diff --git a/GripperOnotology.owl b/GripperOntology.owl
similarity index 100%
rename from GripperOnotology.owl
rename to GripperOntology.owl
diff --git a/GripperOntology_experimental3.owl b/GripperOntology_experimental3.owl
new file mode 100644
index 0000000000000000000000000000000000000000..b1f0162f7a2bf39cfb0775b8be40d577ce928d77
--- /dev/null
+++ b/GripperOntology_experimental3.owl
@@ -0,0 +1,645 @@
+<?xml version="1.0"?>
+<rdf:RDF
+ xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+ xmlns:xsd="http://www.w3.org/2001/XMLSchema#"
+ xmlns:rdfs="http://www.w3.org/2000/01/rdf-schema#"
+ xmlns:owl="http://www.w3.org/2002/07/owl#"
+ xmlns="http://www.owl-ontologies.com/unnamed.owl#"
+ xml:base="http://www.owl-ontologies.com/unnamed.owl">
+ <owl:Ontology rdf:about=""/>
+ <owl:Class rdf:ID="VacuumGripper">
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Gripper"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="PincerGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MagnetGripper"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:ID="hasSkill"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:ID="AdjustVacuumToGrip"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:ID="AdjustVacuumToRelease"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="FingerGripper"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="AngleGripper">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PincerGripper"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ParallelGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="AdhesionGripper"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="CloseFingers">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#AdjustVacuumToRelease"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CloseClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="AdjustCurrentToRelease"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Close"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#PincerGripper">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MagnetGripper"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#CloseClaws"/>
+ </owl:someValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#FingerGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#VacuumGripper"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:ID="OpenClaws"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Gripper"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#ParallelGripper">
+ <rdfs:subClassOf rdf:resource="#PincerGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#AdhesionGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#AngleGripper"/>
+ </owl:Class>
+ <owl:Class rdf:about="#FingerGripper">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Gripper"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#PincerGripper"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:ID="OpenFingers"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom rdf:resource="#CloseFingers"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#VacuumGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MagnetGripper"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="GripperSkill">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Gripper"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#AdjustVacuumToGrip">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="AdjustCurrentToGrip"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpenClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpenFingers"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Open"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#AdjustCurrentToRelease">