoltageSupply_350"/>
+ <hasProperty rdf:resource="#DegreesOfFreedom_6"/>
+ <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>
+ </ArticulatedRobot>
</isPropertyOf>
- <isPropertyOf rdf:resource="#OpticContrastScanner_51"/>
- <value
- rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#string"
- >LEDblue</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- </LightType>
- </hasProperty>
- <hasSkill rdf:resource="#DetectColor_34"/>
- <hasProperty rdf:resource="#MaxAmbientTemperature_61"/>
- <hasProperty>
- <ElectricalInterface rdf:ID="ElectricalInterface_159">
- <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
- <isPropertyOf rdf:resource="#OpticLuminescenceScanner_30"/>
- <isPropertyOf rdf:resource="#OpticColorSensor_33"/>
- <hasEditable rdf:resource="#isEditable_9"/>
- <value
- rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#string"
- >open collector NPN</value>
- </ElectricalInterface>
- </hasProperty>
- <hasProperty rdf:resource="#EnclosureRatingIP_96"/>
- <hasProperty>
- <LightSpotSize rdf:ID="LightSpotSize_155">
- <isPropertyOf rdf:resource="#OpticColorSensor_33"/>
- <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
+ <isPropertyOf rdf:resource="http://www.owl-ontologies.com/siaras.owl#Schunk_MPG_64"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
<value
rdf:datatype=
"http://www.w3.org/2001/XMLSchema#string"
- >0.0015x0.0065</value>
- </LightSpotSize>
+ >30</value>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ </EnclosureRatingIP>
</hasProperty>
- <hasProperty rdf:resource="#MaxVoltageSupply_156"/>
- <hasProperty rdf:resource="#LightType_113"/>
- <hasProperty rdf:resource="#ResponseTime_138"/>
+ <hasProperty rdf:resource="#NumberOfJoints_6"/>
+ <hasProperty rdf:resource="#Payload_15"/>
+ <hasProperty rdf:resource="#Repeatability_0.1"/>
+ <hasProperty rdf:resource="#IntelligentCtrl_1"/>
<hasIdentifier>
- <Identifier rdf:ID="Identifier_160">
+ <Identifier rdf:ID="ID_CLOOS_R320">
<value
rdf:datatype=
"http://www.w3.org/2001/XMLSchema#string"
- >Sick_CSM1-N1114</value>
- <hasEditable rdf:resource="#isEditable_9"/>
+ >CLOOS_R320</value>
</Identifier>
</hasIdentifier>
+ <hasProperty rdf:resource="#MinVoltageSupply_350"/>
+ <hasQualProperty rdf:resource="#Cost_5000"/>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_45"/>
+ <hasProperty rdf:resource="#TypeOfActuation_Electric"/>
+ <hasSkill rdf:resource="#AsFastAsPossible_28"/>
+ <hasProperty rdf:resource="#DegreesOfFreedom_6"/>
+ <hasSkill rdf:resource="#Karthesian_30"/>
+ <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
+ <hasProperty rdf:resource="#MaxVoltageSupply_450"/>
+ <hasProperty rdf:resource="#Weight_205"/>
+ <hasProperty rdf:resource="#MinAmbientTemperature_-15"/>
+ <hasProperty rdf:resource="#PowerConsumption_3"/>
<hasProperty>
- <Weight rdf:ID="Weight_157">
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#OpticColorSensor_33"/>
- <value
- rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >0.011</value>
- </Weight>
- </hasProperty>
- <hasProperty rdf:resource="#ScanningDistance_151"/>
- <hasProperty rdf:resource="#LightType_50"/>
- <hasProperty rdf:resource="#ElectricalInterface_40"/>
- <hasProperty rdf:resource="#MinAmbientTemperature_55"/>
- <hasProperty rdf:resource="#MinVoltageSupply_158"/>
- <hasProperty>
- <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_154">
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#OpticColorSensor_33"/>
- <value
- rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >0.035</value>
- </MaxCurrentConsumption>
- </hasProperty>
- <hasProperty>
- <SwitchingFrequency rdf:ID="SwitchingFrequency_32">
+ <Reachability rdf:ID="Reachability_2100">
+ <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R320"/>
<value
rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#float"
- >1500.0</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#OpticLuminescenceScanner_30"/>
- <isPropertyOf rdf:resource="#OpticColorSensor_33"/>
- </SwitchingFrequency>
+ "http://www.w3.org/2001/XMLSchema#integer"
+ >2100</value>
+ </Reachability>
</hasProperty>
- </OpticColorSensor>
+ <hasSkill rdf:resource="#Circular_29"/>
+ <hasProperty rdf:resource="#BusInterface_RS232"/>
+ </ArticulatedRobot>
</isPropertyOf>
- <isPropertyOf rdf:resource="#OpticColorSensor_35"/>
- <isPropertyOf rdf:resource="#OpticDistanceSensor_45"/>
- <isPropertyOf rdf:resource="#OpticContrastScanner_51"/>
- <isPropertyOf rdf:resource="#OpticContrastScanner_53"/>
- <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R350"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-140"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_CLOOS_R410"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >yes</value>
+ </IntelligentCtrl>
+ </hasProperty>
+ <hasSkill>
+ <CheckPresence rdf:ID="CheckPresence_1">
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
+ </CheckPresence>
+ </hasSkill>
+ <hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_50"/>
+ <hasProperty>
+ <SerialInOutSignal 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-2DM1122"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
+ </SerialInOutSignal>
+ </hasProperty>
+ <hasSkill>
+ <CheckPosition rdf:ID="CheckPosition_1">
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
+ </CheckPosition>
+ </hasSkill>
+ <hasProperty>
+ <MinMeasurementRange rdf:ID="MinMeasurementRange_0.10">
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >0.1</value>
+ </MinMeasurementRange>
+ </hasProperty>
+ <hasProperty>
+ <Length rdf:ID="Length_161">
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >161.0</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Length>
+ </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-2DM1111"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Height>
+ </hasProperty>
+ <hasProperty>
+ <Width rdf:ID="Width_60">
+ <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"
- >-10.0</value>
- </MinAmbientTemperature>
+ >60.0</value>
+ </Width>
</hasProperty>
- <hasProperty rdf:resource="#ElectricalInterface_56"/>
+ <hasProperty rdf:resource="#MaxCurrentConsumption_0.4"/>
+ <hasSkill>
+ <MeasureDiameter rdf:ID="MeasureDiameter_1">
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
+ </MeasureDiameter>
+ </hasSkill>
+ <hasSkill>
+ <MeasureOrientationOfObject rdf:ID="MeasureOrientationOfObject_1">
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
+ </MeasureOrientationOfObject>
+ </hasSkill>
+ <hasQualProperty rdf:resource="#Cost_3000"/>
+ <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>
- <LightSpotSize rdf:ID="LightSpotSize_103">
+ <ElectricalMedia rdf:ID="ElectricalInterface_ConnectorM12-8Pins">
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#string"
- >0.0012x0.0042</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#OpticContrastScanner_53"/>
- </LightSpotSize>
+ >Connector M12, 8 Pins</value>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </ElectricalMedia>
</hasProperty>
- <hasProperty rdf:resource="#ScanningDistance_102"/>
- <hasSkill rdf:resource="#DetectContrast_52"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
+ <hasProperty rdf:resource="#MinAmbientTemperature_0"/>
<hasProperty>
- <SwitchingFrequency rdf:ID="SwitchingFrequency_105">
- <isPropertyOf rdf:resource="#OpticContrastScanner_53"/>
+ <Weight rdf:ID="Weight_0.5">
+ <hasEditable rdf:resource="#isEditable_false"/>
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
- >10000.0</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- </SwitchingFrequency>
+ >0.5</value>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
+ </Weight>
</hasProperty>
- <hasProperty rdf:resource="#MaxAmbientTemperature_61"/>
- <hasProperty rdf:resource="#EnclosureRatingIP_96"/>
+ <hasProperty>
+ <MaxMeasurementRange rdf:ID="MaxMeasurementRange_1">
+ <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"
+ >1.0</value>
+ </MaxMeasurementRange>
+ </hasProperty>
+ <hasProperty rdf:resource="#MaxVoltageSupply_28.8"/>
+ <hasProperty rdf:resource="#BusInterface_FastEthernet"/>
+ <hasSkill>
+ <ClassifyObject rdf:ID="ClassifyObject_1">
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
+ </ClassifyObject>
+ </hasSkill>
+ <hasSkill rdf:resource="#DeterminePositionOfObject_1"/>
<hasIdentifier>
- <Identifier rdf:ID="Identifier_107">
- <hasEditable rdf:resource="#isEditable_9"/>
+ <Identifier rdf:ID="ID_Sick_IVC-2DM1111">
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#string"
- >Sick_KT5W_2P1116D</value>
+ >Sick_IVC-2DM1111</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
</Identifier>
</hasIdentifier>
- <hasProperty rdf:resource="#Weight_54"/>
- <hasProperty rdf:resource="#ElectricalInterface_97"/>
+ <hasQualProperty rdf:resource="#Cost_6000"/>
+ <hasSkill>
+ <MeasureArea rdf:ID="MeasureArea_1">
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
+ </MeasureArea>
+ </hasSkill>
+ <hasProperty rdf:resource="#MinVoltageSupply_19.2"/>
<hasProperty>
- <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_106">
- <isPropertyOf rdf:resource="#OpticContrastScanner_53"/>
- <hasEditable rdf:resource="#isEditable_9"/>
+ <Resolution rdf:ID="Resolution_640x480">
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >640x480</value>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Resolution>
+ </hasProperty>
+ <hasSkill>
+ <MeasureAngle rdf:ID="MeasureAngle_1">
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isSkillOf rdf:resource="#Sick_IVC-2DM1111"/>
+ </MeasureAngle>
+ </hasSkill>
+ <hasProperty>
+ <SwitchingFrequency rdf:ID="SwitchingFrequency_30fps">
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
- >0.13</value>
- </MaxCurrentConsumption>
+ >30.0</value>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1122"/>
+ <isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </SwitchingFrequency>
</hasProperty>
- </OpticContrastScanner>
- </isPropertyOf>
- <isPropertyOf rdf:resource="#OpticColorSensor_33"/>
- <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
- <isPropertyOf rdf:resource="#OpticLuminescenceScanner_30"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >55.0</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#LightGrid_57"/>
- <isPropertyOf rdf:resource="#OpticColorSensor_35"/>
- <isPropertyOf rdf:resource="#OpticDistanceSensor_45"/>
- <isPropertyOf rdf:resource="#OpticContrastScanner_51"/>
- </MaxAmbientTemperature>
- </hasProperty>
- <hasProperty rdf:resource="#SwitchingFrequency_32"/>
+ <hasSubDevice rdf:resource="#SmartCameraNIC"/>
+ </SmartCamera>
+ </isQualProperty>
+ </Cost>
+ </hasQualProperty>
+ <hasQualProperty rdf:resource="#ResponseTime_104"/>
+ <hasSkill>
+ <Convey rdf:ID="Convey_1">
+ <isSkillOf rdf:resource="#Conveyor"/>
+ </Convey>
+ </hasSkill>
<hasProperty>
- <ResponseTime rdf:ID="ResponseTime_164">
+ <Payload rdf:ID="Payload_25.0">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Conveyor"/>
+ <isPropertyOf>
+ <AngleGripper rdf:ID="AngleGripper_test">
+ <hasProperty rdf:resource="#Payload_25.0"/>
+ <hasSkill>
+ <OpenClaws rdf:ID="OpenClaws_SIARAS">
+ <isSkillOf rdf:resource="#AngleGripper_test"/>
+ </OpenClaws>
+ </hasSkill>
+ <hasSkill>
+ <CloseClaws rdf:ID="CloseClaws_SIARAS">
+ <isSkillOf rdf:resource="#AngleGripper_test"/>
+ </CloseClaws>
+ </hasSkill>
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_AngleGripper">
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >AngleGripper</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </Identifier>
+ </hasIdentifier>
+ </AngleGripper>
+ </isPropertyOf>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >3.0E-4</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#OpticLuminescenceScanner_30"/>
- </ResponseTime>
- </hasProperty>
- <hasProperty rdf:resource="#MinAmbientTemperature_55"/>
- <hasProperty rdf:resource="#Weight_54"/>
- <hasProperty rdf:resource="#MinVoltageSupply_29"/>
- <hasProperty rdf:resource="#MaxVoltageSupply_36"/>
- <hasProperty rdf:resource="#ElectricalInterface_40"/>
- <hasProperty>
- <LightSpotSize rdf:ID="LightSpotSize_161">
- <isPropertyOf rdf:resource="#OpticLuminescenceScanner_30"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >0.002x0.006</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- </LightSpotSize>
+ >25.0</value>
+ </Payload>
</hasProperty>
- <hasProperty rdf:resource="#EnclosureRatingIP_96"/>
<hasProperty>
- <LightType rdf:ID="LightType_162">
- <isPropertyOf rdf:resource="#OpticLuminescenceScanner_30"/>
+ <DegreesOfFreedom rdf:ID="DegreesOfFreedom_1">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >UV</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- </LightType>
+ >1</value>
+ <isPropertyOf rdf:resource="#Conveyor"/>
+ </DegreesOfFreedom>
</hasProperty>
- <hasIdentifier>
- <Identifier rdf:ID="Identifier_165">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >Sick_LUT3-610</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- </Identifier>
- </hasIdentifier>
- <hasSkill>
- <DetectLuminescence rdf:ID="DetectLuminescence_31">
- <isSkillOf rdf:resource="#OpticLuminescenceScanner_30"/>
- </DetectLuminescence>
- </hasSkill>
- <hasProperty rdf:resource="#MaxCurrentConsumption_163"/>
- <hasProperty rdf:resource="#ScanningDistance_102"/>
- <hasProperty rdf:resource="#ElectricalInterface_159"/>
- </OpticLuminescenceScanner>
- </isPropertyOf>
- <isPropertyOf rdf:resource="#OpticReflexSwitch_37"/>
- <isPropertyOf rdf:resource="#OpticContrastScanner_51"/>
- <isPropertyOf rdf:resource="#OpticThroughBeamSwitch_41"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >30.0</value>
- <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/>
- <isPropertyOf rdf:resource="#OpticColorSensor_35"/>
- <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
- <isPropertyOf rdf:resource="#OpticProximitySwitch_39"/>
- <isPropertyOf rdf:resource="#LightGrid_57"/>
- <isPropertyOf rdf:resource="#OpticDistanceSensor_45"/>
+ </Displacement>
+ </isQualProperty>
<hasEditable rdf:resource="#isEditable_9"/>
- </MaxVoltageSupply>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >5.0E-5</value>
+ </ResponseTime>
</hasProperty>
- <hasProperty rdf:resource="#EnclosureRatingIP_85"/>
+ <hasProperty rdf:resource="#MinAmbientTemperature_55"/>
+ <hasProperty rdf:resource="#ElectricalInterface_56"/>
<hasProperty>
- <Material rdf:ID="Material_170">
+ <LightSpotSize rdf:ID="LightSpotSize_103">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >Polycarbonat</value>
- <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
+ >0.0012x0.0042</value>
<hasEditable rdf:resource="#isEditable_9"/>
- </Material>
+ <isPropertyOf rdf:resource="#OpticContrastScanner_53"/>
+ </LightSpotSize>
</hasProperty>
+ <hasProperty rdf:resource="#ScanningDistance_102"/>
+ <hasSkill rdf:resource="#DetectContrast_52"/>
<hasProperty>
- <Width rdf:ID="Width_168">
- <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
+ <SwitchingFrequency rdf:ID="SwitchingFrequency_105">
<hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#OpticContrastScanner_53"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >80.0</value>
- </Width>
+ >10000.0</value>
+ </SwitchingFrequency>
</hasProperty>
- <hasProperty rdf:resource="#MinVoltageSupply_109"/>
<hasProperty rdf:resource="#MaxAmbientTemperature_61"/>
- <hasProperty rdf:resource="#MaxCurrentConsumption_163"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_96"/>
<hasIdentifier>
- <Identifier rdf:ID="Identifier_176">
+ <Identifier rdf:ID="Identifier_107">
<hasEditable rdf:resource="#isEditable_9"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >Sensopart_FL64C</value>
+ >Sick_KT5W_2P1116D</value>
</Identifier>
</hasIdentifier>
- <hasProperty rdf:resource="#Height_166"/>
- <hasProperty>
- <ResponseTime rdf:ID="ResponseTime_167">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >9.0E-4</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
- </ResponseTime>
- </hasProperty>
- <hasProperty>
- <LightType rdf:ID="LightType_169">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >LED</value>
- <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
- <hasEditable rdf:resource="#isEditable_9"/>
- </LightType>
- </hasProperty>
- <hasProperty rdf:resource="#ElectricalInterface_159"/>
- <hasProperty rdf:resource="#MaxCurrentConsumption_108"/>
- <hasSkill rdf:resource="#DetectColor_27"/>
- <hasProperty rdf:resource="#ResponseTime_143"/>
- <hasProperty>
- <Width rdf:ID="Width_172">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >12.0</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
- </Width>
- </hasProperty>
- <hasProperty rdf:resource="#MinVoltageSupply_29"/>
+ <hasProperty rdf:resource="#Weight_54"/>
+ <hasProperty rdf:resource="#ElectricalInterface_97"/>
<hasProperty>
- <MaxVoltageSupply rdf:ID="MaxVoltageSupply_173">
- <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
+ <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_106">
<hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#OpticContrastScanner_53"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >26.4</value>
- </MaxVoltageSupply>
+ >0.13</value>
+ </MaxCurrentConsumption>
</hasProperty>
- <hasProperty rdf:resource="#Height_171"/>
- <hasProperty rdf:resource="#Weight_54"/>
- <hasProperty rdf:resource="#EnclosureRatingIP_96"/>
- <hasProperty rdf:resource="#MinAmbientTemperature_174"/>
- <hasProperty rdf:resource="#Length_175"/>
- </OpticColorSensor>
+ </OpticContrastScanner>
</isPropertyOf>
- <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_11"/>
- <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_17"/>
+ <isPropertyOf rdf:resource="#OpticColorSensor_33"/>
+ <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
+ <isPropertyOf rdf:resource="#OpticLuminescenceScanner_30"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >55.0</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#LightGrid_57"/>
+ <isPropertyOf rdf:resource="#OpticColorSensor_35"/>
+ <isPropertyOf rdf:resource="#OpticDistanceSensor_45"/>
+ <isPropertyOf rdf:resource="#OpticContrastScanner_51"/>
+ </MaxAmbientTemperature>
+ </hasProperty>
+ <hasProperty rdf:resource="#SwitchingFrequency_32"/>
+ <hasProperty>
+ <ResponseTime rdf:ID="ResponseTime_164">
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >3.0E-4</value>
+ <isPropertyOf rdf:resource="#OpticLuminescenceScanner_30"/>
+ </ResponseTime>
+ </hasProperty>
+ <hasProperty rdf:resource="#MinAmbientTemperature_55"/>
+ <hasProperty rdf:resource="#MinVoltageSupply_29"/>
+ <hasProperty rdf:resource="#Weight_54"/>
+ <hasProperty rdf:resource="#MaxVoltageSupply_36"/>
+ <hasProperty rdf:resource="#ElectricalInterface_40"/>
+ <hasProperty>
+ <LightSpotSize rdf:ID="LightSpotSize_161">
+ <isPropertyOf rdf:resource="#OpticLuminescenceScanner_30"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >0.002x0.006</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ </LightSpotSize>
+ </hasProperty>
+ <hasProperty rdf:resource="#EnclosureRatingIP_96"/>
+ <hasProperty>
+ <LightType rdf:ID="LightType_162">
+ <isPropertyOf rdf:resource="#OpticLuminescenceScanner_30"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >UV</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ </LightType>
+ </hasProperty>
+ <hasIdentifier>
+ <Identifier rdf:ID="Identifier_165">
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Sick_LUT3-610</value>
+ </Identifier>
+ </hasIdentifier>
+ <hasSkill>
+ <DetectLuminescence rdf:ID="DetectLuminescence_31">
+ <isSkillOf rdf:resource="#OpticLuminescenceScanner_30"/>
+ </DetectLuminescence>
+ </hasSkill>
+ <hasProperty>
+ <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_163">
+ <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
+ <isPropertyOf rdf:resource="#OpticLuminescenceScanner_30"/>
+ <isPropertyOf rdf:resource="#SmartCamera_24"/>
<hasEditable rdf:resource="#isEditable_9"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >5.0</value>
- </MinAmbientTemperature>
+ >0.06</value>
+ </MaxCurrentConsumption>
</hasProperty>
- <hasProperty rdf:resource="#MaxAmbientTemperature_67"/>
- <hasProperty rdf:resource="#EnclosureRatingIP_16"/>
- </ScaraRobot>
+ <hasProperty rdf:resource="#ScanningDistance_102"/>
+ <hasProperty rdf:resource="#ElectricalInterface_159"/>
+ </OpticLuminescenceScanner>
</isPropertyOf>
- <isPropertyOf rdf:resource="#ScaraRobot_7"/>
- <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_11"/>
- <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_17"/>
+ <isPropertyOf rdf:resource="#OpticReflexSwitch_37"/>
+ <isPropertyOf rdf:resource="#OpticContrastScanner_51"/>
+ <isPropertyOf rdf:resource="#OpticThroughBeamSwitch_41"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >30.0</value>
+ <isPropertyOf rdf:resource="#OpticDistanceSensor_47"/>
+ <isPropertyOf rdf:resource="#OpticColorSensor_35"/>
+ <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
+ <isPropertyOf rdf:resource="#OpticProximitySwitch_39"/>
+ <isPropertyOf rdf:resource="#LightGrid_57"/>
+ <isPropertyOf rdf:resource="#OpticDistanceSensor_45"/>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ </MaxVoltageSupply>
+ </hasProperty>
+ <hasProperty rdf:resource="#EnclosureRatingIP_85"/>
+ <hasProperty>
+ <Material rdf:ID="Material_170">
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Polycarbonat</value>
+ </Material>
+ </hasProperty>
+ <hasProperty>
+ <Width rdf:ID="Width_168">
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >80.0</value>
+ <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
+ </Width>
+ </hasProperty>
+ <hasProperty rdf:resource="#MinVoltageSupply_109"/>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_61"/>
+ <hasProperty rdf:resource="#MaxCurrentConsumption_163"/>
+ <hasIdentifier>
+ <Identifier rdf:ID="Identifier_176">
+ <hasEditable rdf:resource="#isEditable_9"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >30</value>
- </EnclosureRatingIP>
+ >Sensopart_FL64C</value>
+ </Identifier>
+ </hasIdentifier>
+ <hasProperty>
+ <Height rdf:ID="Height_166">
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >53.0</value>
+ <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
+ <isPropertyOf rdf:resource="#SmartCamera_24"/>
+ </Height>
</hasProperty>
- <hasProperty rdf:resource="#Payload_222"/>
