diff --git a/owl.ast b/owl.ast
index 83d24325ff378f8ac3319df645224f9afa058441..1186eedb2d337107ed41274fb09d4e2d8aabef2d 100644
--- a/owl.ast
+++ b/owl.ast
@@ -11,6 +11,7 @@ RdfDeclaration : ComplexElement;
RdfFirst : ComplexElement;
RdfRest : ComplexElement;
RdfType : ComplexElement;
+RdfsComment : ComplexElement;
RdfsDomain : ComplexElement;
RdfsRange : ComplexElement;
RdfsSubClassOf : ComplexElement;
@@ -50,6 +51,7 @@ XmlBase : Attribute;
Xmlns : Attribute;
XmlnsDaml : Attribute;
XmlnsDc : Attribute;
+XmlnsP1 : Attribute;
XmlnsProtege : Attribute;
XmlnsRdf : Attribute;
XmlnsXsd : Attribute;
diff --git a/owl.jjt b/owl.jjt
index 73007c11a7fd9bd83182d100bbab89a8eb80db8e..421464331412eb9468f64b041cd2d074558b5a95 100644
--- a/owl.jjt
+++ b/owl.jjt
@@ -43,6 +43,7 @@ SPECIAL_TOKEN : /* COMMENTS */
{
// <SLASH_STAR_COMMENT : "/*" (~["*"])* "*" ("*" | (~["*","/"] (~["*"])* "*"))* "/" >
< "<!--" ( ~["-"] | ( "-" ~["-"] ) )* "-->">
+ | < "<rdfs:comment" ( ~["<"] | ( "<" ~["/"] ) )* "</rdfs:comment>" >
// <XML_COMMENT : "<!--" (~["-","-",">"])* "-->" >
}// COMMENTS
@@ -82,6 +83,7 @@ SPECIAL_TOKEN : /* COMMENTS */
| < RDF_PARSETYPE : "rdf:parseType" >
| < RDF_RESOURCE : "rdf:resource" >
| < RDF_TYPE : "rdf:type" >
+ | < RDFS_COMMENT : "rdfs:comment" >
| < RDFS_DOMAIN : "rdfs:domain" >
| < RDFS_RANGE : "rdfs:range" >
| < RDFS_SUBCLASSOF : "rdfs:subClassOf" >
@@ -92,6 +94,7 @@ SPECIAL_TOKEN : /* COMMENTS */
| < XMLNS : "xmlns" >
| < XMLNS_DAML : "xmlns:daml" >
| < XMLNS_DC : "xmlns:dc" >
+ | < XMLNS_P1 : "xmlns:p1" >
| < XMLNS_PROTEGE : "xmlns:protege" >
| < XMLNS_RDF : "xmlns:rdf" >
| < XMLNS_XSD : "xmlns:xsd" >
@@ -205,15 +208,15 @@ SPECIAL_TOKEN : /* COMMENTS */
<DEFAULT,BOUNDS> TOKEN : /* SEPARATORS */
{
- < LPAREN : "(" >
- | < RPAREN : ")" >
- | < LBRACE : "{" >
+// < LPAREN : "(" >
+// | < RPAREN : ")" >
+ < LBRACE : "{" >
| < RBRACE : "}" >
| < LBRACKET : "[" >
| < RBRACKET : "]" >
| < SEMICOLON : ";" >
- | < COMMA : "," >
- | < DOT : "." >
+// | < COMMA : "," >
+// | < DOT : "." >
}// SEPARATORS
@@ -259,6 +262,12 @@ SPECIAL_TOKEN : /* COMMENTS */
}// OPERATORS
+// <DEFAULT,BOUNDS> TOKEN : /* TEXT */
+// {
+// < TEXT : <LETTER> (~["<",">"])* >
+// }// TEXT
+
+
//--------------------------------------------------------------------//
// THE OWL LANGUAGE GRAMMAR //
//--------------------------------------------------------------------//
@@ -460,6 +469,7 @@ void RdfElement() : {}
RdfType()
| RdfFirst()
| RdfRest()
+ | RdfsComment()
| RdfsDomain()
| RdfsRange()
| RdfsSubClassOf()
@@ -484,6 +494,12 @@ void RdfRest() #RdfRest : {}
(">" ElementList() "</" <RDF_REST> ">" | ElementList() "/>")
}
+void RdfsComment() #RdfsComment : {}
+{
+ <RDFS_COMMENT> AttributeList()
+ (">" ElementList() "</" <RDFS_COMMENT> ">" | ElementList() "/>")
+}
+
void RdfsDomain() #RdfsDomain : {}
{
<RDFS_DOMAIN> AttributeList()
@@ -576,6 +592,7 @@ void XmlnsAttribute() : {}
| XmlnsDaml()
| XmlnsDc()
| XmlnsOwl()
+ | XmlnsP1()
| XmlnsProtege()
| XmlnsRdf()
| XmlnsRdfs()
@@ -597,6 +614,11 @@ void XmlnsDc() #XmlnsDc : {}
<XMLNS_DC> <ASSIGN> Value()
}
+void XmlnsP1() #XmlnsP1 : {}
+{
+ <XMLNS_P1> <ASSIGN> Value()
+}
+
void XmlnsProtege() #XmlnsProtege : {}
{
<XMLNS_PROTEGE> <ASSIGN> Value()
diff --git a/GripperOntology.owl b/testontologies/GripperOntology.owl
similarity index 100%
rename from GripperOntology.owl
rename to testontologies/GripperOntology.owl
diff --git a/GripperOntology_experimental3.owl b/testontologies/GripperOntology_experimental3.owl
similarity index 100%
rename from GripperOntology_experimental3.owl
rename to testontologies/GripperOntology_experimental3.owl
diff --git a/testontologies/ontologyV0.4MMB.owl b/testontologies/ontologyV0.4MMB.owl
new file mode 100644
index 0000000000000000000000000000000000000000..8e9fc2f1dbb920fad3bc328140b3d85ef846db6a
--- /dev/null
+++ b/testontologies/ontologyV0.4MMB.owl
@@ -0,0 +1,6314 @@
+<?xml version="1.0"?>
+<rdf:RDF
+ xmlns="http://www.owl-ontologies.com/siaras.owl#"
+ xmlns:protege="http://protege.stanford.edu/plugins/owl/protege#"
+ xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+ xmlns:xsd="http://www.w3.org/2001/XMLSchema#"
+ xmlns:rdfs="http://www.w3.org/2000/01/rdf-schema#"
+ xmlns:owl="http://www.w3.org/2002/07/owl#"
+ xmlns:daml="http://www.daml.org/2001/03/daml+oil#"
+ xmlns:p1="http://www.owl-ontologies.com/assert.owl#"
+ xmlns:dc="http://purl.org/dc/elements/1.1/"
+ xml:base="http://www.owl-ontologies.com/siaras.owl">
+ <owl:Ontology rdf:about=""/>
+ <owl:Class rdf:ID="MeasureDistance">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MeasureAngle"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MeasureArea"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:ID="isSkillOf"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:ID="DistanceSensor"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Measure"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="DetermineOrientationOfObject">
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Determine"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DetermineMotionOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DeterminePositionOfObject"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="HexapodRobot">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ArticulatedRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="SpecialKinematicRobot"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Robot"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="SimpleKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="PalletizerRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ParallelKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ScaraRobot"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Very precise kinematic, but small working area. This is used for special applications.</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:ID="Read2DMatrixCode">
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Read"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ReadBarCode"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ReadOpticalCharacters"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Task and Skills of Optical Sensors v1.1
+part:7</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:ID="MagnetGripper">
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:allValuesFrom>
+ <owl:Class>
+ <owl:unionOf rdf:parseType="Collection">
+ <owl:Class rdf:ID="AdjustCurrentToGrip"/>
+ <owl:Class rdf:ID="AdjustCurrentToRelease"/>
+ </owl:unionOf>
+ </owl:Class>