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Close"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#CloseFingers"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CloseClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#AdjustVacuumToRelease"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#OpenFingers">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#AdjustCurrentToGrip"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Open"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#AdjustVacuumToGrip"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpenClaws"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#MagnetGripper">
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#AdjustCurrentToGrip"/>
+ </owl:someValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#PincerGripper"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#AdjustCurrentToRelease"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#FingerGripper"/>
+ <owl:disjointWith rdf:resource="#VacuumGripper"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Gripper"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="JointFingerGripper">
+ <rdfs:subClassOf rdf:resource="#FingerGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ElasticFingerGripper"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#AdjustCurrentToGrip">
+ <owl:disjointWith rdf:resource="#AdjustVacuumToGrip"/>
+ <owl:disjointWith rdf:resource="#OpenFingers"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpenClaws"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Open"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#AdjustVacuumToRelease">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Close"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CloseClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#CloseFingers"/>
+ <owl:disjointWith rdf:resource="#AdjustCurrentToRelease"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ElasticFingerGripper">
+ <rdfs:subClassOf rdf:resource="#FingerGripper"/>
+ <owl:disjointWith rdf:resource="#JointFingerGripper"/>
+ </owl:Class>
+ <owl:Class rdf:about="#OpenClaws">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Open"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#AdjustVacuumToGrip"/>
+ <owl:disjointWith rdf:resource="#AdjustCurrentToGrip"/>
+ <owl:disjointWith rdf:resource="#OpenFingers"/>
+ </owl:Class>
+ <owl:Class rdf:ID="CircularParallelGripper">
+ <rdfs:subClassOf rdf:resource="#ParallelGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="GeneralParallelGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="LineParallelGripper"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#CloseClaws">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Close"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#AdjustVacuumToRelease"/>
+ <owl:disjointWith rdf:resource="#CloseFingers"/>
+ <owl:disjointWith rdf:resource="#AdjustCurrentToRelease"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Open">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Close"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DetectHolding"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#GripperSkill"/>
+ </owl:Class>
+ <owl:Class rdf:about="#LineParallelGripper">
+ <owl:disjointWith rdf:resource="#CircularParallelGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#GeneralParallelGripper"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#ParallelGripper"/>
+ </owl:Class>
+ <owl:Class rdf:about="#AdhesionGripper">
+ <owl:disjointWith rdf:resource="#AngleGripper"/>
+ <rdfs:subClassOf rdf:resource="#PincerGripper"/>
+ <owl:disjointWith rdf:resource="#ParallelGripper"/>