- <hasSkill rdf:resource="#AsFastAsPossible_6"/>
- <hasProperty rdf:resource="#TypeOfActuation_12"/>
<hasProperty>
- <Reachability rdf:ID="Reachability_221">
+ <ResponseTime rdf:ID="ResponseTime_167">
<hasEditable rdf:resource="#isEditable_9"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
- >800</value>
- <isPropertyOf rdf:resource="#ScaraRobot_7"/>
- </Reachability>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >9.0E-4</value>
+ <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
+ </ResponseTime>
+ </hasProperty>
+ <hasProperty>
+ <LightType rdf:ID="LightType_169">
+ <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >LED</value>
+ </LightType>
</hasProperty>
- <hasProperty rdf:resource="#Repeatability_223"/>
- <hasSkill rdf:resource="#Karthesian_2"/>
- <hasProperty rdf:resource="#Weight_10"/>
- <hasProperty rdf:resource="#NumberOfJoints_8"/>
- <hasProperty rdf:resource="#MaxAmbientTemperature_67"/>
- <hasSkill rdf:resource="#Circular_4"/>
+ <hasProperty rdf:resource="#ElectricalInterface_159"/>
+ <hasProperty rdf:resource="#MaxCurrentConsumption_108"/>
+ <hasSkill>
+ <DetectColor rdf:ID="DetectColor_27">
+ <isSkillOf rdf:resource="#SmartCamera_24"/>
+ <isSkillOf rdf:resource="#OpticColorSensor_28"/>
+ </DetectColor>
+ </hasSkill>
+ <hasProperty rdf:resource="#ResponseTime_143"/>
+ <hasProperty>
+ <Width rdf:ID="Width_172">
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >12.0</value>
+ <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
+ </Width>
+ </hasProperty>
+ <hasProperty rdf:resource="#MinVoltageSupply_29"/>
+ <hasProperty>
+ <MaxVoltageSupply rdf:ID="MaxVoltageSupply_173">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >26.4</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
+ </MaxVoltageSupply>
+ </hasProperty>
+ <hasProperty rdf:resource="#Height_171"/>
+ <hasProperty rdf:resource="#Weight_54"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_96"/>
<hasProperty rdf:resource="#MinAmbientTemperature_174"/>
- </ScaraRobot>
+ <hasProperty>
+ <Length rdf:ID="Length_175">
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >66.25</value>
+ <isPropertyOf rdf:resource="#OpticColorSensor_28"/>
+ <isPropertyOf rdf:resource="#SmartCamera_24"/>
+ </Length>
+ </hasProperty>
+ </OpticColorSensor>
</isPropertyOf>
- <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_11"/>
- <isPropertyOf rdf:resource="#Bosch_GBM_13_RE_Heavy"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >51.0</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- </Weight>
+ <isPropertyOf rdf:resource="#SmartCamera_24"/>
+ </Height>
</hasProperty>
- <hasSkill rdf:resource="#StartRotation_SIARAS"/>
- <hasSkill rdf:resource="#StopRotation_SIARAS"/>
+ <hasQualProperty rdf:resource="#Cost_1000"/>
+ <hasProperty rdf:resource="#MaxCurrentConsumption_108"/>
<hasIdentifier>
- <Identifier rdf:ID="ID_Bosch_GBM_13_RE_Heavy">
+ <Identifier rdf:ID="Identifier_184">
+ <hasEditable rdf:resource="#isEditable_9"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >Bosch_GBM_13_RE_Heavy</value>
+ >SmartCamera_24</value>
</Identifier>
- </hasIdentifier> </DrillMachine>
- </isPropertyOf>
- </ChuckDiameter>
- </hasProperty>
- <hasSkill rdf:resource="#StartRotation_SIARAS"/>
- <hasSkill rdf:resource="#StopRotation_SIARAS"/>
- <hasIdentifier>
- <Identifier rdf:ID="ID_Bosch_GBM_13_RE">
+ </hasIdentifier>
+ <hasProperty>
+ <Resolution rdf:ID="Resolution_178">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >800x600</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#SmartCamera_24"/>
+ </Resolution>
+ </hasProperty>
+ <hasProperty>
+ <Length rdf:ID="Length_177">
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >120.0</value>
+ <isPropertyOf rdf:resource="#SmartCamera_24"/>
+ </Length>
+ </hasProperty>
+ <hasSkill rdf:resource="#Read2DMatrixCode_25"/>
+ <hasProperty rdf:resource="#Height_166"/>
+ <hasProperty rdf:resource="#MaxCurrentConsumption_124"/>
+ <hasSkill rdf:resource="#ReadOpticalCharacters_23"/>
+ <hasProperty rdf:resource="#MaxVoltageSupply_156"/>
+ <hasProperty>
+ <Weight rdf:ID="Weight_181">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.25</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#SmartCamera_24"/>
+ </Weight>
+ </hasProperty>
+ <hasProperty rdf:resource="#MaxCurrentConsumption_163"/>
+ <hasProperty>
+ <Height rdf:ID="Height_182">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >50.0</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="#SmartCamera_24"/>
+ </Height>
+ </hasProperty>
+ <hasProperty>
+ <Length rdf:ID="Length_180">
+ <isPropertyOf rdf:resource="#SmartCamera_24"/>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >30.4</value>
+ </Length>
+ </hasProperty>
+ <hasProperty rdf:resource="#Length_175"/>
+ <hasProperty rdf:resource="#MinVoltageSupply_158"/>
+ <hasSkill rdf:resource="#DetectColor_27"/>
+ <hasSkill rdf:resource="#ReadBarCode_26"/> </SmartCamera>
+ </isQualProperty>
+ <isQualProperty rdf:resource="#LightBulb_Phillips_100W"/>
+ <isQualProperty rdf:resource="#CellController"/>
+ <isQualProperty rdf:resource="#MechanicalFixture_1"/>
+ <isQualProperty rdf:resource="#IO_Board_d328"/>
+ <isQualProperty rdf:resource="#IRC5_NIC0"/>
+ <isQualProperty rdf:resource="#eth0"/>
<value
rdf:datatype=
- "http://www.w3.org/2001/XMLSchema#string"
- >Bosch_GBM_13_RE</value>
- </Identifier>
- </hasIdentifier>
- </DrillMachine>
+ "http://www.w3.org/2001/XMLSchema#double"
+ >1000</value>
+ <isQualProperty rdf:resource="#SmartCameraNIC"/>
+ </Cost>
+ </hasQualProperty>
+ <hasSkill>
+ <ChangeEnvironment rdf:ID="DeactivateLighting_1">
+ <isSkillOf rdf:resource="#LightBulb_Phillips_100W"/>
+ </ChangeEnvironment>
+ </hasSkill>
+ <hasSkill>
+ <ChangeEnvironment rdf:ID="ActivateLighting_1">
+ <isSkillOf rdf:resource="#LightBulb_Phillips_100W"/>
+ </ChangeEnvironment>
+ </hasSkill>
+ </LightingDevice>
</isPropertyOf>
+ <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >20.0</value>
+ </PowerConsumption>
+ </hasProperty>
+ <hasProperty>
+ <LaserClass rdf:ID="LaserClass_1">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#string"
+ >1</value>
+ <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
+ </LaserClass>
+ </hasProperty>
+ <hasProperty>
+ <MinVoltageSupply rdf:ID="MinVoltageSupply_20.4">
+ <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
- >4.5</value>
+ >20.4</value>
<hasEditable rdf:resource="#isEditable_false"/>
- </Weight>
+ </MinVoltageSupply>
</hasProperty>
+ <hasProperty rdf:resource="#EnclosureRatingIP_65"/>
+ <hasProperty rdf:resource="#Weight_4.5"/>
<hasProperty rdf:resource="#MinAmbientTemperature_0"/>
<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>
- <hasEditable rdf:resource="#isEditable_false"/>
</MaxMeasurementRange>
</hasProperty>
<hasProperty>
<Resolution rdf:ID="DepthResolution_0.01">
- <hasEditable rdf:resource="#isEditable_false"/>
<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>
<hasSkill>
@@ -11239,10 +11421,10 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
</hasSkill>
<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>
+ <hasEditable rdf:resource="#isEditable_false"/>
</Identifier>
</hasIdentifier>
<hasSkill>
@@ -11250,27 +11432,27 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
<isSkillOf rdf:resource="#Sick_LMS200-30106"/>
</Scan>
</hasSkill>
+ <hasSkill>
+ <ClassifyObject rdf:ID="ClassifyObject_2">
+ <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
+ </ClassifyObject>
+ </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>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_LMS200-30106"/>
</Resolution>
</hasProperty>
- <hasSkill>
- <ClassifyObject rdf:ID="ClassifyObject_2">
- <isSkillOf rdf:resource="#Sick_LMS200-30106"/>
- </ClassifyObject>
- </hasSkill>
<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"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
</MaxScanAngle>
</hasProperty>
<hasProperty rdf:resource="#MaxAmbientTemperature_50"/>
@@ -11294,34 +11476,35 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
<hasProperty rdf:resource="#MinVoltageSupply_19.2"/>
<hasProperty rdf:resource="#MaxCurrentConsumption_0.4"/>
<hasSkill rdf:resource="#ReadBarCode_1"/>
- <hasSkill rdf:resource="#MeasureAngle_1"/>
<hasProperty rdf:resource="#SwitchingFrequency_30fps"/>
+ <hasSkill rdf:resource="#MeasureAngle_1"/>
<hasProperty rdf:resource="#Weight_0.5"/>
<hasProperty rdf:resource="#MaxVoltageSupply_28.8"/>
<hasProperty rdf:resource="#IntelligentCtrl_1"/>
<hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-4Pins"/>
- <hasProperty rdf:resource="#MaxAmbientTemperature_50"/>
- <hasProperty rdf:resource="#BusInterface_RS485"/>
+ <hasProperty rdf:resource="#MaxMeasurementRange_1"/>
<hasProperty rdf:resource="#MinMeasurementRange_0.10"/>
+ <hasProperty rdf:resource="#BusInterface_RS485"/>
<hasProperty rdf:resource="#BusInterface_FastEthernet"/>
- <hasSkill rdf:resource="#CheckPresence_1"/>
- <hasSkill rdf:resource="#CheckPosition_1"/>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_50"/>
<hasIdentifier>
<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>
- <hasEditable rdf:resource="#isEditable_false"/>
</Identifier>
</hasIdentifier>
- <hasProperty rdf:resource="#MaxMeasurementRange_1"/>
+ <hasSkill rdf:resource="#CheckPosition_1"/>
+ <hasSkill rdf:resource="#CheckPresence_1"/>
<hasQualProperty>
<Cost rdf:ID="Cost_4000">
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#double"
>4000</value>
- <hasEditable rdf:resource="#isEditable_false"/>
+ <isQualProperty rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
<isQualProperty rdf:resource="#Sick_IVC-2DM1122"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
</Cost>
</hasQualProperty>
<hasSkill rdf:resource="#MeasureArea_1"/>
@@ -11338,12 +11521,12 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
</hasProperty>
<hasProperty rdf:resource="#MinAmbientTemperature_0"/>
<hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-8Pins"/>
- <hasSkill rdf:resource="#Read2DMatrixCode_1"/>
- <hasProperty rdf:resource="#Length_161"/>
<hasProperty rdf:resource="#EnclosureRatingIP_65"/>
+ <hasProperty rdf:resource="#Length_161"/>
+ <hasSkill rdf:resource="#Read2DMatrixCode_1"/>
<hasSkill rdf:resource="#ReadOpticalCharacters_1"/>
- <hasProperty rdf:resource="#Height_55"/>
<hasProperty rdf:resource="#Width_60"/>
+ <hasProperty rdf:resource="#Height_55"/>
</SmartCamera>
</isPropertyOf>
<isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
@@ -11355,14 +11538,14 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
<hasEditable rdf:resource="#isEditable_false"/>
<isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
<isPropertyOf rdf:resource="#Sick_IVC-2DM1111"/>
- </ElectricalInterface>
+ </ElectricalMedia>
</hasProperty>
<hasProperty rdf:resource="#Weight_0.04"/>
<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>
+ <hasEditable rdf:resource="#isEditable_false"/>
<isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
</MaxCurrentConsumption>
</hasProperty>
@@ -11377,26 +11560,26 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
<hasProperty rdf:resource="#ResponseTime_0.0005"/>
<hasProperty>
<LightSpotSize rdf:ID="LightSpotSize_0.450">
- <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
<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>
<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>
+ <hasEditable rdf:resource="#isEditable_false"/>
</Identifier>
</hasIdentifier>
<hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
<hasProperty rdf:resource="#LightType_LEDred"/>
<hasProperty>
<MaxMeasurementRange rdf:ID="MaxMeasurementRange_20">
+ <isPropertyOf rdf:resource="#Sick_WSWE18-3P430"/>
<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>
@@ -11404,46 +11587,42 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
</isPropertyOf>
<isPropertyOf rdf:resource="#Sick_WL18-3P430"/>
<isPropertyOf rdf:resource="#Sick_DME5000-112"/>
- <hasEditable rdf:resource="#isEditable_false"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >1000.0</value>
</SwitchingFrequency>
</hasProperty>
- <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"/>
- <hasEditable rdf:resource="#isEditable_false"/>
- </PowerConsumption>
- </hasProperty>
<hasProperty rdf:resource="#MinMeasurementRange_0.05"/>
<hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
<hasSkill rdf:resource="#MeasureDistance_1"/>
<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>
+ <hasEditable rdf:resource="#isEditable_false"/>
</Identifier>
</hasIdentifier>
<hasProperty>
<MaxMeasurementRange rdf:ID="MaxMeasurementRange_0.4">
+ <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
>0.4</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
</MaxMeasurementRange>
</hasProperty>
<hasProperty>
<ResponseTime rdf:ID="ResponseTime_0.02">
<isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
>0.02</value>
- <hasEditable rdf:resource="#isEditable_false"/>
</ResponseTime>
</hasProperty>
- <hasProperty rdf:resource="#MaxAmbientTemperature_50"/>
+ <hasProperty>
+ <ElectricalMedia rdf:ID="ElectricalInterface_AnalogueOutput4-20mA">
+ <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >4...20 mA</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ </ElectricalMedia>
+ </hasProperty>
<hasProperty>
<LightSpotSize rdf:ID="LightSpotSize_0.02">
<hasEditable rdf:resource="#isEditable_false"/>
@@ -11460,23 +11639,16 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
<isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
</Accuracy>
</hasProperty>
- <hasProperty rdf:resource="#Weight_0.04"/>
<hasProperty rdf:resource="#MinVoltageSupply_10.0"/>
+ <hasProperty rdf:resource="#Weight_0.04"/>
<hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-5Pins"/>
- <hasProperty>
- <ElectricalInterface rdf:ID="ElectricalInterface_AnalogueOutput4-20mA">
- <hasEditable rdf:resource="#isEditable_false"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >4...20 mA</value>
- <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
- </ElectricalInterface>
- </hasProperty>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_50"/>
<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>
- <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
</Repeatability>
</hasProperty>
<hasProperty rdf:resource="#LightType_LEDred"/>
@@ -11485,9 +11657,9 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
<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_MLG2-0280F511"/>
<isPropertyOf rdf:resource="#Sick_DT10-P10B5"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
</MinAmbientTemperature>
</hasProperty>
<hasProperty rdf:resource="#EnclosureRatingIP_67"/>
@@ -11497,37 +11669,37 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
</MinMeasurementRange>
</hasProperty>
<hasProperty>
- <LightSpotSize rdf:ID="LightSpotSize_0.015">
- <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
+ <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.04">
<hasEditable rdf:resource="#isEditable_false"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.015</value>
- </LightSpotSize>
+ >0.04</value>
+ <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
+ </MaxCurrentConsumption>
</hasProperty>
<hasProperty>
- <MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.04">
+ <LightSpotSize rdf:ID="LightSpotSize_0.015">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.04</value>
- <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
+ >0.015</value>
<hasEditable rdf:resource="#isEditable_false"/>
- </MaxCurrentConsumption>
+ <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
+ </LightSpotSize>
</hasProperty>
<hasProperty rdf:resource="#LightType_LEDred"/>
<hasProperty rdf:resource="#EnclosureRatingIP_67"/>
<hasProperty>
<MaxMeasurementRange rdf:ID="MaxMeasurementRange_0.6">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.6</value>
<hasEditable rdf:resource="#isEditable_false"/>
<isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.6</value>
</MaxMeasurementRange>
</hasProperty>
<hasProperty rdf:resource="#MinAmbientTemperature_-40"/>
<hasProperty>
<SwitchingFrequency rdf:ID="SwitchingFrequency_700">
+ <isPropertyOf rdf:resource="#Sick_WT18-3P430"/>
<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>
@@ -11564,10 +11736,10 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
</hasProperty>
<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>
+ <isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
</ResponseTime>
</hasProperty>
<hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
@@ -11589,8 +11761,8 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
</SwitchingFrequency>
</hasProperty>
<hasProperty rdf:resource="#LightType_LEDred"/>
- <hasProperty rdf:resource="#MinAmbientTemperature_-10"/>
<hasProperty rdf:resource="#ElectricalInterface_ConnectorM12-5Pins"/>
+ <hasProperty rdf:resource="#MinAmbientTemperature_-10"/>
<hasProperty rdf:resource="#MaxCurrentConsumption_0.08"/>
<hasSkill>
<DetectContrast rdf:ID="DetectContrast_1">
@@ -11602,9 +11774,9 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
<hasProperty>
<LightSpotSize rdf:ID="LightSpotSize_0.004x0.0008">
<isPropertyOf rdf:resource="#Sick_KT10-2P1115"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>0.004x0.0008</value>
- <hasEditable rdf:resource="#isEditable_false"/>
</LightSpotSize>
</hasProperty>
<hasProperty rdf:resource="#EnclosureRatingIP_67"/>
@@ -11617,17 +11789,14 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
<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"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.4</value> </Weight>
+ <isPropertyOf rdf:resource="#Sensopart_FL64C"/> </Weight>
</hasProperty>
<hasProperty>
<MaxCurrentConsumption rdf:ID="MaxCurrentConsumption_0.13">
- <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
>0.13</value>
- <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/> </MaxCurrentConsumption>
+ <hasEditable rdf:resource="#isEditable_false"/> </MaxCurrentConsumption>
</hasProperty>
<hasSkill rdf:resource="#DetectContrast_1"/>
<hasProperty rdf:resource="#ScanningDistance_0.01"/>
@@ -11644,10 +11813,10 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
<hasProperty rdf:resource="#ElectricalInterface_OpenCollectorPNP"/>
<hasProperty>
<ResponseTime rdf:ID="ResponseTime_0.00005">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >5.0E-5</value>
+ <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/>
<hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#Sick_KT5W_2P1116D"/> </ResponseTime>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >5.0E-5</value> </ResponseTime>
</hasProperty>
</OpticContrastScanner>
</isPropertyOf>
@@ -11660,7 +11829,7 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
rdf:datatype=
"http://www.w3.org/2001/XMLSchema#string"
>Connector M12, 5 Pins</value>
- </ElectricalInterface>
+ </ElectricalMedia>
</hasProperty>
<hasProperty rdf:resource="#MaxMeasurementRange_5"/>
<hasProperty rdf:resource="#MaxVoltageSupply_30.0"/>
@@ -11682,12 +11851,12 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
</hasProperty>
<hasProperty>
<LightType rdf:ID="LightType_LEDinfrared">
+ <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
<value
rdf:datatype=
"http://www.w3.org/2001/XMLSchema#string"
>LEDinfrared</value>
- <hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#Sick_MLG2-0280F511"/>
</LightType>
</hasProperty>
<hasProperty rdf:resource="#MaxAmbientTemperature_55"/>
@@ -11719,46 +11888,55 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
</hasProperty>
<hasProperty>
<Repeatability rdf:ID="Repeatability_0.02">
+ <hasEditable rdf:resource="#isEditable_false"/>
<isPropertyOf rdf:resource="#Schunk_MPG_20"/>
<isPropertyOf rdf:resource="http://www.owl-ontologies.com/siaras.owl#Schunk_MPG_64"/>
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
>0.02</value>
- <hasEditable rdf:resource="#isEditable_false"/>
</Repeatability>
</hasProperty>
<hasProperty rdf:resource="#Repeatability_0.03"/>
<hasProperty>
<MaxLiftWay rdf:ID="MaxLiftWay_2.0">
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <isPropertyOf rdf:resource="http://www.owl-ontologies.com/siaras.owl#Schunk_MPG_64"/>
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
>2.0</value>
- <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
- <isPropertyOf rdf:resource="http://www.owl-ontologies.com/siaras.owl#Schunk_MPG_64"/>
- <hasEditable rdf:resource="#isEditable_false"/>
</MaxLiftWay>
</hasProperty>
<hasProperty rdf:resource="#EnclosureRatingIP_54"/>
<hasProperty>
<NumberOfFingers rdf:ID="NumberOfFingers_2">
- <hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="http://www.owl-ontologies.com/siaras.owl#Schunk_MPG_64"/>
- <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#string"
>2</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="http://www.owl-ontologies.com/siaras.owl#Schunk_MPG_64"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
</NumberOfFingers>
</hasProperty>
<hasProperty rdf:resource="#EnclosureRatingIP_67"/>
<hasProperty rdf:resource="#Repeatability_0.1"/>
- <hasProperty rdf:resource="#MaxAmbientTemperature_90"/>
+ <hasProperty>
+ <MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_90">
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <isPropertyOf rdf:resource="http://www.owl-ontologies.com/siaras.owl#Schunk_MPG_64"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <value rdf:datatype=
+ "http://www.w3.org/2001/XMLSchema#float"
+ >90.0</value>
+ </MaxAmbientTemperature>
+ </hasProperty>
<hasProperty>
<Weight rdf:ID="Weight_0.6">
+ <isPropertyOf rdf:resource="http://www.owl-ontologies.com/siaras.owl#Schunk_MPG_64"/>
<hasEditable rdf:resource="#isEditable_false"/>
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
>0.6</value>
- <isPropertyOf rdf:resource="http://www.owl-ontologies.com/siaras.owl#Schunk_MPG_64"/>
</Weight>
</hasProperty>
<hasProperty rdf:resource="#MinAmbientTemperature_5"/>
@@ -11767,44 +11945,42 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#string"
>30</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
<isPropertyOf rdf:resource="http://www.owl-ontologies.com/siaras.owl#Schunk_MPG_64"/>
<isPropertyOf rdf:resource="#Schunk_MPG_20"/>