+ </owl:allValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:ID="hasSkill"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="FingerGripper"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Gripper"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="VacuumGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="PincerGripper"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:ID="hasProperty"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:ID="TypeOfMagnet"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="LightType">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MaxMeasurementRange"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CycleTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MaxLiftWeight"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="NumberOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MaximumForce"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Arrangement"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ElectricallySupported"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SpecialKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="TypeOfVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Reach"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="NumberOfMovableClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DriveSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MaximumVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="NumberOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="LaserClass"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Property"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Precision"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Repeatibility"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Resolution"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Physical"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="LightSpotSize"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ResponseTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Accuracy"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MinMeasurementRange"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DiameterOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ToolInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ShapeOfClaws"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Physical">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DiameterOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxMeasurementRange"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWeight"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfMovableClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LightSpotSize"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Precision"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Reach"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ResponseTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Repeatibility"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumForce"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Property"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DriveSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CycleTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LaserClass"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ToolInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Arrangement"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SpecialKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Accuracy"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Resolution"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinMeasurementRange"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#NumberOfClaws">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LightSpotSize"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Repeatibility"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Resolution"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SpecialKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DriveSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Arrangement"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxMeasurementRange"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ResponseTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWeight"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CycleTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinMeasurementRange"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Accuracy"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ToolInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LaserClass"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Reach"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Property"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumForce"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Precision"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DiameterOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfMovableClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#ReadOpticalCharacters">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ReadBarCode"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Read2DMatrixCode"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Read"/>
+ </rdfs:subClassOf>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Task and Skills of Optical Sensors v1.1
+part:7</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:ID="ProximitySwitch">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ReflexSwitch"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ThroughBeanSwitches"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="PhotoeletricSwitch"/>
+ </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="MainGripperFunction">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MainRobotFunction"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="MainFunction"/>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ <owl:allValuesFrom>
+ <owl:Class rdf:about="#Gripper"/>
+ </owl:allValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MainSensorFunction"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Gripper">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Robot"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Device"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Sensor"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom>
+ <owl:Class>
+ <owl:unionOf rdf:parseType="Collection">
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ <owl:Class rdf:about="#DiameterOfGripper"/>
+ <owl:Class rdf:about="#MaxLiftWeight"/>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:unionOf>
+ </owl:Class>
+ </owl:someValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:allValuesFrom>