+ </owl:Class>
+ <owl:Class rdf:about="#GeneralParallelGripper">
+ <rdfs:subClassOf rdf:resource="#ParallelGripper"/>
+ <owl:disjointWith rdf:resource="#LineParallelGripper"/>
+ <owl:disjointWith rdf:resource="#CircularParallelGripper"/>
+ </owl:Class>
+ <owl:Class rdf:about="#DetectHolding">
+ <owl:disjointWith rdf:resource="#Open"/>
+ <rdfs:subClassOf rdf:resource="#GripperSkill"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Close"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Gripper">
+ <owl:disjointWith rdf:resource="#GripperSkill"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#DetectHolding"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom rdf:resource="#Open"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf rdf:resource="http://www.w3.org/2002/07/owl#Thing"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#Close"/>
+ </owl:someValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Close">
+ <owl:disjointWith rdf:resource="#DetectHolding"/>
+ <owl:disjointWith rdf:resource="#Open"/>
+ <rdfs:subClassOf rdf:resource="#GripperSkill"/>
+ </owl:Class>
+ <owl:ObjectProperty rdf:about="#hasSkill">
+ <owl:inverseOf>
+ <owl:ObjectProperty rdf:ID="isSkillOf"/>
+ </owl:inverseOf>
+ <rdfs:domain rdf:resource="#Gripper"/>
+ <rdfs:range rdf:resource="#GripperSkill"/>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf">
+ <rdfs:domain rdf:resource="#GripperSkill"/>
+ <rdfs:range rdf:resource="#Gripper"/>
+ <owl:inverseOf rdf:resource="#hasSkill"/>
+ </owl:ObjectProperty>
+ <owl:DatatypeProperty rdf:ID="shapeOfClaws">
+ <rdfs:domain rdf:resource="#PincerGripper"/>
+ <rdfs:range rdf:resource="http://www.w3.org/2001/XMLSchema#string"/>
+ <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#FunctionalProperty"/>
+ </owl:DatatypeProperty>
+ <owl:DatatypeProperty rdf:ID="maximumForce">
+ <rdfs:range rdf:resource="http://www.w3.org/2001/XMLSchema#float"/>
+ <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#FunctionalProperty"/>
+ <rdfs:domain rdf:resource="#PincerGripper"/>
+ </owl:DatatypeProperty>
+ <owl:DatatypeProperty rdf:ID="typeOfActuation">
+ <rdfs:range>
+ <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>
+ </rdfs:range>
+ <rdfs:domain rdf:resource="#PincerGripper"/>
+ <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#FunctionalProperty"/>
+ </owl:DatatypeProperty>
+ <owl:DatatypeProperty rdf:ID="maximumVacuum">
+ <rdfs:domain rdf:resource="#VacuumGripper"/>
+ <rdfs:range rdf:resource="http://www.w3.org/2001/XMLSchema#float"/>
+ <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#FunctionalProperty"/>
+ </owl:DatatypeProperty>
+ <owl:DatatypeProperty rdf:ID="weightOfGripper">
+ <rdfs:range rdf:resource="http://www.w3.org/2001/XMLSchema#float"/>
+ <rdfs:domain rdf:resource="#Gripper"/>
+ <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#FunctionalProperty"/>
+ </owl:DatatypeProperty>
+ <owl:DatatypeProperty rdf:ID="numberOfMovableClaws">
+ <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#FunctionalProperty"/>
+ <rdfs:domain rdf:resource="#PincerGripper"/>
+ <rdfs:range rdf:resource="http://www.w3.org/2001/XMLSchema#int"/>
+ </owl:DatatypeProperty>
+ <owl:DatatypeProperty rdf:ID="elasticallySupported">
+ <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#FunctionalProperty"/>
+ <rdfs:range rdf:resource="http://www.w3.org/2001/XMLSchema#boolean"/>
+ <rdfs:domain rdf:resource="#VacuumGripper"/>
+ </owl:DatatypeProperty>
+ <owl:DatatypeProperty rdf:ID="uniqueID">
+ <rdfs:domain rdf:resource="#Gripper"/>
+ <rdfs:range rdf:resource="http://www.w3.org/2001/XMLSchema#ID"/>