- <hasEditable rdf:resource="#isEditable_false"/>
</EnclosureRatingIP>
</hasProperty>
<hasProperty>
<Payload rdf:ID="Payload_1.0">
- <isPropertyOf rdf:resource="http://www.owl-ontologies.com/siaras.owl#Schunk_MPG_64"/>
<value rdf:datatype=
"http://www.w3.org/2001/XMLSchema#float"
>1.0</value>
<hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="http://www.owl-ontologies.com/siaras.owl#Schunk_MPG_64"/>
</Payload>
</hasProperty>
</rdf:Description>
- </isPropertyOf>
- <hasEditable rdf:resource="#isEditable_false"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >90.0</value>
- </MaxAmbientTemperature>
- </hasProperty>
- <hasSkill rdf:resource="#OpenFingers_1"/>
+ </isSkillOf>
+ <isSkillOf rdf:resource="#Schunk_MPG_20"/>
+ </OpenFingers>
+ </hasSkill>
<hasProperty rdf:resource="#NumberOfFingers_2"/>
<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>
+ <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
</Payload>
</hasProperty>
+ <hasProperty rdf:resource="#MaxAmbientTemperature_90"/>
<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="#ArticulatedRobot_ABB_IRB-2400"/>
<isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >45.0</value>
<hasEditable rdf:resource="#isEditable_false"/>
</Payload>
</hasProperty>
@@ -11814,20 +11990,20 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
<hasProperty rdf:resource="#EnclosureRatingIP_54"/>
<hasProperty>
<Payload rdf:ID="Payload_2.0">
- <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"/>
<isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >2.0</value>
<hasEditable rdf:resource="#isEditable_false"/>
</Payload>
</hasProperty>
<hasProperty>
<Weight rdf:ID="Weight_0.038">
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
>0.038</value>
<hasEditable rdf:resource="#isEditable_false"/>
- <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
</Weight>
</hasProperty>
<hasIdentifier>
@@ -11846,50 +12022,50 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
<hasProperty rdf:resource="#MinAmbientTemperature_5"/>
<hasSkill rdf:resource="#CloseFingers_25"/>
<hasProperty rdf:resource="#Repeatability_0.1"/>
- <hasProperty rdf:resource="#EnclosureRatingIP_30"/>
- <hasProperty rdf:resource="#Repeatability_0.03"/>
<hasProperty rdf:resource="#EnclosureRatingIP_67"/>
+ <hasProperty rdf:resource="#Repeatability_0.03"/>
+ <hasProperty rdf:resource="#EnclosureRatingIP_30"/>
<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>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
</MaxLiftWeight>
</hasProperty>
<hasProperty>
<CycleTime rdf:ID="CycleTime_0.03">
- <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
<hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
>0.03</value>
</CycleTime>
</hasProperty>
- <hasProperty rdf:resource="#Weight_985"/>
<hasProperty>
<Weight rdf:ID="Weight_98">
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
<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="#Weight_985"/>
<hasProperty>
<Weight rdf:ID="Weight_40.5">
- <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
- <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
<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>
<hasProperty rdf:resource="#Weight_0.04"/>
<hasProperty rdf:resource="#EnclosureRatingIP_65"/>
<hasProperty>
<Weight rdf:ID="Weight_51">
+ <hasEditable rdf:resource="#isEditable_false"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
>51.0</value>
- <hasEditable rdf:resource="#isEditable_false"/>
<isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS80"/>
<isPropertyOf rdf:resource="#Schunk_MPG_20"/>
</Weight>
@@ -11898,45 +12074,47 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
<MaxForce rdf:ID="MaximumForce_24">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
>24.0</value>
- <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
<hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#Schunk_MPG_20"/>
</MaxForce>
</hasProperty>
<hasProperty rdf:resource="#Repeatability_0.01"/>
</GeneralParallelGripper>
</isPropertyOf>
+ <hasEditable rdf:resource="#isEditable_false"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
>985.0</value>
</Weight>
</hasProperty>
<hasProperty rdf:resource="#MaxVoltageSupply_600"/>
<hasProperty rdf:resource="#Payload_45.0"/>
- <hasSkill rdf:resource="#L_Move"/>
<hasProperty rdf:resource="#EnclosureRatingIP_54"/>
+ <hasSkill rdf:resource="#L_Move"/>
<hasProperty rdf:resource="#MinAmbientTemperature_5"/>
<hasProperty rdf:resource="#NumberOfJoints_6"/>
<hasIdentifier>
<Identifier rdf:ID="ID_ABB_IRB-4400">
- <hasEditable rdf:resource="#isEditable_false"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>ABB_IRB-4400</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
</Identifier>
</hasIdentifier>
<hasProperty rdf:resource="#MaxAmbientTemperature_45"/>
- <hasSkill rdf:resource="#Attach_SIARAS"/>
<hasSkill rdf:resource="#Karthesian_30"/>
+ <hasQualProperty rdf:resource="#Cost_4000"/>
+ <hasSkill rdf:resource="#ToolChangerAttach"/>
<hasProperty rdf:resource="#TypeOfActuation_Electric"/>
<hasSkill rdf:resource="#AsFastAsPossible_28"/>
- <hasSkill rdf:resource="#Circular_29"/>
<hasProperty rdf:resource="#IntelligentCtrl_1"/>
- <hasSkill rdf:resource="#Detach_SIARAS"/>
+ <hasSkill rdf:resource="#Circular_29"/>
+ <hasSkill rdf:resource="#ToolChangerDetach"/>
<hasProperty rdf:resource="#Repeatability_0.1"/>
<hasProperty>
<Reachability rdf:ID="Reachability_1960">
- <hasEditable rdf:resource="#isEditable_false"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
>1960</value>
- <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-4400"/>
+ <hasEditable rdf:resource="#isEditable_false"/>
</Reachability>
</hasProperty>
<hasProperty rdf:resource="#MinVoltageSupply_200"/>
@@ -11948,49 +12126,21 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
</MinVoltageSupply>
</hasProperty>
<hasProperty rdf:resource="#MaxAmbientTemperature_45"/>
- <hasProperty rdf:resource="#MaxVoltageSupply_600"/>
<hasSkill rdf:resource="#Circular_29"/>
+ <hasProperty rdf:resource="#MaxVoltageSupply_600"/>
<hasProperty rdf:resource="#Payload_45.0"/>
<hasProperty rdf:resource="#Repeatability_0.1"/>
<hasSkill rdf:resource="#L_Move"/>
- <hasSkill rdf:resource="#Detach_SIARAS"/>
+ <hasSkill rdf:resource="#ToolChangerDetach"/>
<hasProperty rdf:resource="#IntelligentCtrl_1"/>
- <hasProperty rdf:resource="#Weight_985"/>
- <hasProperty>
- <Payload rdf:ID="Payload_25.0">
- <hasEditable rdf:resource="#isEditable_false"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >25.0</value>
- <isPropertyOf>
- <AngleGripper rdf:ID="AngleGripper_test">
- <hasIdentifier>
- <Identifier rdf:ID="ID_AngleGripper">
- <hasEditable rdf:resource="#isEditable_false"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >AngleGripper</value>
- </Identifier>
- </hasIdentifier>
- <hasProperty rdf:resource="#Payload_25.0"/>
- <hasSkill>
- <OpenClaws rdf:ID="OpenClaws_SIARAS">
- <isSkillOf rdf:resource="#AngleGripper_test"/>
- </OpenClaws>
- </hasSkill>
- <hasSkill>
- <CloseClaws rdf:ID="CloseClaws_SIARAS">
- <isSkillOf rdf:resource="#AngleGripper_test"/>
- </CloseClaws>
- </hasSkill>
- </AngleGripper>
- </isPropertyOf>
- <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
- </Payload>
- </hasProperty>
+ <hasQualProperty rdf:resource="#Cost_3000"/>
<hasSkill rdf:resource="#Karthesian_30"/>
- <hasSkill rdf:resource="#Attach_SIARAS"/>
+ <hasProperty rdf:resource="#Payload_25.0"/>
+ <hasProperty rdf:resource="#Weight_985"/>
<hasProperty rdf:resource="#DegreesOfFreedom_6"/>
- <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
<hasSkill rdf:resource="#AsFastAsPossible_28"/>
+ <hasProperty rdf:resource="#MinAmbientTemperature_5"/>
+ <hasSkill rdf:resource="#ToolChangerAttach"/>
<hasIdentifier>
<Identifier rdf:ID="ID_ABB_IRB-2400">
<hasEditable rdf:resource="#isEditable_false"/>
@@ -12003,10 +12153,10 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
<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"/>
+ <isPropertyOf rdf:resource="#ArticulatedRobot_ABB_IRB-2400"/>
</Reachability>
</hasProperty>
</ArticulatedRobot>
@@ -12029,11 +12179,11 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
<hasSkill rdf:resource="#Karthesian_30"/>
<hasProperty>
<NumberOfJoints rdf:ID="NumberOfJoints_4">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
- >4</value>
<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#integer"
+ >4</value>
</NumberOfJoints>
</hasProperty>
<hasProperty>
@@ -12058,15 +12208,18 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
<isPropertyOf rdf:resource="#Schunk_MPG_20"/>
<isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
<isPropertyOf rdf:resource="http://www.owl-ontologies.com/siaras.owl#Schunk_MPG_64"/>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.01</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
</Repeatability>
</hasProperty>
<hasProperty rdf:resource="#Payload_2.0"/>
<hasProperty rdf:resource="#TypeOfActuation_Electric"/>
<hasIdentifier>
<Identifier rdf:ID="ID_Staeubli_RS40B">
- <hasEditable rdf:resource="#isEditable_false"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Staeubli_RS40B</value>
+ <hasEditable rdf:resource="#isEditable_false"/>
</Identifier>
</hasIdentifier>
<hasProperty rdf:resource="#EnclosureRatingIP_54"/>
@@ -12074,18 +12227,18 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
<hasSkill rdf:resource="#AsFastAsPossible_28"/>
<hasProperty>
<DegreesOfFreedom rdf:ID="DegreesOfFreedom_4">
+ <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
<hasEditable rdf:resource="#isEditable_false"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
>4</value>
- <isPropertyOf rdf:resource="#ScaraRobot_Staeubli_RS40B"/>
</DegreesOfFreedom>
</hasProperty>
<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"/>
- <hasEditable rdf:resource="#isEditable_false"/>
</Reachability>
</hasProperty>
<hasSkill rdf:resource="#Circular_29"/>
@@ -12094,10 +12247,10 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
<hasProperty rdf:resource="#MaxAmbientTemperature_40"/>
<hasSkill rdf:resource="#Karthesian_30"/>
</ScaraRobot>
- <owl:AllDifferent/>
<Drill rdf:ID="Drill_1">
<isSkillOf>
<DrillBit rdf:ID="DrillBit_HSS_8mm">
+ <hasSkill rdf:resource="#Drill_1"/>
<hasProperty>
<Diameter rdf:ID="Diameter_8mm">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
@@ -12105,6 +12258,13 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
<isPropertyOf rdf:resource="#DrillBit_HSS_8mm"/>
<isPropertyOf>
<DrillBit rdf:ID="DrillBit_Alu_8mm">
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_DrillBit_Alu_8mm">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >DrillBit_Alu_8mm</value>
+ </Identifier>
+ </hasIdentifier>
+ <hasSkill rdf:resource="#Drill_1"/>
<hasProperty rdf:resource="#Diameter_8mm"/>
<hasProperty>
<Material rdf:ID="Material_Steel">
@@ -12112,12 +12272,7 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
<isPropertyOf rdf:resource="#DrillBit_Alu_8mm"/>
<isPropertyOf>
<DrillBit rdf:ID="DrillBit_Alu_10mm">
- <hasIdentifier>
- <Identifier rdf:ID="ID_DrillBit_Alu_10mm">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >DrillBit_Alu_10mm</value>
- </Identifier>
- </hasIdentifier>
+ <hasSkill rdf:resource="#Drill_1"/>
<hasProperty rdf:resource="#Material_Steel"/>
<hasProperty>
<CapabilityMaterial rdf:ID="CapabilityMaterial_Alu">
@@ -12127,12 +12282,16 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
</hasProperty>
<hasProperty>
<Diameter rdf:ID="Diameter_10mm">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >10</value>
<isPropertyOf rdf:resource="#DrillBit_Alu_10mm"/>
<isPropertyOf>
<DrillBit rdf:ID="DrillBit_HSS_10mm">
<hasSkill rdf:resource="#Drill_1"/>
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_DrillBit_HSS_10mm">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >DrillBit_HSS_10mm</value>
+ </Identifier>
+ </hasIdentifier>
<hasProperty rdf:resource="#Material_Steel"/>
<hasProperty>
<CapabilityMaterial rdf:ID="CapabilityMaterial_Steel">
@@ -12147,30 +12306,24 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
</CapabilityMaterial>
</hasProperty>
<hasProperty rdf:resource="#Diameter_10mm"/>
- <hasIdentifier>
- <Identifier rdf:ID="ID_DrillBit_HSS_10mm">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >DrillBit_HSS_10mm</value>
- </Identifier>
- </hasIdentifier>
</DrillBit>
</isPropertyOf>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >10</value>
</Diameter>
</hasProperty>
- <hasSkill rdf:resource="#Drill_1"/>
+ <hasIdentifier>
+ <Identifier rdf:ID="ID_DrillBit_Alu_10mm">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >DrillBit_Alu_10mm</value>
+ </Identifier>
+ </hasIdentifier>
</DrillBit>
</isPropertyOf>
<isPropertyOf rdf:resource="#DrillBit_HSS_10mm"/>
</Material>
</hasProperty>
<hasProperty rdf:resource="#CapabilityMaterial_Alu"/>
- <hasSkill rdf:resource="#Drill_1"/>
- <hasIdentifier>
- <Identifier rdf:ID="ID_DrillBit_Alu_8mm">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >DrillBit_Alu_8mm</value>
- </Identifier>
- </hasIdentifier>
</DrillBit>
</isPropertyOf>
</Diameter>
@@ -12184,136 +12337,44 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
>DrillBit_HSS_8mm</value>
</Identifier>
</hasIdentifier>
- <hasSkill rdf:resource="#Drill_1"/>
</DrillBit>
- </isSkillOf>
- <isSkillOf rdf:resource="#DrillBit_Alu_8mm"/>
- <isSkillOf rdf:resource="#DrillBit_Alu_10mm"/>
- <isSkillOf rdf:resource="#DrillBit_HSS_10mm"/>
- </Drill>
- <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"
- >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#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: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"
- >6.5</rdf:first>
- <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: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:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >7.0</rdf:first>
- </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:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >3.5</rdf:first>
- </rdf:rest>
- </owl:oneOf>
- </owl:DataRange>
- <PowerConsumption rdf:ID="PowerConsumption_225">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >4.5</value>
- <hasEditable rdf:resource="#isEditable_9"/>
- </PowerConsumption>
- <owl:DataRange>
- <owl:oneOf rdf:parseType="Resource">
- <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >carthesian</rdf:first>
- <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: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: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:AllDifferent/>
+ </isSkillOf>
+ <isSkillOf rdf:resource="#DrillBit_Alu_8mm"/>
+ <isSkillOf rdf:resource="#DrillBit_Alu_10mm"/>
+ <isSkillOf rdf:resource="#DrillBit_HSS_10mm"/>
+ </Drill>
<owl:DataRange>
<owl:oneOf rdf:parseType="Resource">
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >joint</rdf:first>
+ >torque</rdf:first>
<rdf:rest rdf:parseType="Resource">
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >tool</rdf:first>
+ >belts</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"/>
+ >chains</rdf:first>
+ <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"
+ >ball-screw</rdf:first>
+ </rdf:rest>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >gears</rdf:first>
+ </rdf:rest>
</rdf:rest>
</rdf:rest>
</owl:oneOf>
</owl:DataRange>
+ <PowerConsumption rdf:ID="PowerConsumption_225">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >4.5</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ </PowerConsumption>
<rdf:Description rdf:about="http://www.owl-ontologies.com/siaras.owl#VacuumGripper_1">
<hasIdentifier rdf:resource="#ID_IPA_AMMS_SimpleGripper-2DOF"/>
</rdf:Description>
@@ -12353,21 +12414,76 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
>450</value>
</MaxVoltageSupply>
+ <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#float"
+ >4.0</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"
+ >5.5</rdf:first>
+ <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#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:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >6.5</rdf:first>
+ </rdf:rest>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >4.5</rdf:first>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >7.0</rdf:first>
+ </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: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>
<MaxAmbientTemperature rdf:ID="MaxAmbientTemperature_205">
+ <hasEditable rdf:resource="#isEditable_9"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
>45.0</value>
- <hasEditable rdf:resource="#isEditable_9"/>
</MaxAmbientTemperature>
<Diameter rdf:ID="Diameter_9mm">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>9</value>
</Diameter>
<Payload rdf:ID="Payload_227">
+ <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_11"/>
<hasEditable rdf:resource="#isEditable_9"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
>5.0</value>
- <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_11"/>
</Payload>
+ <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>
<Identifier rdf:ID="Identifier_215">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>CLOOS_R410</value>
@@ -12377,11 +12493,39 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>ID_ABB_IRB-140</value>
</Identifier>
+ <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>
<Identifier rdf:ID="Identifier_239">
- <hasEditable rdf:resource="#isEditable_9"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>ID_ABB_IRB-4400</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
</Identifier>
+ <owl:AllDifferent/>
+ <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>
<Material rdf:ID="Material-ZincPressureCasting">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Zinc Pressure Casting</value>
@@ -12401,115 +12545,115 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
>Teapot_1</value>
</Identifier>
<MinVoltageSupply rdf:ID="MinVoltageSupply_230">
+ <hasEditable rdf:resource="#isEditable_9"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
>200.0</value>
- <hasEditable rdf:resource="#isEditable_9"/>
</MinVoltageSupply>
<Identifier rdf:ID="Identifier_6"/>
- <owl:AllDifferent/>
+ <Orient rdf:ID="RandomOrient"/>
+ <owl:DataRange>
+ <owl:oneOf rdf:parseType="Resource">
+ <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>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >joint</rdf:first>
+ </owl:oneOf>
+ </owl:DataRange>
<Reachability rdf:ID="Reachability_219">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
>2100</value>
</Reachability>
+ <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: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"
+ >hydraulic</rdf:first>
+ </owl:oneOf>
+ </owl:DataRange>
<Material rdf:ID="Material_Wood"/>
<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: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:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
- >3</rdf:first>
</rdf:rest>
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
>2</rdf:first>
</owl:oneOf>
</owl:DataRange>
- <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>
<Ceramics rdf:ID="Porcelain"/>
<Repeatability rdf:ID="Repeatability_213">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >0.1</value>
<hasEditable rdf:resource="#isEditable_9"/>
<isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_17"/>
<isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_11"/>
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
- >0.1</value>
</Repeatability>
+ <owl:AllDifferent/>
<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: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>
+ <DigitalOut rdf:ID="DigitalOut_1">
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#unsignedInt"
+ >1</value>
+ </DigitalOut>
<Width rdf:ID="Width_35">
+ <hasEditable rdf:resource="#isEditable_false"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
>35.0</value>
- <hasEditable rdf:resource="#isEditable_false"/>
</Width>
<MinVoltageSupply rdf:ID="MinVoltageSupply_212">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
>350</value>
</MinVoltageSupply>
- <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: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"
- >ball-screw</rdf:first>
- </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:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >belts</rdf:first>
- </rdf:rest>
- </owl:oneOf>
- </owl:DataRange>
+ <owl:AllDifferent/>
<Identifier rdf:ID="Identifier_218">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>CLOOS_R350</value>
</Identifier>
- <owl:AllDifferent/>
<Repeatability rdf:ID="Repeatability_232">
- <hasEditable rdf:resource="#isEditable_9"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
>0.03</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
<isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_11"/>
<isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_17"/>
</Repeatability>
<Weight rdf:ID="Weight_237">
+ <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_11"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
>985.0</value>
- <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_11"/>
<hasEditable rdf:resource="#isEditable_9"/>
</Weight>
<owl:DataRange>
@@ -12539,32 +12683,56 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
>2500</value>
</Reachability>
+ <owl:AllDifferent/>
<Atomic rdf:ID="Atomic_11"/>
<Identifier rdf:ID="Identifier_220">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>CLOOS_R320</value>
</Identifier>
+ <owl:DataRange>
+ <owl:oneOf rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >carthesian</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: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>
+ </owl:oneOf>
+ </owl:DataRange>
<Geometry rdf:ID="Geometry_Teapot">
- <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
- >file:/home/andersn/work/siaras/schemacompiler/examples/Teapot.x3d</value>
<isGeometryOf>
<Teapot rdf:ID="Teapot_1">
- <hasIdentifier rdf:resource="#ID_Teapot_1"/>
<hasGeometry rdf:resource="#Geometry_Teapot"/>
- <hasPhysicalObjectProperty rdf:resource="#ID_Teapot_1"/>
<hasMaterial rdf:resource="#Porcelain"/>
+ <hasPhysicalObjectProperty rdf:resource="#ID_Teapot_1"/>