+ <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#FunctionalProperty"/>
+ </owl:DatatypeProperty>
+ <owl:DatatypeProperty rdf:ID="diameterOfGripper">
+ <rdfs:domain>
+ <owl:Class>
+ <owl:unionOf rdf:parseType="Collection">
+ <owl:Class rdf:about="#MagnetGripper"/>
+ <owl:Class rdf:about="#VacuumGripper"/>
+ </owl:unionOf>
+ </owl:Class>
+ </rdfs:domain>
+ <rdfs:range rdf:resource="http://www.w3.org/2001/XMLSchema#string"/>
+ </owl:DatatypeProperty>
+ <owl:DatatypeProperty rdf:ID="sizeOfGripper">
+ <rdfs:domain rdf:resource="#PincerGripper"/>
+ <rdfs:range rdf:resource="http://www.w3.org/2001/XMLSchema#string"/>
+ <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#FunctionalProperty"/>
+ </owl:DatatypeProperty>
+ <owl:DatatypeProperty rdf:ID="mechanicalInterface">
+ <rdfs:domain rdf:resource="#Gripper"/>
+ <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#FunctionalProperty"/>
+ <rdfs:range rdf:resource="http://www.w3.org/2001/XMLSchema#string"/>
+ </owl:DatatypeProperty>
+ <owl:DatatypeProperty rdf:ID="electricalInterface">
+ <rdfs:domain rdf:resource="#Gripper"/>
+ <rdfs:range rdf:resource="http://www.w3.org/2001/XMLSchema#string"/>
+ <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#FunctionalProperty"/>
+ </owl:DatatypeProperty>
+ <owl:FunctionalProperty rdf:ID="typeOfMagnet">
+ <rdfs:range rdf:resource="http://www.w3.org/2001/XMLSchema#string"/>
+ <rdfs:domain rdf:resource="#MagnetGripper"/>
+ <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#DatatypeProperty"/>
+ </owl:FunctionalProperty>
+ <owl:FunctionalProperty rdf:ID="cycleTime">
+ <rdfs:range rdf:resource="http://www.w3.org/2001/XMLSchema#float"/>
+ <rdfs:domain>
+ <owl:Class>
+ <owl:unionOf rdf:parseType="Collection">
+ <owl:Class rdf:about="#FingerGripper"/>
+ <owl:Class rdf:about="#PincerGripper"/>
+ <owl:Class rdf:about="#VacuumGripper"/>
+ </owl:unionOf>
+ </owl:Class>
+ </rdfs:domain>
+ <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#DatatypeProperty"/>
+ </owl:FunctionalProperty>
+ <owl:FunctionalProperty rdf:ID="typeOfFingers">
+ <rdfs:range>
+ <owl:DataRange>
+ <owl:oneOf rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >multiple joints</rdf:first>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >elastic</rdf:first>
+ </owl:oneOf>
+ </owl:DataRange>
+ </rdfs:range>
+ <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#DatatypeProperty"/>
+ <rdfs:domain rdf:resource="#FingerGripper"/>
+ </owl:FunctionalProperty>
+ <owl:FunctionalProperty rdf:ID="typeOfVacuum">
+ <rdfs:range>
+ <owl:DataRange>
+ <owl:oneOf rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >venturi nozzle</rdf:first>
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >vacuum pump</rdf:first>
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >blower</rdf:first>
+ </rdf:rest>
+ </rdf:rest>
+ </owl:oneOf>
+ </owl:DataRange>
+ </rdfs:range>
+ <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#DatatypeProperty"/>
+ <rdfs:domain rdf:resource="#VacuumGripper"/>
+ </owl:FunctionalProperty>
+ <owl:FunctionalProperty rdf:ID="stiffnessOfGripper">
+ <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="#VacuumGripper"/>
+ </owl:FunctionalProperty>
+ <owl:FunctionalProperty rdf:ID="materialOfGripper">
+ <rdfs:domain>
+ <owl:Class>
+ <owl:unionOf rdf:parseType="Collection">
+ <owl:Class rdf:about="#FingerGripper"/>
+ <owl:Class rdf:about="#VacuumGripper"/>
+ </owl:unionOf>
+ </owl:Class>
+ </rdfs:domain>
+ <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#DatatypeProperty"/>
+ <rdfs:range rdf:resource="http://www.w3.org/2001/XMLSchema#string"/>
+ </owl:FunctionalProperty>
+ <owl:FunctionalProperty rdf:ID="degreesOfFreedom">
+ <rdfs:range rdf:resource="http://www.w3.org/2001/XMLSchema#int"/>
+ <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#DatatypeProperty"/>
+ <rdfs:domain>
+ <owl:Class>
+ <owl:unionOf rdf:parseType="Collection">
+ <owl:Class rdf:about="#FingerGripper"/>
+ <owl:Class rdf:about="#PincerGripper"/>
+ <owl:Class rdf:about="#VacuumGripper"/>
+ </owl:unionOf>
+ </owl:Class>
+ </rdfs:domain>
+ </owl:FunctionalProperty>
+ <owl:FunctionalProperty rdf:ID="insideOrOutsidePicking">
+ <rdfs:domain rdf:resource="#PincerGripper"/>
+ <rdfs:range>
+ <owl:DataRange>
+ <owl:oneOf rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >outside</rdf:first>
+ <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >inside</rdf:first>
+ </owl:oneOf>
+ </owl:DataRange>
+ </rdfs:range>
+ <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#DatatypeProperty"/>
+ </owl:FunctionalProperty>
+ <owl:FunctionalProperty rdf:ID="numberOfFingers">
+ <rdfs:range>
+ <owl:DataRange>
+ <owl:oneOf rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
+ >2</rdf:first>
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
+ >3</rdf:first>
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
+ >5</rdf:first>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
+ >4</rdf:first>
+ </rdf:rest>
+ </rdf:rest>
+ </owl:oneOf>
+ </owl:DataRange>
+ </rdfs:range>
+ <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#DatatypeProperty"/>
+ <rdfs:domain rdf:resource="#FingerGripper"/>
+ </owl:FunctionalProperty>
+ <owl:FunctionalProperty rdf:ID="numberOfClaws">
+ <rdfs:range rdf:resource="http://www.w3.org/2001/XMLSchema#int"/>
+ <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#DatatypeProperty"/>
+ <rdfs:domain rdf:resource="#PincerGripper"/>
+ </owl:FunctionalProperty>
+<!-- <VacuumGripper rdf:ID="GripperTwo"> -->
+<!-- <elasticallySupported rdf:datatype="http://www.w3.org/2001/XMLSchema#boolean" -->
+<!-- >true</elasticallySupported> -->
+<!-- <electricalInterface rdf:datatype="http://www.w3.org/2001/XMLSchema#string" -->
+<!-- >E_INT_2</electricalInterface> -->
+<!-- <mechanicalInterface rdf:datatype="http://www.w3.org/2001/XMLSchema#string" -->
+<!-- >M_INT_3</mechanicalInterface> -->
+<!-- <stiffnessOfGripper rdf:datatype="http://www.w3.org/2001/XMLSchema#string" -->
+<!-- >Stiff</stiffnessOfGripper> -->
+<!-- <maximumVacuum rdf:datatype="http://www.w3.org/2001/XMLSchema#float" -->
+<!-- >20.0</maximumVacuum> -->
+<!-- <weightOfGripper rdf:datatype="http://www.w3.org/2001/XMLSchema#float" -->
+<!-- >145.0</weightOfGripper> -->
+<!-- <degreesOfFreedom rdf:datatype="http://www.w3.org/2001/XMLSchema#int" -->
+<!-- >0</degreesOfFreedom> -->
+<!-- <typeOfVacuum rdf:datatype="http://www.w3.org/2001/XMLSchema#string" -->
+<!-- >vacuum pump</typeOfVacuum> -->
+<!-- <materialOfGripper rdf:datatype="http://www.w3.org/2001/XMLSchema#string" -->
+<!-- >Rubber</materialOfGripper> -->
+<!-- <uniqueID rdf:datatype="http://www.w3.org/2001/XMLSchema#ID" -->
+<!-- >GRIPPER2</uniqueID> -->
+<!-- <cycleTime rdf:datatype="http://www.w3.org/2001/XMLSchema#float" -->
+<!-- >245.0</cycleTime> -->
+<!-- <diameterOfGripper rdf:datatype="http://www.w3.org/2001/XMLSchema#string" -->
+<!-- >10 x 10</diameterOfGripper> -->
+<!-- </VacuumGripper> -->
+<!-- <AdhesionGripper rdf:ID="GripperThree"> -->
+<!-- <insideOrOutsidePicking rdf:datatype="http://www.w3.org/2001/XMLSchema#string" -->
+<!-- >inside</insideOrOutsidePicking> -->
+<!-- <sizeOfGripper rdf:datatype="http://www.w3.org/2001/XMLSchema#string" -->
+<!-- >Large</sizeOfGripper> -->
+<!-- <typeOfActuation rdf:datatype="http://www.w3.org/2001/XMLSchema#string" -->
+<!-- >hydraulic</typeOfActuation> -->