+ <hasIdentifier rdf:resource="#ID_Teapot_1"/>
</Teapot>
</isGeometryOf>
+ <value rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >file:/home/andersn/work/siaras/schemacompiler/examples/Teapot.x3d</value>
</Geometry>
<Payload rdf:ID="Payload_210">
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#integer"
>10</value>
</Payload>
<Payload rdf:ID="Payload_238">
- <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_11"/>
- <hasEditable rdf:resource="#isEditable_9"/>
<value rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
>45.0</value>
+ <hasEditable rdf:resource="#isEditable_9"/>
+ <isPropertyOf rdf:resource="http://www.owl-ontologies.com/ExternalResource_11"/>
</Payload>
<Reachability rdf:ID="Reachability_226">
<hasEditable rdf:resource="#isEditable_9"/>
@@ -12577,17 +12745,7 @@ Operation consists of MoveFront, MoveDown, Grasp, MoveUp.</rdfs:comment>
>1960</value>
<hasEditable rdf:resource="#isEditable_9"/>
</Reachability>
- <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/>
</rdf:RDF>
<!-- Created with Protege (with OWL Plugin 3.2.1, Build 365) http://protege.stanford.edu -->
diff --git a/testontologies/skeleton2.owl b/testontologies/skeleton2.owl
new file mode 100644
index 0000000000000000000000000000000000000000..c9a66662d6f7ef6e91f2e2b8fe81d7509bec2383
--- /dev/null
+++ b/testontologies/skeleton2.owl
@@ -0,0 +1,4037 @@
+<?xml version="1.0"?>
+<rdf:RDF
+ xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+ xmlns="http://www.siaras.org/siaras.owl#"
+ xmlns:p1="http://www.owl-ontologies.com/assert.owl#"
+ xmlns:owl="http://www.w3.org/2002/07/owl#"
+ xmlns:xsd="http://www.w3.org/2001/XMLSchema#"
+ xmlns:rdfs="http://www.w3.org/2000/01/rdf-schema#"
+ xml:base="http://www.siaras.org/siaras.owl">
+ <owl:Ontology rdf:about=""/>
+ <owl:Class rdf:ID="Saw">
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Separate"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Hone"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Cut"/>
+ </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="Electro-discharge-machine"/>
+ </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="Mill"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Thrust"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Grind"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Thermal-Separate"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Plane"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="File"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Rub"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="VisionSensor">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="OpticLuminescenceScanner"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="OpticSwitch"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="OpticColorSensor"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="OpticSensor"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="LaserScanner2D"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="OpticDistanceSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="LightGrid"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="SmartCamera"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="OpticContrastScanner"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="ChangeEnvironment">
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="AdditionalFunction"/>
+ </rdfs:subClassOf>
+ <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:disjointWith>
+ <owl:Class rdf:ID="HMI"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Calibrate"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="SpecialKinematicRobot">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="SimpleKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ScaraRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ParallelKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="HexapodRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CartesianRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ArticulatedRobot"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Robot"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Lap">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Broach"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Separate"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Mill"/>
+ </owl:disjointWith>
+ <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="#Rub"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Electro-discharge-machine"/>
+ </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="#Plane"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Drill"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Hone"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Lathe"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thrust"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="MeasureDiameter">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MeasureVolume"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MeasureSpeed"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MeasureArea"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MeasureMotionOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MeasureAcceleration"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MeasureTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MeasureAngle"/>
+ </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="MeasureDistance"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Measure"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MeasureTorque"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MeasureForce"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="StopDrillRotation">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Drill"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="StartDrillRotation"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="ImageAnalysis">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Scan"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Read"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Measure"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Detect"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Classify"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="SensorFunction"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="Lightbulb">
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="LightingDevice"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="GeneralParallelGripper">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="LineParallelGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CricularParallelGripper"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="ParallelGripper"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="JointFingerGripper">
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="FingerGripper"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ElasticFingerGripper"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="Deep-Draw">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="True"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Fold"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Form"/>
+ </rdfs:subClassOf>
+ <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="Flang"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Strech-Form"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Bead"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Bend"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Extrude"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Crush"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="ExtractEdges">
+ <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="TransformImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="SegmentImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="FilterImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DecompressImageData"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CompressImageData"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CalibrateImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="BlobAnalysis"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="Age">
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="ModifyWorkpieceProperties"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Temper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Anneal"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="Pan">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Arrange"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Pass"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Turn"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Position"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Move"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Feed"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Displace"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Convey"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Orient"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Rub">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#File"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Hone"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Lathe"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cut"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Mill"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Drill"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Grind"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thrust"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Plane"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Separate"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thermal-Separate"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Electro-discharge-machine"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Broach"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Strech-Form">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#True"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Flang"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Deep-Draw"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Roll"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bead"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Fold"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Extrude"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Forge"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Form"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bend"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Press"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Crush"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#File">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thrust"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Plane"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Broach"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Hone"/>
+ </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 rdf:resource="#Lap"/>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Grind"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thermal-Separate"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Rub"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cut"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Separate"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Mill"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="Rivet">
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Join"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Weld"/>
+ </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="Fill"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Clinch"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Bolt"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Assemble"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="Attach">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Release"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Grasp"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Detach"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Secure"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="OpticProximitySwitch">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#OpticSwitch"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="OpticThroughBeamSwitch"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="OpticReflexSwitch"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="ReadBarCode">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ReadOpticalCharacters"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ReadBrailleCode"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Read2DMatrixCode"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Read"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Hone">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thermal-Separate"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Grind"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <owl:disjointWith rdf:resource="#File"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Mill"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Separate"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Drill"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Lathe"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thrust"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Rub"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Electro-discharge-machine"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Plane"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Broach"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cut"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#MeasureDistance">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureTorque"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasurePositionOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureForce"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureDiameter"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureArea"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureVolume"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureAcceleration"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureAngle"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureOrientationOfObject"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Measure"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureMotionOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureSpeed"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#LaserScanner2D">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#OpticSensor"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#VisionSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticColorSensor"/>
+ </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="#OpticLuminescenceScanner"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SmartCamera"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticContrastScanner"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticSwitch"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="VacuumGripper">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="PincerGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MagnetGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#FingerGripper"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Gripper"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="ToolChanger">
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="ManipulationAndHandling"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Robot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Gripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Fixture"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Displacement"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#MeasureTorque">
+ <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="#MeasurePositionOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureAcceleration"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureDiameter"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureForce"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureOrientationOfObject"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Measure"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureAngle"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureDistance"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureArea"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#OpticDistanceSensor">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticContrastScanner"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LightGrid"/>
+ </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="#OpticLuminescenceScanner"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticSwitch"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#VisionSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SmartCamera"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LaserScanner2D"/>
+ </owl:Class>
+ <owl:Class rdf:about="#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="#MeasureOrientationOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureAngle"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureTorque"/>
+ <owl:disjointWith rdf:resource="#MeasureDiameter"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasurePositionOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureSpeed"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureAcceleration"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Measure"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureArea"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureMotionOfObject"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#MeasureSpeed">
+ <owl:disjointWith rdf:resource="#MeasureTorque"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasurePositionOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureDistance"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureVolume"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureAcceleration"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureArea"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureMotionOfObject"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Measure"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureOrientationOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureAngle"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureForce"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureDiameter"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Arrange">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Pass"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Convey"/>
+ </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="#Orient"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Displace"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Position"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Feed"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Pan"/>
+ </owl:Class>
+ <owl:Class rdf:ID="PowerUnit">
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Unit"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CurrencyUnit"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="LengthUnit"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MassUnit"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="TimeUnit"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="VelocityUnit"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="NullUnit"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="CollectStatisticalData">
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="DiagnosticFunction"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="PerformSelfTest"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="TypeInteger">
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Type"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="TypeOther"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="TypeFloat"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Crush">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Forge"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Flang"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bend"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Roll"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Extrude"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Deep-Draw"/>
+ <owl:disjointWith rdf:resource="#Strech-Form"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Form"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#True"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Fold"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Press"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bead"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="FieldOfView">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ReachabilityRadius"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MaxResolution"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ElectricalConnection"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Property"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Geometry"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DeviceProperty"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="NumberOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Color"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Diameter"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Material"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Mass"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="BoundingBox"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Cost"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="TactileProximitySwitch">
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="TactileSensor"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Cost">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#BoundingBox"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#FieldOfView"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:FunctionalProperty rdf:ID="hasType"/>
+ </owl:onProperty>
+ <owl:allValuesFrom rdf:resource="#TypeInteger"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Geometry"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Color"/>