+<!-- <numberOfMovableClaws rdf:datatype="http://www.w3.org/2001/XMLSchema#int" -->
+<!-- >3</numberOfMovableClaws> -->
+<!-- <uniqueID rdf:datatype="http://www.w3.org/2001/XMLSchema#ID" -->
+<!-- >GRIPPER3</uniqueID> -->
+<!-- <mechanicalInterface rdf:datatype="http://www.w3.org/2001/XMLSchema#string" -->
+<!-- >M_INT_1</mechanicalInterface> -->
+<!-- <numberOfClaws rdf:datatype="http://www.w3.org/2001/XMLSchema#int" -->
+<!-- >3</numberOfClaws> -->
+<!-- <electricalInterface rdf:datatype="http://www.w3.org/2001/XMLSchema#string" -->
+<!-- >E_INT_1</electricalInterface> -->
+<!-- <degreesOfFreedom rdf:datatype="http://www.w3.org/2001/XMLSchema#int" -->
+<!-- >3</degreesOfFreedom> -->
+<!-- <weightOfGripper rdf:datatype="http://www.w3.org/2001/XMLSchema#float" -->
+<!-- >200.0</weightOfGripper> -->
+<!-- <shapeOfClaws rdf:datatype="http://www.w3.org/2001/XMLSchema#string" -->
+<!-- >Rounded</shapeOfClaws> -->
+<!-- <maximumForce rdf:datatype="http://www.w3.org/2001/XMLSchema#float" -->
+<!-- >150.0</maximumForce> -->
+<!-- <cycleTime rdf:datatype="http://www.w3.org/2001/XMLSchema#float" -->
+<!-- >10.0</cycleTime> -->
+<!-- </AdhesionGripper> -->
+<!-- <owl:AllDifferent> -->
+<!-- <owl:distinctMembers rdf:parseType="Collection"> -->
+<!-- <ElasticFingerGripper rdf:ID="GripperOne"> -->
+<!-- <cycleTime rdf:datatype="http://www.w3.org/2001/XMLSchema#float" -->
+<!-- >230.0</cycleTime> -->
+<!-- <mechanicalInterface rdf:datatype="http://www.w3.org/2001/XMLSchema#string" -->
+<!-- >M_INT_2</mechanicalInterface> -->
+<!-- <materialOfGripper rdf:datatype="http://www.w3.org/2001/XMLSchema#string" -->
+<!-- >Plastic</materialOfGripper> -->
+<!-- <typeOfFingers rdf:datatype="http://www.w3.org/2001/XMLSchema#string" -->
+<!-- >elastic</typeOfFingers> -->
+<!-- <numberOfFingers rdf:datatype="http://www.w3.org/2001/XMLSchema#int" -->
+<!-- >4</numberOfFingers> -->
+<!-- <electricalInterface rdf:datatype="http://www.w3.org/2001/XMLSchema#string" -->
+<!-- >E_INT_1</electricalInterface> -->
+<!-- <uniqueID rdf:datatype="http://www.w3.org/2001/XMLSchema#ID" -->
+<!-- >GRIPPER1</uniqueID> -->
+<!-- <degreesOfFreedom rdf:datatype="http://www.w3.org/2001/XMLSchema#int" -->
+<!-- >2</degreesOfFreedom> -->
+<!-- <weightOfGripper rdf:datatype="http://www.w3.org/2001/XMLSchema#float" -->
+<!-- >250.0</weightOfGripper> -->
+<!-- </ElasticFingerGripper> -->
+<!-- </owl:distinctMembers> -->
+<!-- </owl:AllDifferent> -->
+<!-- <owl:AllDifferent> -->
+<!-- <owl:distinctMembers rdf:parseType="Collection"> -->
+<!-- <VacuumGripper rdf:about="#GripperTwo"/> -->
+<!-- </owl:distinctMembers> -->
+<!-- </owl:AllDifferent> -->
+<!-- <owl:AllDifferent> -->
+<!-- <owl:distinctMembers rdf:parseType="Collection"> -->
+<!-- <AdhesionGripper rdf:about="#GripperThree"/> -->
+<!-- </owl:distinctMembers> -->
+<!-- </owl:AllDifferent> -->
+</rdf:RDF>
+
+<!-- Created with Protege (with OWL Plugin 2.1, Build 284) http://protege.stanford.edu -->
diff --git a/owl.ast b/owl.ast
index 6d2982d0a815ab8fcda28e07cab7c085d727f1f4..fcd4326877989e7ea9bd32103fe99d4813e9dd87 100644
--- a/owl.ast
+++ b/owl.ast
@@ -5,24 +5,41 @@ Specification ::= XmlHeader RdfDeclaration;
XmlHeader ::= Attribute*;
-abstract Element ::= Attribute* Element*;
-RdfDeclaration : Element;
-RdfsSubClassOf : Element;
-RdfsDomain : Element;
-OwlOntology : Element;
-OwlAllValuesFrom : Element;
-OwlClass : Element;
-OwlDisjointWith : Element;
-OwlEquivalentClass : Element;
-OwlObjectProperty : Element;
-OwlOnProperty : Element;
-OwlSomeValuesFrom : Element;
-OwlRestriction : Element;
+abstract Element;
+abstract ComplexElement : Element ::= Attribute* Element*;