+ </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="#MaxResolution"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Mass"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DeviceProperty"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Diameter"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ReachabilityRadius"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:FunctionalProperty rdf:ID="hasUnit"/>
+ </owl:onProperty>
+ <owl:allValuesFrom>
+ <owl:Class rdf:about="#CurrencyUnit"/>
+ </owl:allValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Property"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricalConnection"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="DetectCollision">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DetectObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DetectLuminescence"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DetectContrast"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DetectColor"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Detect"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Payload">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Color"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxResolution"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ReachabilityRadius"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DeviceProperty"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Cost"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricalConnection"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Geometry"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Property"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Mass"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#BoundingBox"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Diameter"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#FieldOfView"/>
+ </owl:Class>
+ <owl:Class rdf:about="#OpticReflexSwitch">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticThroughBeamSwitch"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#OpticProximitySwitch"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#OpticSwitch"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#CalibrateImage">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TransformImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SegmentImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#FilterImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ExtractEdges"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DecompressImageData"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CompressImageData"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#BlobAnalysis"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
+ </owl:Class>
+ <owl:Class rdf:ID="InductiveSensor">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="UltrasonicSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="TorqueForceSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TactileSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MagneticSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="EncoderSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CapacitveSensor"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Sensor"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#OpticSwitch">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticLuminescenceScanner"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SmartCamera"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#OpticSensor"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LightGrid"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticColorSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticContrastScanner"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#VisionSensor"/>
+ <owl:disjointWith rdf:resource="#OpticDistanceSensor"/>
+ <owl:disjointWith rdf:resource="#LaserScanner2D"/>
+ </owl:Class>
+ <owl:Class rdf:about="#NumberOfFingers">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Property"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Color"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Cost"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Geometry"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxResolution"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Mass"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ReachabilityRadius"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#FieldOfView"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Diameter"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricalConnection"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DeviceProperty"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#BoundingBox"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ </owl:Class>
+ <owl:Class rdf:ID="Mold">
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="ManufacturingFunction"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Separate"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ModifyWorkpieceProperties"/>
+ </owl:disjointWith>
+ <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:Class>
+ <owl:Class rdf:about="#Mass">
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Geometry"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Property"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricalConnection"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ReachabilityRadius"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#FieldOfView"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:allValuesFrom rdf:resource="#TypeInteger"/>
+ <owl:onProperty>
+ <owl:FunctionalProperty rdf:about="#hasType"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#BoundingBox"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Color"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:FunctionalProperty rdf:about="#hasUnit"/>
+ </owl:onProperty>
+ <owl:allValuesFrom>
+ <owl:Class rdf:about="#MassUnit"/>
+ </owl:allValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Diameter"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxResolution"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DeviceProperty"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Cost"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#SaveParameterSet">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#AdditionalFunction"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SetParameterValue"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Reset"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LoadParameterSet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#HMI"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ChangeEnvironment"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Calibrate"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#TransformImage">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SegmentImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#FilterImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ExtractEdges"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DecompressImageData"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CompressImageData"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#CalibrateImage"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#BlobAnalysis"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
+ </owl:Class>
+ <owl:Class rdf:about="#CurrencyUnit">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LengthUnit"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MassUnit"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PowerUnit"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TimeUnit"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#VelocityUnit"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NullUnit"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Unit"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#FingerGripper">
+ <owl:disjointWith rdf:resource="#VacuumGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PincerGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MagnetGripper"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Gripper"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#PerformSelfTest">
+ <owl:disjointWith rdf:resource="#CollectStatisticalData"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#DiagnosticFunction"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="AngleGripper">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ParallelGripper"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PincerGripper"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="ElectrolyticSegregate">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Sinter"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Cast"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Mold"/>
+ </owl:Class>
+ <owl:Class rdf:ID="Communication">
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Device"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Tool"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Sensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Manufacturing"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ManipulationAndHandling"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="EnvironmentDevice"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Controller"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Move">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Secure"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="ManipulationAndHandlingFunction"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#DetectObject">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DetectLuminescence"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DetectContrast"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DetectColor"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DetectCollision"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Detect"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Thermal-Separate">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Drill"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Hone"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Plane"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Grind"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Mill"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Lathe"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#File"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Separate"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Electro-discharge-machine"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <owl:disjointWith rdf:resource="#Rub"/>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Broach"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thrust"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cut"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Grind">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cut"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Separate"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Thermal-Separate"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Mill"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Rub"/>
+ <owl:disjointWith rdf:resource="#File"/>
+ <owl:disjointWith rdf:resource="#Hone"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Broach"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Lathe"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Plane"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Drill"/>
+ </owl:disjointWith>
+ <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>
+ </owl:Class>
+ <owl:Class rdf:about="#Robot">
+ <owl:disjointWith rdf:resource="#ToolChanger"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Gripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Fixture"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Displacement"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ManipulationAndHandling"/>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:ID="hasProperty"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#Color"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:someValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Displace">
+ <rdfs:subClassOf rdf:resource="#Move"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Orient"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Convey"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Pan"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Position"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Feed"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Pass"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Arrange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Turn"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#TimeUnit">
+ <owl:disjointWith rdf:resource="#CurrencyUnit"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LengthUnit"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MassUnit"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PowerUnit"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#VelocityUnit"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NullUnit"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Unit"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#ArticulatedRobot">
+ <rdfs:subClassOf rdf:resource="#Robot"/>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SimpleKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScaraRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ParallelKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#HexapodRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CartesianRobot"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#DetectColor">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Detect"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#DetectObject"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DetectLuminescence"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DetectContrast"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DetectCollision"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Roll">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Extrude"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Forge"/>
+ </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="#Bead"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Form"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Strech-Form"/>
+ <owl:disjointWith rdf:resource="#Crush"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Fold"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Deep-Draw"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bend"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Press"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#NullUnit">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Unit"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#CurrencyUnit"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LengthUnit"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MassUnit"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PowerUnit"/>
+ <owl:disjointWith rdf:resource="#TimeUnit"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#VelocityUnit"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="Skill">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Concept"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Property"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="PhysicalObject"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Material">
+ <owl:disjointWith rdf:resource="#Mass"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DeviceProperty"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxResolution"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#FieldOfView"/>
+ <owl:disjointWith rdf:resource="#Cost"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Property"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#BoundingBox"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Color"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ReachabilityRadius"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Geometry"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricalConnection"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Diameter"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Diameter">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Property"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ReachabilityRadius"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DeviceProperty"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Color"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Material"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricalConnection"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#FieldOfView"/>
+ <owl:disjointWith rdf:resource="#Mass"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:allValuesFrom>
+ <owl:Class rdf:about="#LengthUnit"/>
+ </owl:allValuesFrom>
+ <owl:onProperty>
+ <owl:FunctionalProperty rdf:about="#hasUnit"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#BoundingBox"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#Cost"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Geometry"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxResolution"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Electro-discharge-machine">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Separate"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Broach"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Thermal-Separate"/>
+ <owl:disjointWith rdf:resource="#File"/>
+ <owl:disjointWith rdf:resource="#Rub"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Plane"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Hone"/>
+ <owl:disjointWith rdf:resource="#Grind"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Lathe"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cut"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Mill"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thrust"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Drill"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Secure">
+ <owl:disjointWith rdf:resource="#Move"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ManipulationAndHandlingFunction"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#VelocityUnit">
+ <owl:disjointWith rdf:resource="#CurrencyUnit"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LengthUnit"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MassUnit"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PowerUnit"/>
+ <owl:disjointWith rdf:resource="#TimeUnit"/>
+ <owl:disjointWith rdf:resource="#NullUnit"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Unit"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Reset">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SetParameterValue"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#SaveParameterSet"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LoadParameterSet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#HMI"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ChangeEnvironment"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Calibrate"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#AdditionalFunction"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Detect">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Scan"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Read"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Measure"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ImageAnalysis"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Classify"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#SensorFunction"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Plane">
+ <owl:disjointWith rdf:resource="#Grind"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Broach"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Lathe"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Separate"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#File"/>
+ <owl:disjointWith rdf:resource="#Hone"/>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cut"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Electro-discharge-machine"/>
+ <owl:disjointWith rdf:resource="#Thermal-Separate"/>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <owl:disjointWith rdf:resource="#Rub"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Drill"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Mill"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thrust"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Sensor">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Tool"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Manufacturing"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ManipulationAndHandling"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#EnvironmentDevice"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Controller"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Communication"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Device"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#MeasureTemperature">
+ <owl:disjointWith rdf:resource="#MeasureDiameter"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasurePositionOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureMotionOfObject"/>
+ </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 rdf:resource="#MeasureTorque"/>
+ <owl:disjointWith rdf:resource="#MeasureDistance"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureAngle"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Measure"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#MeasureSpeed"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureOrientationOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureArea"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="VacuumFixture">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MechanicalFixture"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Fixture"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Device">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalObject"/>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom rdf:resource="#Cost"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Workpiece"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Workpiece">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PhysicalObject"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Device"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Turn">
+ <owl:disjointWith rdf:resource="#Displace"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Pass"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Feed"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Orient"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Arrange"/>
+ <owl:disjointWith rdf:resource="#Pan"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Convey"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Position"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Move"/>
+ </owl:Class>
+ <owl:Class rdf:about="#TypeOther">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Type"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeFloat"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeInteger"/>
+ </owl:Class>
+ <owl:Class rdf:about="#CompressImageData">
+ <owl:disjointWith rdf:resource="#TransformImage"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SegmentImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#FilterImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ExtractEdges"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DecompressImageData"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#CalibrateImage"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#BlobAnalysis"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
+ </owl:Class>
+ <owl:Class rdf:about="#DecompressImageData">
+ <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
+ <owl:disjointWith rdf:resource="#TransformImage"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SegmentImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#FilterImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ExtractEdges"/>
+ <owl:disjointWith rdf:resource="#CompressImageData"/>
+ <owl:disjointWith rdf:resource="#CalibrateImage"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#BlobAnalysis"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Separate">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ManufacturingFunction"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Mold"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ModifyWorkpieceProperties"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Join"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Form"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Coat"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="HMI_Output">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="HMI_Input"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#HMI"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#MeasureAngle">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureOrientationOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureVolume"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Measure"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#MeasureDiameter"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureArea"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureTorque"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureAcceleration"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureMotionOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureTemperature"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureForce"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasurePositionOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureSpeed"/>
+ <owl:disjointWith rdf:resource="#MeasureDistance"/>
+ </owl:Class>
+ <owl:Class rdf:about="#PincerGripper">
+ <owl:disjointWith rdf:resource="#VacuumGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MagnetGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#FingerGripper"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Gripper"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="Hot-galvanise">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Coat"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Varnish"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Powder-coat"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Electroplate"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#MeasureMotionOfObject">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasurePositionOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureAcceleration"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureArea"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureTemperature"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Measure"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#MeasureSpeed"/>
+ <owl:disjointWith rdf:resource="#MeasureDistance"/>
+ <owl:disjointWith rdf:resource="#MeasureAngle"/>
+ <owl:disjointWith rdf:resource="#MeasureVolume"/>
+ <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="#MeasureDiameter"/>
+ </owl:Class>
+ <owl:Class rdf:about="#LengthUnit">
+ <owl:disjointWith rdf:resource="#CurrencyUnit"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MassUnit"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PowerUnit"/>
+ <owl:disjointWith rdf:resource="#TimeUnit"/>
+ <owl:disjointWith rdf:resource="#VelocityUnit"/>
+ <owl:disjointWith rdf:resource="#NullUnit"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Unit"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#DetectLuminescence">
+ <rdfs:subClassOf rdf:resource="#Detect"/>
+ <owl:disjointWith rdf:resource="#DetectObject"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DetectContrast"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DetectColor"/>
+ <owl:disjointWith rdf:resource="#DetectCollision"/>
+ </owl:Class>
+ <owl:Class rdf:about="#True">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Forge"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bend"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Deep-Draw"/>
+ <owl:disjointWith rdf:resource="#Roll"/>
+ <owl:disjointWith rdf:resource="#Strech-Form"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Press"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Extrude"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Crush"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Fold"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bead"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Flang"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Form"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#ParallelGripper">
+ <owl:disjointWith rdf:resource="#AngleGripper"/>
+ <rdfs:subClassOf rdf:resource="#PincerGripper"/>
+ </owl:Class>
+ <owl:Class rdf:about="#LightingDevice">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#EnvironmentDevice"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#OpticLuminescenceScanner">
+ <owl:disjointWith rdf:resource="#OpticDistanceSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticColorSensor"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#OpticSensor"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SmartCamera"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticContrastScanner"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LaserScanner2D"/>
+ <owl:disjointWith rdf:resource="#VisionSensor"/>
+ <owl:disjointWith rdf:resource="#OpticSwitch"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LightGrid"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#LineParallelGripper">
+ <owl:disjointWith rdf:resource="#GeneralParallelGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CricularParallelGripper"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#ParallelGripper"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Join">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ManufacturingFunction"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Separate"/>
+ <owl:disjointWith rdf:resource="#Mold"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ModifyWorkpieceProperties"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Form"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Coat"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Varnish">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Powder-coat"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Hot-galvanise"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Electroplate"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Coat"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#DeviceProperty">
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#Cost"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Color"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ReachabilityRadius"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricalConnection"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxResolution"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Geometry"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Diameter"/>
+ <owl:disjointWith rdf:resource="#FieldOfView"/>
+ <owl:disjointWith rdf:resource="#Material"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Property"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Mass"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#BoundingBox"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#MaxResolution">
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricalConnection"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Property"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#Cost"/>
+ <owl:disjointWith rdf:resource="#Mass"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#BoundingBox"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Diameter"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Geometry"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#FieldOfView"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Color"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ReachabilityRadius"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Material"/>
+ <owl:disjointWith rdf:resource="#DeviceProperty"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Lathe">
+ <owl:disjointWith rdf:resource="#Rub"/>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cut"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Thermal-Separate"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Drill"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Hone"/>
+ <owl:disjointWith rdf:resource="#Grind"/>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <owl:disjointWith rdf:resource="#Plane"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Thrust"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#File"/>
+ <rdfs:subClassOf rdf:resource="#Separate"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Broach"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Mill"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Electro-discharge-machine"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Read">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#SensorFunction"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Scan"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Measure"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ImageAnalysis"/>
+ <owl:disjointWith rdf:resource="#Detect"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Classify"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="MainFunction">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DiagnosticFunction"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#AdditionalFunction"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Skill"/>
+ </owl:Class>
+ <owl:Class rdf:ID="UltrasonicDistanceSensor">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#UltrasonicSensor"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#DiagnosticFunction">
+ <owl:disjointWith rdf:resource="#MainFunction"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#AdditionalFunction"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Skill"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Bolt">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Weld"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Solder"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Rivet"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Glue"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Fill"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Clinch"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Assemble"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Join"/>
+ </owl:Class>
+ <owl:Class rdf:about="#MechanicalFixture">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Fixture"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#VacuumFixture"/>
+ </owl:Class>
+ <owl:Class rdf:about="#FilterImage">
+ <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
+ <owl:disjointWith rdf:resource="#TransformImage"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SegmentImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ExtractEdges"/>
+ <owl:disjointWith rdf:resource="#DecompressImageData"/>
+ <owl:disjointWith rdf:resource="#CompressImageData"/>
+ <owl:disjointWith rdf:resource="#CalibrateImage"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#BlobAnalysis"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#MeasureOrientationOfObject">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureArea"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureVolume"/>
+ <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
+ <owl:disjointWith rdf:resource="#MeasureTorque"/>
+ <owl:disjointWith rdf:resource="#MeasureAngle"/>
+ <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 rdf:resource="#MeasureDistance"/>
+ <owl:disjointWith rdf:resource="#MeasureSpeed"/>
+ <owl:disjointWith rdf:resource="#MeasureTemperature"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureAcceleration"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureDiameter"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Thrust">
+ <owl:disjointWith rdf:resource="#File"/>
+ <owl:disjointWith rdf:resource="#Grind"/>
+ <owl:disjointWith rdf:resource="#Lathe"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Mill"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Broach"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <owl:disjointWith rdf:resource="#Thermal-Separate"/>
+ <owl:disjointWith rdf:resource="#Plane"/>
+ <rdfs:subClassOf rdf:resource="#Separate"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cut"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Electro-discharge-machine"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Drill"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Hone"/>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <owl:disjointWith rdf:resource="#Rub"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Electroplate">
+ <owl:disjointWith rdf:resource="#Varnish"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Powder-coat"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Hot-galvanise"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Coat"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#UltrasonicSensor">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TorqueForceSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TactileSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MagneticSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#InductiveSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#EncoderSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CapacitveSensor"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Sensor"/>
+ </owl:Class>
+ <owl:Class rdf:about="#SimpleKinematicRobot">
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScaraRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ParallelKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#HexapodRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CartesianRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
+ <rdfs:subClassOf rdf:resource="#Robot"/>
+ </owl:Class>
+ <owl:Class rdf:about="#MagneticSensor">
+ <rdfs:subClassOf rdf:resource="#Sensor"/>
+ <owl:disjointWith rdf:resource="#UltrasonicSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TorqueForceSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TactileSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#InductiveSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#EncoderSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CapacitveSensor"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#SensorFunction">
+ <rdfs:subClassOf rdf:resource="#MainFunction"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ManufacturingFunction"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ManipulationAndHandlingFunction"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="Conveyor">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Displacement"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Position">
+ <owl:disjointWith rdf:resource="#Arrange"/>
+ <rdfs:subClassOf rdf:resource="#Move"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Orient"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Pass"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Convey"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Pan"/>
+ <owl:disjointWith rdf:resource="#Turn"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Feed"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Displace"/>
+ </owl:Class>
+ <owl:Class rdf:about="#SegmentImage">
+ <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
+ <owl:disjointWith rdf:resource="#TransformImage"/>
+ <owl:disjointWith rdf:resource="#FilterImage"/>
+ <owl:disjointWith rdf:resource="#ExtractEdges"/>
+ <owl:disjointWith rdf:resource="#DecompressImageData"/>
+ <owl:disjointWith rdf:resource="#CompressImageData"/>
+ <owl:disjointWith rdf:resource="#CalibrateImage"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#BlobAnalysis"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Fill">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Weld"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Solder"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Rivet"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Glue"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Clinch"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Bolt"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Assemble"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Join"/>
+ </owl:Class>
+ <owl:Class rdf:about="#TypeFloat">
+ <owl:disjointWith rdf:resource="#TypeOther"/>
+ <owl:disjointWith rdf:resource="#TypeInteger"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Type"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#TactileSensor">
+ <rdfs:subClassOf rdf:resource="#Sensor"/>
+ <owl:disjointWith rdf:resource="#UltrasonicSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TorqueForceSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MagneticSensor"/>
+ <owl:disjointWith rdf:resource="#InductiveSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#EncoderSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CapacitveSensor"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="DeactivateLighting">
+ <rdfs:subClassOf rdf:resource="#ChangeEnvironment"/>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ActivateLighting"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Read2DMatrixCode">
+ <rdfs:subClassOf rdf:resource="#Read"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ReadOpticalCharacters"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ReadBrailleCode"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ReadBarCode"/>
+ </owl:Class>
+ <owl:Class rdf:about="#SetParameterValue">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#AdditionalFunction"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#SaveParameterSet"/>
+ <owl:disjointWith rdf:resource="#Reset"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LoadParameterSet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#HMI"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ChangeEnvironment"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Calibrate"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#LoadParameterSet">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#AdditionalFunction"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#SetParameterValue"/>
+ <owl:disjointWith rdf:resource="#SaveParameterSet"/>
+ <owl:disjointWith rdf:resource="#Reset"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#HMI"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ChangeEnvironment"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Calibrate"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#ModifyWorkpieceProperties">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ManufacturingFunction"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Separate"/>
+ <owl:disjointWith rdf:resource="#Mold"/>
+ <owl:disjointWith rdf:resource="#Join"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Form"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Coat"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#ManipulationAndHandlingFunction">
+ <rdfs:subClassOf rdf:resource="#MainFunction"/>
+ <owl:disjointWith rdf:resource="#SensorFunction"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ManufacturingFunction"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#CartesianRobot">
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#SimpleKinematicRobot"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScaraRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ParallelKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#HexapodRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
+ <rdfs:subClassOf rdf:resource="#Robot"/>
+ </owl:Class>
+ <owl:Class rdf:about="#EnvironmentDevice">