+RdfDeclaration : ComplexElement;
+RdfFirst : ComplexElement;
+RdfRest : ComplexElement;
+RdfType : ComplexElement;
+RdfsSubClassOf : ComplexElement;
+RdfsDomain : ComplexElement;
+RdfsRange : ComplexElement;
+OwlOntology : ComplexElement;
+OwlAllValuesFrom : ComplexElement;
+OwlClass : ComplexElement;
+OwlDataRange : ComplexElement;
+OwlDatatypeProperty : ComplexElement;
+OwlDisjointWith : ComplexElement;
+OwlEquivalentClass : ComplexElement;
+OwlFunctionalProperty : ComplexElement;
+OwlInverseOf : ComplexElement;
+OwlObjectProperty : ComplexElement;
+OwlOneOf : ComplexElement;
+OwlOnProperty : ComplexElement;
+OwlSomeValuesFrom : ComplexElement;
+OwlRestriction : ComplexElement;
+OwlUnionOf : ComplexElement;
+
+abstract SimpleElement : Element;
+StringElement : SimpleElement ::= <IDENTIFIER>;
+IntElement : SimpleElement ::= <INTEGER_LITERAL>;
abstract Attribute ::= Value;
Version : Attribute;
RdfAbout : Attribute;
+RdfDatatype : Attribute;
RdfId : Attribute;
+RdfParseType : Attribute;
RdfResource : Attribute;
XmlBase : Attribute;
Xmlns : Attribute;
diff --git a/owl.jjt b/owl.jjt
index a10f08b8dfbce6f92621e04cf867675a8b8f516a..286fdd4e0364ac9d4cc6d0b947616fc65f833238 100644
--- a/owl.jjt
+++ b/owl.jjt
@@ -63,20 +63,32 @@ SPECIAL_TOKEN : /* COMMENTS */
| < XMLNS_OWL : "xmlns:owl" >
| < RDF_RDF : "rdf:RDF" >
| < RDF_ABOUT : "rdf:about" >
- | < RDF_ID : "rdf:ID" >
- | < RDF_RESOURCE : "rdf:resource" >
- | < RDFS_DOMAIN : "rdfs:domain" >
- | < RDFS_SUBCLASSOF : "rdfs:subClassOf" >
- | < OWL_ALLVALUESFROM : "owl:allValuesFrom" >
- | < OWL_CLASS : "owl:Class" >
- | < OWL_ONTOLOGY : "owl:Ontology" >
- | < OWL_DISJOINTWITH : "owl:disjointWith" >
- | < OWL_EQUIVALENTCLASS: "owl:equivalentClass" >
- | < OWL_RESTRICTION : "owl:Restriction" >
- | < OWL_ONPROPERTY : "owl:onProperty" >
- | < OWL_OBJECTPROPERTY : "owl:ObjectProperty" >
- | < OWL_SOMEVALUESFROM : "owl:someValuesFrom" >
- | < VERSION : "version" >
+ | < RDF_DATATYPE : "rdf:datatype" >
+ | < RDF_ID : "rdf:ID" >
+ | < RDF_FIRST : "rdf:first" >
+ | < RDF_REST : "rdf:rest" >
+ | < RDF_PARSETYPE : "rdf:parseType" >
+ | < RDF_RESOURCE : "rdf:resource" >
+ | < RDF_TYPE : "rdf:type" >
+ | < RDFS_DOMAIN : "rdfs:domain" >
+ | < RDFS_RANGE : "rdfs:range" >
+ | < RDFS_SUBCLASSOF : "rdfs:subClassOf" >
+ | < OWL_ALLVALUESFROM : "owl:allValuesFrom" >
+ | < OWL_CLASS : "owl:Class" >
+ | < OWL_DATARANGE : "owl:DataRange" >
+ | < OWL_DATATYPEPROPERTY : "owl:DatatypeProperty" >
+ | < OWL_DISJOINTWITH : "owl:disjointWith" >
+ | < OWL_EQUIVALENTCLASS : "owl:equivalentClass" >
+ | < OWL_FUNCTIONALPROPERTY : "owl:FunctionalProperty" >
+ | < OWL_INVERSEOF : "owl:inverseOf" >
+ | < OWL_OBJECTPROPERTY : "owl:ObjectProperty" >
+ | < OWL_ONPROPERTY : "owl:onProperty" >
+ | < OWL_ONEOF : "owl:oneOf" >
+ | < OWL_ONTOLOGY : "owl:Ontology" >
+ | < OWL_RESTRICTION : "owl:Restriction" >
+ | < OWL_SOMEVALUESFROM : "owl:someValuesFrom" >
+ | < OWL_UNIONOF : "owl:unionOf" >
+ | < VERSION : "version" >
}// RESERVED WORDS AND LITERALS
@@ -275,9 +287,28 @@ void ElementList() #List : {}
void Element() : {}
{
- "<" ( OwlElement()
- | RdfElement()
- )
+ ( "<" ( OwlElement()
+ | RdfElement()
+ ))
+ | SimpleElement()
+}
+
+void SimpleElement() : {}
+{
+ IntElement()
+ | StringElement()
+}
+
+void IntElement() #IntElement : { Token t; }
+{
+ t = <INTEGER_LITERAL>
+ {jjtThis.setINTEGER_LITERAL(t.image);}
+}
+
+void StringElement() #StringElement : { Token t; }
+{
+ t = <IDENTIFIER>
+ {jjtThis.setIDENTIFIER(t.image);}
}
void OwlElement() : {}
@@ -285,12 +316,18 @@ void OwlElement() : {}
OwlOntology()
| OwlAllValuesFrom()
| OwlClass()
+ | OwlDataRange()
+ | OwlDatatypeProperty()