+ <rdfs:subClassOf rdf:resource="#Device"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Tool"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Sensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Manufacturing"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ManipulationAndHandling"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Controller"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Communication"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Gripper">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ManipulationAndHandling"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#ToolChanger"/>
+ <owl:disjointWith rdf:resource="#Robot"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Fixture"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Displacement"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#SmartCamera">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticColorSensor"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#OpticSensor"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#OpticDistanceSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LightGrid"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#OpticSwitch"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticContrastScanner"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
+ <owl:disjointWith rdf:resource="#LaserScanner2D"/>
+ <owl:disjointWith rdf:resource="#VisionSensor"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Feed">
+ <owl:disjointWith rdf:resource="#Displace"/>
+ <owl:disjointWith rdf:resource="#Turn"/>
+ <owl:disjointWith rdf:resource="#Pan"/>
+ <owl:disjointWith rdf:resource="#Arrange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Pass"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Move"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Orient"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Convey"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Position"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Assemble">
+ <rdfs:subClassOf rdf:resource="#Join"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Weld"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Solder"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Rivet"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Glue"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Fill"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Clinch"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Bolt"/>
+ </owl:Class>
+ <owl:Class rdf:about="#OpticSensor">
+ <rdfs:subClassOf rdf:resource="#Sensor"/>
+ <owl:disjointWith rdf:resource="#UltrasonicSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TorqueForceSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TactileSensor"/>
+ <owl:disjointWith rdf:resource="#MagneticSensor"/>
+ <owl:disjointWith rdf:resource="#InductiveSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#EncoderSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CapacitveSensor"/>
+ </owl:disjointWith>
+ </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="#Convey">
+ <owl:disjointWith rdf:resource="#Arrange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Pass"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Feed"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Orient"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Move"/>
+ <owl:disjointWith rdf:resource="#Pan"/>
+ <owl:disjointWith rdf:resource="#Position"/>
+ <owl:disjointWith rdf:resource="#Displace"/>
+ <owl:disjointWith rdf:resource="#Turn"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Cast">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Sinter"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ElectrolyticSegregate"/>
+ <rdfs:subClassOf rdf:resource="#Mold"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Anneal">
+ <rdfs:subClassOf rdf:resource="#ModifyWorkpieceProperties"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Temper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Age"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Broach">
+ <owl:disjointWith rdf:resource="#Grind"/>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <owl:disjointWith rdf:resource="#Plane"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cut"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Lathe"/>
+ <owl:disjointWith rdf:resource="#Hone"/>
+ <rdfs:subClassOf rdf:resource="#Separate"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Mill"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#File"/>
+ <owl:disjointWith rdf:resource="#Thermal-Separate"/>
+ <owl:disjointWith rdf:resource="#Rub"/>
+ <owl:disjointWith rdf:resource="#Electro-discharge-machine"/>
+ <owl:disjointWith rdf:resource="#Thrust"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Drill"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#MeasureArea">
+ <owl:disjointWith rdf:resource="#MeasureSpeed"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureAcceleration"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureAngle"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasurePositionOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureVolume"/>
+ <owl:disjointWith rdf:resource="#MeasureDistance"/>
+ <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Measure"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#MeasureTorque"/>
+ <owl:disjointWith rdf:resource="#MeasureDiameter"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureForce"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureOrientationOfObject"/>
+ <owl:disjointWith rdf:resource="#MeasureTemperature"/>
+ </owl:Class>
+ <owl:Class rdf:ID="InductiveProximitySwitch">
+ <rdfs:subClassOf rdf:resource="#InductiveSensor"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ElectricalConnection">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Property"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Cost"/>
+ <owl:disjointWith rdf:resource="#FieldOfView"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Color"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ReachabilityRadius"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#BoundingBox"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DeviceProperty"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Mass"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Geometry"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxResolution"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#Diameter"/>
+ <owl:disjointWith rdf:resource="#Material"/>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Unit">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Type"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Concept"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#BoundingBox">
+ <owl:disjointWith rdf:resource="#FieldOfView"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Mass"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Geometry"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxResolution"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Property"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Diameter"/>
+ <owl:disjointWith rdf:resource="#Material"/>
+ <owl:disjointWith rdf:resource="#Cost"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ReachabilityRadius"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ElectricalConnection"/>
+ <owl:disjointWith rdf:resource="#DeviceProperty"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Color"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#BlobAnalysis">
+ <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
+ <owl:disjointWith rdf:resource="#TransformImage"/>
+ <owl:disjointWith rdf:resource="#SegmentImage"/>
+ <owl:disjointWith rdf:resource="#FilterImage"/>
+ <owl:disjointWith rdf:resource="#ExtractEdges"/>
+ <owl:disjointWith rdf:resource="#DecompressImageData"/>
+ <owl:disjointWith rdf:resource="#CompressImageData"/>
+ <owl:disjointWith rdf:resource="#CalibrateImage"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Calibrate">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#AdditionalFunction"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#SetParameterValue"/>
+ <owl:disjointWith rdf:resource="#SaveParameterSet"/>
+ <owl:disjointWith rdf:resource="#Reset"/>
+ <owl:disjointWith rdf:resource="#LoadParameterSet"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#HMI"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ChangeEnvironment"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Concept">
+ <owl:disjointWith rdf:resource="#Skill"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Property"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PhysicalObject"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Geometry">
+ <owl:disjointWith rdf:resource="#ElectricalConnection"/>
+ <owl:disjointWith rdf:resource="#Mass"/>
+ <owl:disjointWith rdf:resource="#BoundingBox"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Property"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Color"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Cost"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ReachabilityRadius"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxResolution"/>
+ <owl:disjointWith rdf:resource="#DeviceProperty"/>
+ <owl:disjointWith rdf:resource="#Diameter"/>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#FieldOfView"/>
+ <owl:disjointWith rdf:resource="#Material"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="WireDrawEncoder">
+ <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="#Detach">
+ <rdfs:subClassOf rdf:resource="#Secure"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Release"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Grasp"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Attach"/>
+ </owl:Class>
+ <owl:Class rdf:about="#OpticColorSensor">
+ <owl:disjointWith rdf:resource="#SmartCamera"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticContrastScanner"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#OpticSensor"/>
+ <owl:disjointWith rdf:resource="#LaserScanner2D"/>
+ <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
+ <owl:disjointWith rdf:resource="#OpticSwitch"/>
+ <owl:disjointWith rdf:resource="#OpticDistanceSensor"/>
+ <owl:disjointWith rdf:resource="#VisionSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LightGrid"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Cut">
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <owl:disjointWith rdf:resource="#Electro-discharge-machine"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Drill"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Broach"/>
+ <owl:disjointWith rdf:resource="#Plane"/>
+ <owl:disjointWith rdf:resource="#Grind"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Mill"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Separate"/>
+ <owl:disjointWith rdf:resource="#Thrust"/>
+ <owl:disjointWith rdf:resource="#Lathe"/>
+ <owl:disjointWith rdf:resource="#File"/>
+ <owl:disjointWith rdf:resource="#Hone"/>
+ <owl:disjointWith rdf:resource="#Thermal-Separate"/>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <owl:disjointWith rdf:resource="#Rub"/>
+ </owl:Class>
+ <owl:Class rdf:about="#HexapodRobot">
+ <rdfs:subClassOf rdf:resource="#Robot"/>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#SimpleKinematicRobot"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScaraRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ParallelKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#CartesianRobot"/>
+ <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ReadBrailleCode">
+ <rdfs:subClassOf rdf:resource="#Read"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ReadOpticalCharacters"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ReadBarCode"/>
+ <owl:disjointWith rdf:resource="#Read2DMatrixCode"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Powder-coat">
+ <owl:disjointWith rdf:resource="#Varnish"/>
+ <owl:disjointWith rdf:resource="#Hot-galvanise"/>
+ <owl:disjointWith rdf:resource="#Electroplate"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Coat"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Fixture">
+ <owl:disjointWith rdf:resource="#ToolChanger"/>
+ <owl:disjointWith rdf:resource="#Robot"/>
+ <owl:disjointWith rdf:resource="#Gripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Displacement"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ManipulationAndHandling"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="DrillMachine">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Manufacturing"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#MeasureAcceleration">
+ <owl:disjointWith rdf:resource="#MeasureTemperature"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureForce"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Measure"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#MeasureDiameter"/>
+ <owl:disjointWith rdf:resource="#MeasureVolume"/>
+ <owl:disjointWith rdf:resource="#MeasureOrientationOfObject"/>
+ <owl:disjointWith rdf:resource="#MeasureSpeed"/>
+ <owl:disjointWith rdf:resource="#MeasureDistance"/>
+ <owl:disjointWith rdf:resource="#MeasureAngle"/>
+ <owl:disjointWith rdf:resource="#MeasureTorque"/>
+ <owl:disjointWith rdf:resource="#MeasureArea"/>
+ <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasurePositionOfObject"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#AdditionalFunction">
+ <owl:disjointWith rdf:resource="#MainFunction"/>
+ <owl:disjointWith rdf:resource="#DiagnosticFunction"/>
+ <rdfs:subClassOf rdf:resource="#Skill"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ReadOpticalCharacters">
+ <rdfs:subClassOf rdf:resource="#Read"/>
+ <owl:disjointWith rdf:resource="#ReadBrailleCode"/>
+ <owl:disjointWith rdf:resource="#ReadBarCode"/>
+ <owl:disjointWith rdf:resource="#Read2DMatrixCode"/>
+ </owl:Class>
+ <owl:Class rdf:about="#TorqueForceSensor">
+ <rdfs:subClassOf rdf:resource="#Sensor"/>
+ <owl:disjointWith rdf:resource="#UltrasonicSensor"/>
+ <owl:disjointWith rdf:resource="#TactileSensor"/>
+ <owl:disjointWith rdf:resource="#OpticSensor"/>
+ <owl:disjointWith rdf:resource="#MagneticSensor"/>
+ <owl:disjointWith rdf:resource="#InductiveSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#EncoderSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CapacitveSensor"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Type">
+ <rdfs:subClassOf rdf:resource="#Concept"/>
+ <owl:disjointWith rdf:resource="#Unit"/>
+ </owl:Class>
+ <owl:Class rdf:about="#CapacitveSensor">
+ <owl:disjointWith rdf:resource="#UltrasonicSensor"/>
+ <owl:disjointWith rdf:resource="#TorqueForceSensor"/>
+ <owl:disjointWith rdf:resource="#TactileSensor"/>
+ <owl:disjointWith rdf:resource="#OpticSensor"/>
+ <owl:disjointWith rdf:resource="#MagneticSensor"/>
+ <owl:disjointWith rdf:resource="#InductiveSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#EncoderSensor"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Sensor"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Grasp">
+ <rdfs:subClassOf rdf:resource="#Secure"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Release"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Detach"/>
+ <owl:disjointWith rdf:resource="#Attach"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Mill">
+ <owl:disjointWith rdf:resource="#Hone"/>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <owl:disjointWith rdf:resource="#File"/>
+ <owl:disjointWith rdf:resource="#Plane"/>
+ <owl:disjointWith rdf:resource="#Broach"/>
+ <owl:disjointWith rdf:resource="#Rub"/>
+ <owl:disjointWith rdf:resource="#Thrust"/>
+ <owl:disjointWith rdf:resource="#Cut"/>
+ <owl:disjointWith rdf:resource="#Thermal-Separate"/>
+ <owl:disjointWith rdf:resource="#Grind"/>
+ <owl:disjointWith rdf:resource="#Lathe"/>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <owl:disjointWith rdf:resource="#Electro-discharge-machine"/>
+ <rdfs:subClassOf rdf:resource="#Separate"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Drill"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#OpticThroughBeamSwitch">
+ <owl:disjointWith rdf:resource="#OpticReflexSwitch"/>
+ <owl:disjointWith rdf:resource="#OpticProximitySwitch"/>
+ <rdfs:subClassOf rdf:resource="#OpticSwitch"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Weld">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Solder"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Rivet"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Glue"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Fill"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Clinch"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Bolt"/>
+ <owl:disjointWith rdf:resource="#Assemble"/>
+ <rdfs:subClassOf rdf:resource="#Join"/>
+ </owl:Class>
+ <owl:Class rdf:about="#NumberOfJoints">
+ <owl:disjointWith rdf:resource="#MaxResolution"/>
+ <owl:disjointWith rdf:resource="#Material"/>
+ <owl:disjointWith rdf:resource="#DeviceProperty"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Color"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Geometry"/>
+ <owl:disjointWith rdf:resource="#Mass"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Diameter"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Property"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#BoundingBox"/>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#ElectricalConnection"/>
+ <owl:disjointWith rdf:resource="#FieldOfView"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ReachabilityRadius"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Cost"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Glue">
+ <owl:disjointWith rdf:resource="#Weld"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Solder"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Rivet"/>
+ <owl:disjointWith rdf:resource="#Fill"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Clinch"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Bolt"/>
+ <owl:disjointWith rdf:resource="#Assemble"/>
+ <rdfs:subClassOf rdf:resource="#Join"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Manufacturing">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Tool"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Sensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ManipulationAndHandling"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#EnvironmentDevice"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Controller"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Communication"/>
+ <rdfs:subClassOf rdf:resource="#Device"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Temper">
+ <rdfs:subClassOf rdf:resource="#ModifyWorkpieceProperties"/>
+ <owl:disjointWith rdf:resource="#Anneal"/>
+ <owl:disjointWith rdf:resource="#Age"/>
+ </owl:Class>
+ <owl:Class rdf:about="#DetectContrast">
+ <rdfs:subClassOf rdf:resource="#Detect"/>
+ <owl:disjointWith rdf:resource="#DetectObject"/>
+ <owl:disjointWith rdf:resource="#DetectLuminescence"/>
+ <owl:disjointWith rdf:resource="#DetectColor"/>
+ <owl:disjointWith rdf:resource="#DetectCollision"/>
+ </owl:Class>
+ <owl:Class rdf:about="#LinearEncoder">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#EncoderSensor"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#WireDrawEncoder"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WheelEncoder"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="BarcodeReader">
+ <rdfs:subClassOf rdf:resource="#VisionSensor"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Coat">
+ <owl:disjointWith rdf:resource="#Separate"/>
+ <owl:disjointWith rdf:resource="#Mold"/>
+ <owl:disjointWith rdf:resource="#ModifyWorkpieceProperties"/>
+ <owl:disjointWith rdf:resource="#Join"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Form"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
+ </owl:Class>
+ <owl:Class rdf:about="#MassUnit">
+ <owl:disjointWith rdf:resource="#CurrencyUnit"/>
+ <owl:disjointWith rdf:resource="#LengthUnit"/>
+ <owl:disjointWith rdf:resource="#PowerUnit"/>
+ <owl:disjointWith rdf:resource="#TimeUnit"/>
+ <owl:disjointWith rdf:resource="#VelocityUnit"/>
+ <owl:disjointWith rdf:resource="#NullUnit"/>
+ <rdfs:subClassOf rdf:resource="#Unit"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ActivateLighting">
+ <rdfs:subClassOf rdf:resource="#ChangeEnvironment"/>
+ <owl:disjointWith rdf:resource="#DeactivateLighting"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Form">
+ <owl:disjointWith rdf:resource="#Separate"/>
+ <owl:disjointWith rdf:resource="#Mold"/>
+ <owl:disjointWith rdf:resource="#ModifyWorkpieceProperties"/>
+ <owl:disjointWith rdf:resource="#Join"/>
+ <owl:disjointWith rdf:resource="#Coat"/>
+ <rdfs:subClassOf rdf:resource="#ManufacturingFunction"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Pass">
+ <owl:disjointWith rdf:resource="#Feed"/>
+ <owl:disjointWith rdf:resource="#Arrange"/>
+ <owl:disjointWith rdf:resource="#Pan"/>
+ <owl:disjointWith rdf:resource="#Displace"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Orient"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Position"/>
+ <owl:disjointWith rdf:resource="#Turn"/>
+ <owl:disjointWith rdf:resource="#Convey"/>
+ <rdfs:subClassOf rdf:resource="#Move"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Displacement">
+ <owl:disjointWith rdf:resource="#ToolChanger"/>
+ <owl:disjointWith rdf:resource="#Robot"/>
+ <owl:disjointWith rdf:resource="#Gripper"/>
+ <owl:disjointWith rdf:resource="#Fixture"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ManipulationAndHandling"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#MeasurePositionOfObject">
+ <owl:disjointWith rdf:resource="#MeasureTemperature"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Measure"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#MeasureAngle"/>
+ <owl:disjointWith rdf:resource="#MeasureDistance"/>
+ <owl:disjointWith rdf:resource="#MeasureAcceleration"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureForce"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MeasureSpeed"/>
+ <owl:disjointWith rdf:resource="#MeasureArea"/>
+ <owl:disjointWith rdf:resource="#MeasureVolume"/>
+ <owl:disjointWith rdf:resource="#MeasureDiameter"/>
+ <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
+ <owl:disjointWith rdf:resource="#MeasureTorque"/>
+ <owl:disjointWith rdf:resource="#MeasureOrientationOfObject"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Measure">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Scan"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Read"/>
+ <owl:disjointWith rdf:resource="#ImageAnalysis"/>
+ <owl:disjointWith rdf:resource="#Detect"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Classify"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#SensorFunction"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Release">
+ <rdfs:subClassOf rdf:resource="#Secure"/>
+ <owl:disjointWith rdf:resource="#Grasp"/>
+ <owl:disjointWith rdf:resource="#Detach"/>
+ <owl:disjointWith rdf:resource="#Attach"/>
+ </owl:Class>
+ <owl:Class rdf:about="#EncoderSensor">
+ <owl:disjointWith rdf:resource="#UltrasonicSensor"/>
+ <owl:disjointWith rdf:resource="#TorqueForceSensor"/>
+ <owl:disjointWith rdf:resource="#TactileSensor"/>
+ <owl:disjointWith rdf:resource="#OpticSensor"/>
+ <owl:disjointWith rdf:resource="#MagneticSensor"/>
+ <owl:disjointWith rdf:resource="#InductiveSensor"/>
+ <owl:disjointWith rdf:resource="#CapacitveSensor"/>
+ <rdfs:subClassOf rdf:resource="#Sensor"/>
+ </owl:Class>
+ <owl:Class rdf:about="#WheelEncoder">
+ <rdfs:subClassOf rdf:resource="#EncoderSensor"/>
+ <owl:disjointWith rdf:resource="#WireDrawEncoder"/>
+ <owl:disjointWith rdf:resource="#LinearEncoder"/>
+ </owl:Class>
+ <owl:Class rdf:about="#MagnetGripper">
+ <owl:disjointWith rdf:resource="#VacuumGripper"/>
+ <owl:disjointWith rdf:resource="#PincerGripper"/>
+ <owl:disjointWith rdf:resource="#FingerGripper"/>
+ <rdfs:subClassOf rdf:resource="#Gripper"/>
+ </owl:Class>
+ <owl:Class rdf:about="#PowerConsumption">
+ <owl:disjointWith rdf:resource="#Cost"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#NumberOfJoints"/>
+ <owl:disjointWith rdf:resource="#FieldOfView"/>
+ <owl:disjointWith rdf:resource="#ElectricalConnection"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Color"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Material"/>
+ <owl:disjointWith rdf:resource="#BoundingBox"/>
+ <owl:disjointWith rdf:resource="#Mass"/>
+ <owl:disjointWith rdf:resource="#Geometry"/>
+ <owl:disjointWith rdf:resource="#MaxResolution"/>
+ <owl:disjointWith rdf:resource="#DeviceProperty"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ReachabilityRadius"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Diameter"/>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Property"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Press">
+ <owl:disjointWith rdf:resource="#Strech-Form"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Forge"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#True"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bend"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Crush"/>
+ <rdfs:subClassOf rdf:resource="#Form"/>
+ <owl:disjointWith rdf:resource="#Roll"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Flang"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Fold"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Extrude"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bead"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Deep-Draw"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ElasticFingerGripper">
+ <rdfs:subClassOf rdf:resource="#FingerGripper"/>
+ <owl:disjointWith rdf:resource="#JointFingerGripper"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ReachabilityRadius">
+ <owl:disjointWith rdf:resource="#PowerConsumption"/>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#Cost"/>
+ <owl:disjointWith rdf:resource="#Mass"/>
+ <owl:disjointWith rdf:resource="#DeviceProperty"/>
+ <owl:disjointWith rdf:resource="#FieldOfView"/>
+ <owl:disjointWith rdf:resource="#Material"/>
+ <owl:disjointWith rdf:resource="#MaxResolution"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Property"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Geometry"/>
+ <owl:disjointWith rdf:resource="#BoundingBox"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Color"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ElectricalConnection"/>
+ <owl:disjointWith rdf:resource="#Diameter"/>
+ <owl:disjointWith rdf:resource="#NumberOfJoints"/>
+ </owl:Class>
+ <owl:Class rdf:about="#OpticContrastScanner">
+ <owl:disjointWith rdf:resource="#LaserScanner2D"/>
+ <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
+ <owl:disjointWith rdf:resource="#OpticDistanceSensor"/>
+ <owl:disjointWith rdf:resource="#OpticSwitch"/>
+ <owl:disjointWith rdf:resource="#OpticColorSensor"/>
+ <owl:disjointWith rdf:resource="#SmartCamera"/>
+ <rdfs:subClassOf rdf:resource="#OpticSensor"/>
+ <owl:disjointWith rdf:resource="#VisionSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LightGrid"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Extrude">
+ <owl:disjointWith rdf:resource="#Press"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bead"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Strech-Form"/>
+ <owl:disjointWith rdf:resource="#True"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bend"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Flang"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Crush"/>
+ <rdfs:subClassOf rdf:resource="#Form"/>
+ <owl:disjointWith rdf:resource="#Roll"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Forge"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Fold"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Deep-Draw"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Clinch">
+ <owl:disjointWith rdf:resource="#Weld"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Solder"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Rivet"/>
+ <owl:disjointWith rdf:resource="#Glue"/>
+ <owl:disjointWith rdf:resource="#Fill"/>
+ <owl:disjointWith rdf:resource="#Bolt"/>
+ <owl:disjointWith rdf:resource="#Assemble"/>
+ <rdfs:subClassOf rdf:resource="#Join"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ParallelKinematicRobot">
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#SimpleKinematicRobot"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScaraRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#HexapodRobot"/>
+ <owl:disjointWith rdf:resource="#CartesianRobot"/>
+ <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
+ <rdfs:subClassOf rdf:resource="#Robot"/>
+ </owl:Class>
+ <owl:Class rdf:about="#MeasureForce">
+ <owl:disjointWith rdf:resource="#MeasureMotionOfObject"/>
+ <owl:disjointWith rdf:resource="#MeasureAcceleration"/>
+ <owl:disjointWith rdf:resource="#MeasureDistance"/>
+ <owl:disjointWith rdf:resource="#MeasureSpeed"/>
+ <owl:disjointWith rdf:resource="#MeasureOrientationOfObject"/>
+ <owl:disjointWith rdf:resource="#MeasureAngle"/>
+ <owl:disjointWith rdf:resource="#MeasurePositionOfObject"/>
+ <owl:disjointWith rdf:resource="#MeasureTorque"/>
+ <owl:disjointWith rdf:resource="#MeasureVolume"/>
+ <owl:disjointWith rdf:resource="#MeasureArea"/>
+ <rdfs:subClassOf rdf:resource="#Measure"/>
+ <owl:disjointWith rdf:resource="#MeasureDiameter"/>
+ <owl:disjointWith rdf:resource="#MeasureTemperature"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Scan">
+ <rdfs:subClassOf rdf:resource="#SensorFunction"/>
+ <owl:disjointWith rdf:resource="#Read"/>
+ <owl:disjointWith rdf:resource="#Measure"/>
+ <owl:disjointWith rdf:resource="#ImageAnalysis"/>
+ <owl:disjointWith rdf:resource="#Detect"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Classify"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="DrillBit">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Tool"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#PhysicalObject">
+ <owl:disjointWith rdf:resource="#Concept"/>
+ <owl:disjointWith rdf:resource="#Skill"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Property"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="http://www.w3.org/2002/07/owl#Thing"/>
+ <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:someValuesFrom rdf:resource="#Mass"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom rdf:resource="#Geometry"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#HMI">
+ <owl:disjointWith rdf:resource="#SetParameterValue"/>
+ <owl:disjointWith rdf:resource="#SaveParameterSet"/>
+ <owl:disjointWith rdf:resource="#Reset"/>
+ <owl:disjointWith rdf:resource="#LoadParameterSet"/>
+ <owl:disjointWith rdf:resource="#ChangeEnvironment"/>
+ <owl:disjointWith rdf:resource="#Calibrate"/>
+ <rdfs:subClassOf rdf:resource="#AdditionalFunction"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ManipulationAndHandling">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Tool"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Sensor"/>
+ <owl:disjointWith rdf:resource="#Manufacturing"/>
+ <owl:disjointWith rdf:resource="#EnvironmentDevice"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Controller"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Communication"/>
+ <rdfs:subClassOf rdf:resource="#Device"/>
+ </owl:Class>
+ <owl:Class rdf:about="#LightGrid">
+ <owl:disjointWith rdf:resource="#VisionSensor"/>
+ <owl:disjointWith rdf:resource="#OpticColorSensor"/>
+ <owl:disjointWith rdf:resource="#OpticLuminescenceScanner"/>
+ <rdfs:subClassOf rdf:resource="#OpticSensor"/>
+ <owl:disjointWith rdf:resource="#LaserScanner2D"/>
+ <owl:disjointWith rdf:resource="#SmartCamera"/>
+ <owl:disjointWith rdf:resource="#OpticContrastScanner"/>
+ <owl:disjointWith rdf:resource="#OpticSwitch"/>
+ <owl:disjointWith rdf:resource="#OpticDistanceSensor"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Tool">
+ <rdfs:subClassOf rdf:resource="#Device"/>
+ <owl:disjointWith rdf:resource="#Sensor"/>
+ <owl:disjointWith rdf:resource="#Manufacturing"/>
+ <owl:disjointWith rdf:resource="#ManipulationAndHandling"/>
+ <owl:disjointWith rdf:resource="#EnvironmentDevice"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Controller"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Communication"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Bead">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Bend"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Forge"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Strech-Form"/>
+ <owl:disjointWith rdf:resource="#Deep-Draw"/>
+ <owl:disjointWith rdf:resource="#True"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Fold"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Press"/>
+ <owl:disjointWith rdf:resource="#Crush"/>
+ <owl:disjointWith rdf:resource="#Roll"/>
+ <rdfs:subClassOf rdf:resource="#Form"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Flang"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Extrude"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Drill">
+ <owl:disjointWith rdf:resource="#File"/>
+ <owl:disjointWith rdf:resource="#Lap"/>
+ <rdfs:subClassOf rdf:resource="#Separate"/>
+ <owl:disjointWith rdf:resource="#Hone"/>
+ <owl:disjointWith rdf:resource="#Mill"/>
+ <owl:disjointWith rdf:resource="#Broach"/>
+ <owl:disjointWith rdf:resource="#Grind"/>
+ <owl:disjointWith rdf:resource="#Saw"/>
+ <owl:disjointWith rdf:resource="#Cut"/>
+ <owl:disjointWith rdf:resource="#Lathe"/>
+ <owl:disjointWith rdf:resource="#Rub"/>
+ <owl:disjointWith rdf:resource="#Plane"/>
+ <owl:disjointWith rdf:resource="#Electro-discharge-machine"/>
+ <owl:disjointWith rdf:resource="#Thermal-Separate"/>
+ <owl:disjointWith rdf:resource="#Thrust"/>
+ </owl:Class>
+ <owl:Class rdf:about="#CricularParallelGripper">
+ <rdfs:subClassOf rdf:resource="#ParallelGripper"/>
+ <owl:disjointWith rdf:resource="#LineParallelGripper"/>
+ <owl:disjointWith rdf:resource="#GeneralParallelGripper"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Solder">
+ <rdfs:subClassOf rdf:resource="#Join"/>
+ <owl:disjointWith rdf:resource="#Weld"/>
+ <owl:disjointWith rdf:resource="#Rivet"/>
+ <owl:disjointWith rdf:resource="#Glue"/>
+ <owl:disjointWith rdf:resource="#Fill"/>
+ <owl:disjointWith rdf:resource="#Clinch"/>
+ <owl:disjointWith rdf:resource="#Bolt"/>
+ <owl:disjointWith rdf:resource="#Assemble"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Color">
+ <owl:disjointWith rdf:resource="#DeviceProperty"/>
+ <owl:disjointWith rdf:resource="#PowerConsumption"/>
+ <owl:disjointWith rdf:resource="#Mass"/>
+ <owl:disjointWith rdf:resource="#Cost"/>
+ <owl:disjointWith rdf:resource="#NumberOfJoints"/>
+ <owl:disjointWith rdf:resource="#Diameter"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#MaxResolution"/>
+ <owl:disjointWith rdf:resource="#FieldOfView"/>
+ <owl:disjointWith rdf:resource="#BoundingBox"/>
+ <owl:disjointWith rdf:resource="#ReachabilityRadius"/>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#Material"/>
+ <owl:disjointWith rdf:resource="#Geometry"/>
+ <owl:disjointWith rdf:resource="#ElectricalConnection"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Property"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Orient">
+ <owl:disjointWith rdf:resource="#Arrange"/>
+ <owl:disjointWith rdf:resource="#Turn"/>
+ <owl:disjointWith rdf:resource="#Pan"/>
+ <owl:disjointWith rdf:resource="#Position"/>
+ <owl:disjointWith rdf:resource="#Convey"/>
+ <owl:disjointWith rdf:resource="#Displace"/>
+ <owl:disjointWith rdf:resource="#Pass"/>
+ <rdfs:subClassOf rdf:resource="#Move"/>
+ <owl:disjointWith rdf:resource="#Feed"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Bend">
+ <owl:disjointWith rdf:resource="#Bead"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Forge"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Flang"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#True"/>
+ <owl:disjointWith rdf:resource="#Extrude"/>
+ <owl:disjointWith rdf:resource="#Press"/>
+ <owl:disjointWith rdf:resource="#Strech-Form"/>
+ <owl:disjointWith rdf:resource="#Deep-Draw"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Fold"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Crush"/>
+ <rdfs:subClassOf rdf:resource="#Form"/>
+ <owl:disjointWith rdf:resource="#Roll"/>
+ </owl:Class>
+ <owl:Class rdf:about="#HMI_Input">
+ <owl:disjointWith rdf:resource="#HMI_Output"/>
+ <rdfs:subClassOf rdf:resource="#HMI"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Classify">
+ <rdfs:subClassOf rdf:resource="#SensorFunction"/>
+ <owl:disjointWith rdf:resource="#Scan"/>
+ <owl:disjointWith rdf:resource="#Read"/>
+ <owl:disjointWith rdf:resource="#Measure"/>
+ <owl:disjointWith rdf:resource="#ImageAnalysis"/>
+ <owl:disjointWith rdf:resource="#Detect"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Flang">
+ <rdfs:subClassOf rdf:resource="#Form"/>
+ <owl:disjointWith rdf:resource="#Roll"/>
+ <owl:disjointWith rdf:resource="#Deep-Draw"/>
+ <owl:disjointWith rdf:resource="#Bead"/>
+ <owl:disjointWith rdf:resource="#Press"/>
+ <owl:disjointWith rdf:resource="#Strech-Form"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Fold"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Forge"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#True"/>
+ <owl:disjointWith rdf:resource="#Bend"/>
+ <owl:disjointWith rdf:resource="#Extrude"/>
+ <owl:disjointWith rdf:resource="#Crush"/>
+ </owl:Class>
+ <owl:Class rdf:ID="Ethernet">
+ <rdfs:subClassOf rdf:resource="#Communication"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Property">
+ <rdfs:subClassOf rdf:resource="http://www.w3.org/2002/07/owl#Thing"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom rdf:resource="#Unit"/>
+ <owl:onProperty>
+ <owl:FunctionalProperty rdf:about="#hasUnit"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:allValuesFrom rdf:resource="#Unit"/>
+ <owl:onProperty>
+ <owl:FunctionalProperty rdf:about="#hasUnit"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:FunctionalProperty rdf:about="#hasType"/>
+ </owl:onProperty>
+ <owl:allValuesFrom rdf:resource="#Type"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom rdf:resource="#Type"/>
+ <owl:onProperty>
+ <owl:FunctionalProperty rdf:about="#hasType"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Concept"/>
+ <owl:disjointWith rdf:resource="#Skill"/>
+ <owl:disjointWith rdf:resource="#PhysicalObject"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Forge">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Fold"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Bead"/>
+ <owl:disjointWith rdf:resource="#True"/>
+ <owl:disjointWith rdf:resource="#Crush"/>
+ <owl:disjointWith rdf:resource="#Press"/>
+ <owl:disjointWith rdf:resource="#Extrude"/>
+ <rdfs:subClassOf rdf:resource="#Form"/>
+ <owl:disjointWith rdf:resource="#Flang"/>
+ <owl:disjointWith rdf:resource="#Roll"/>
+ <owl:disjointWith rdf:resource="#Bend"/>
+ <owl:disjointWith rdf:resource="#Strech-Form"/>
+ <owl:disjointWith rdf:resource="#Deep-Draw"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Fold">
+ <owl:disjointWith rdf:resource="#Forge"/>
+ <owl:disjointWith rdf:resource="#Extrude"/>
+ <rdfs:subClassOf rdf:resource="#Form"/>
+ <owl:disjointWith rdf:resource="#Press"/>
+ <owl:disjointWith rdf:resource="#Bead"/>
+ <owl:disjointWith rdf:resource="#Roll"/>
+ <owl:disjointWith rdf:resource="#Crush"/>
+ <owl:disjointWith rdf:resource="#Bend"/>
+ <owl:disjointWith rdf:resource="#True"/>
+ <owl:disjointWith rdf:resource="#Deep-Draw"/>
+ <owl:disjointWith rdf:resource="#Flang"/>
+ <owl:disjointWith rdf:resource="#Strech-Form"/>
+ </owl:Class>
+ <owl:Class rdf:about="#StartDrillRotation">
+ <rdfs:subClassOf rdf:resource="#Drill"/>
+ <owl:disjointWith rdf:resource="#StopDrillRotation"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Controller">
+ <rdfs:subClassOf rdf:resource="#Device"/>
+ <owl:disjointWith rdf:resource="#Tool"/>
+ <owl:disjointWith rdf:resource="#Sensor"/>
+ <owl:disjointWith rdf:resource="#Manufacturing"/>
+ <owl:disjointWith rdf:resource="#ManipulationAndHandling"/>
+ <owl:disjointWith rdf:resource="#EnvironmentDevice"/>
+ <owl:disjointWith rdf:resource="#Communication"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ScaraRobot">
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#SimpleKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#ParallelKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#HexapodRobot"/>
+ <owl:disjointWith rdf:resource="#CartesianRobot"/>
+ <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
+ <rdfs:subClassOf rdf:resource="#Robot"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Sinter">
+ <owl:disjointWith rdf:resource="#ElectrolyticSegregate"/>
+ <owl:disjointWith rdf:resource="#Cast"/>
+ <rdfs:subClassOf rdf:resource="#Mold"/>
+ </owl:Class>
+ <owl:ObjectProperty rdf:about="#hasProperty">
+ <rdfs:domain rdf:resource="#PhysicalObject"/>
+ <rdfs:range rdf:resource="#Property"/>
+ </owl:ObjectProperty>
+ <owl:FunctionalProperty rdf:about="#hasType">
+ <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#ObjectProperty"/>
+ <rdfs:domain rdf:resource="#Property"/>
+ <rdfs:range rdf:resource="#Type"/>
+ </owl:FunctionalProperty>
+ <owl:FunctionalProperty rdf:ID="conversionFactor">
+ <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#DatatypeProperty"/>
+ <rdfs:range rdf:resource="http://www.w3.org/2001/XMLSchema#string"/>
+ <rdfs:domain rdf:resource="#Unit"/>
+ </owl:FunctionalProperty>
+ <owl:FunctionalProperty rdf:about="#hasUnit">
+ <rdfs:range rdf:resource="#Unit"/>
+ <rdfs:domain rdf:resource="#Property"/>
+ <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#ObjectProperty"/>
+ </owl:FunctionalProperty>
+ <owl:FunctionalProperty rdf:ID="propertyValue">
+ <rdfs:range rdf:resource="http://www.w3.org/2001/XMLSchema#string"/>
+ <rdfs:domain rdf:resource="#Property"/>
+ <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#DatatypeProperty"/>
+ </owl:FunctionalProperty>
+ <Cost rdf:ID="Cost_42">
+ <hasUnit>
+ <CurrencyUnit rdf:ID="Euro"/>
+ </hasUnit>
+ <hasType>
+ <TypeInteger rdf:ID="TypeInteger_8"/>
+ </hasType>
+ </Cost>
+ <MassUnit rdf:ID="Ton"/>
+ <LengthUnit rdf:ID="Mile"/>
+ <LengthUnit rdf:ID="Kilometer"/>
+ <TimeUnit rdf:ID="Minute"/>
+ <TimeUnit rdf:ID="Hour"/>
+ <owl:AllDifferent>
+ <owl:distinctMembers rdf:parseType="Collection">
+ <TypeOther rdf:ID="CADFile"/>
+ <TypeOther rdf:ID="Coordinate"/>
+ <TypeOther rdf:ID="CoordinatePair"/>
+ <TypeOther rdf:ID="Enum"/>
+ <TypeOther rdf:ID="String"/>
+ </owl:distinctMembers>
+ </owl:AllDifferent>
+ <TimeUnit rdf:ID="Second"/>
+ <PowerUnit rdf:ID="Horsepower"/>
+ <PowerUnit rdf:ID="KiloWatt"/>
+ <VelocityUnit rdf:ID="MilesPerHour"/>
+ <Mass rdf:ID="Mass_1">
+ <hasType rdf:resource="#TypeInteger_8"/>
+ <hasUnit>
+ <MassUnit rdf:ID="Kilogram"/>
+ </hasUnit>
+ <propertyValue rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >14</propertyValue>
+ </Mass>
+ <Robot rdf:ID="Robot_38">
+ <hasProperty>
+ <Mass rdf:ID="Mass_43">
+ <hasType rdf:resource="#TypeInteger_8"/>
+ <hasUnit>
+ <MassUnit rdf:ID="Pound"/>
+ </hasUnit>
+ <propertyValue rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >5</propertyValue>
+ </Mass>
+ </hasProperty>
+ <hasProperty rdf:resource="#Cost_42"/>
+ <hasProperty>
+ <Geometry rdf:ID="Geometry_1">
+ <hasUnit>
+ <LengthUnit rdf:ID="Meter"/>
+ </hasUnit>
+ <hasType rdf:resource="#Coordinate"/>
+ <propertyValue rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >abc</propertyValue>
+ </Geometry>
+ </hasProperty>
+ </Robot>
+ <NullUnit rdf:ID="null"/>
+ <MassUnit rdf:ID="Gram"/>
+ <VelocityUnit rdf:ID="KilometersPerHour"/>
+ <TimeUnit rdf:ID="Day"/>
+ <TimeUnit rdf:ID="Week"/>
+ <VelocityUnit rdf:ID="MetersPerSecond"/>
+ <TypeFloat rdf:ID="TypeFloat_9"/>
+ <CurrencyUnit rdf:ID="USD"/>
+ <Cost rdf:ID="Cost_39">
+ <propertyValue rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >2344</propertyValue>
+ <hasType rdf:resource="#TypeInteger_8"/>
+ <hasUnit rdf:resource="#USD"/>
+ </Cost>
+ <PowerUnit rdf:ID="Watt"/>
+</rdf:RDF>
+
+<!-- Created with Protege (with OWL Plugin 3.3.1, Build 430) http://protege.stanford.edu -->