| OwlDisjointWith()
| OwlEquivalentClass()
+ | OwlFunctionalProperty()
+ | OwlInverseOf()
| OwlObjectProperty()
+ | OwlOneOf()
| OwlOnProperty()
| OwlSomeValuesFrom()
| OwlRestriction()
+ | OwlUnionOf()
}
void OwlOntology() #OwlOntology : {}
@@ -310,6 +347,18 @@ void OwlClass() #OwlClass : {}
(">" ElementList() "</" <OWL_CLASS> ">" | ElementList() "/>")
}
+void OwlDataRange() #OwlDataRange : {}
+{
+ <OWL_DATARANGE> AttributeList()
+ (">" ElementList() "</" <OWL_DATARANGE> ">" | ElementList() "/>")
+}
+
+void OwlDatatypeProperty() #OwlDatatypeProperty : {}
+{
+ <OWL_DATATYPEPROPERTY> AttributeList()
+ (">" ElementList() "</" <OWL_DATATYPEPROPERTY> ">" | ElementList() "/>")
+}
+
void OwlDisjointWith() #OwlDisjointWith : {}
{
<OWL_DISJOINTWITH> AttributeList()
@@ -322,12 +371,30 @@ void OwlEquivalentClass() #OwlEquivalentClass : {}
(">" ElementList() "</" <OWL_EQUIVALENTCLASS> ">" | ElementList() "/>")
}
+void OwlFunctionalProperty() #OwlFunctionalProperty : {}
+{
+ <OWL_FUNCTIONALPROPERTY> AttributeList()
+ (">" ElementList() "</" <OWL_FUNCTIONALPROPERTY> ">" | ElementList() "/>")
+}
+
+void OwlInverseOf () #OwlInverseOf : {}
+{
+ <OWL_INVERSEOF> AttributeList()
+ (">" ElementList() "</" <OWL_INVERSEOF> ">" | ElementList() "/>")
+}
+
void OwlObjectProperty () #OwlObjectProperty : {}
{
<OWL_OBJECTPROPERTY> AttributeList()
(">" ElementList() "</" <OWL_OBJECTPROPERTY> ">" | ElementList() "/>")
}
+void OwlOneOf () #OwlOneOf : {}
+{
+ <OWL_ONEOF> AttributeList()
+ (">" ElementList() "</" <OWL_ONEOF> ">" | ElementList() "/>")
+}
+
void OwlOnProperty () #OwlOnProperty : {}
{
<OWL_ONPROPERTY> AttributeList()
@@ -346,16 +413,38 @@ void OwlRestriction () #OwlRestriction : {}
(">" ElementList() "</" <OWL_RESTRICTION> ">" | ElementList() "/>")
}
+void OwlUnionOf () #OwlUnionOf : {}
+{
+ <OWL_UNIONOF> AttributeList()
+ (">" ElementList() "</" <OWL_UNIONOF> ">" | ElementList() "/>")
+}
+
void RdfElement() : {}
{
- RdfsSubClassOf()
+ RdfType()
+ | RdfFirst()
+ | RdfRest()
+ | RdfsSubClassOf()
| RdfsDomain()
+ | RdfsRange()
}
-void RdfsSubClassOf() #RdfsSubClassOf : {}
+void RdfType() #RdfType : {}
{
- <RDFS_SUBCLASSOF> AttributeList()
- (">" ElementList() "</" <RDFS_SUBCLASSOF> ">" | ElementList() "/>")
+ <RDF_TYPE> AttributeList()
+ (">" ElementList() "</" <RDF_TYPE> ">" | ElementList() "/>")
+}
+
+void RdfFirst() #RdfFirst : {}
+{
+ <RDF_FIRST> AttributeList()
+ (">" ElementList() "</" <RDF_FIRST> ">" | ElementList() "/>")
+}
+
+void RdfRest() #RdfRest : {}
+{
+ <RDF_REST> AttributeList()
+ (">" ElementList() "</" <RDF_REST> ">" | ElementList() "/>")
}
void RdfsDomain() #RdfsDomain : {}
@@ -364,6 +453,18 @@ void RdfsDomain() #RdfsDomain : {}
(">" ElementList() "</" <RDFS_DOMAIN> ">" | ElementList() "/>")
}
+void RdfsRange() #RdfsRange : {}
+{
+ <RDFS_RANGE> AttributeList()
+ (">" ElementList() "</" <RDFS_RANGE> ">" | ElementList() "/>")
+}
+
+void RdfsSubClassOf() #RdfsSubClassOf : {}
+{
+ <RDFS_SUBCLASSOF> AttributeList()
+ (">" ElementList() "</" <RDFS_SUBCLASSOF> ">" | ElementList() "/>")
+}
+
void AttributeList() #List : {}
{
(Attribute())*
@@ -385,7 +486,9 @@ void Version() #Version : {}
void RdfAttribute() : {}
{
RdfAbout()
+ | RdfDatatype()
| RdfId()
+ | RdfParseType()
| RdfResource()
}
@@ -394,12 +497,22 @@ void RdfAbout() #RdfAbout : {}
<RDF_ABOUT> <ASSIGN> Value()
}
+void RdfDatatype() #RdfDatatype : {}
+{
+ <RDF_DATATYPE> <ASSIGN> Value()
+}
+
void RdfId() #RdfId : {}
{
<RDF_ID> <ASSIGN> Value()
}
-void RdfResource() #RdfId : {}
+void RdfParseType() #RdfParseType : {}
+{
+ <RDF_PARSETYPE> <ASSIGN> Value()
+}
+
+void RdfResource() #RdfResource : {}
{
<RDF_RESOURCE> <ASSIGN> Value()
}