+ <owl:Class>
+ <owl:unionOf rdf:parseType="Collection">
+ <owl:Class rdf:ID="Grasp"/>
+ <owl:Class rdf:ID="Release"/>
+ </owl:unionOf>
+ </owl:Class>
+ </owl:allValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="DetectContrast">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Structured Description of Skills and Device 1.0
+pag:11
+Tasks and Skills of Ocptical Sensor 1.1
+Cap: 3</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DetectObject"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:ID="ContrastScanner"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Detect"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DetectLuminescence"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DetectColor"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="PhysicalInterface">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Arrangement"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MinAmbientTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CoordinateReferenceSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="EnclosureRatingIP"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MountedDevicePosition"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MountedDeviceOrientation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MaxAmbientTemperature"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Arrangement">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Property"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumForce"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Accuracy"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DiameterOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxMeasurementRange"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Precision"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Repeatibility"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWeight"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Resolution"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SpecialKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LightSpotSize"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ResponseTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinMeasurementRange"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ToolInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfMovableClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LaserClass"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CycleTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DriveSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Reach"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="OpenClaws">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#AdjustCurrentToRelease"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="OpenFingers"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#PincerGripper"/>
+ </owl:someValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Release"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="AdjustVacuumToRelease"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#MeasureArea">
+ <owl:disjointWith rdf:resource="#MeasureDistance"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Measure"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MeasureAngle"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="VisionSensor">
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="SmartCamera"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#MaxMeasurementRange">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Reach"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DriveSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Property"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CycleTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfMovableClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ResponseTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWeight"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LaserClass"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ToolInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Precision"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Accuracy"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinMeasurementRange"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Repeatibility"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumForce"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Resolution"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DiameterOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SpecialKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LightSpotSize"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="Place">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#MainRobotFunction"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Pick"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Picking is a sequence of moving somewhere, deactivating a gripper and moving back again.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="FollowTrajectory"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MoveFromTo"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#MainSensorFunction">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Structured Description of Skills and Device 1.0
+pag:6-7
+(breakdown of properties)</rdfs:comment>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:allValuesFrom>
+ <owl:Class rdf:about="#Sensor"/>
+ </owl:allValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#MainGripperFunction"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MainRobotFunction"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#MainFunction"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#TypeOfVacuum">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Resolution"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ResponseTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DriveSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Accuracy"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWeight"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinMeasurementRange"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ToolInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DiameterOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LaserClass"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Property"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Repeatibility"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CycleTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumForce"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Reach"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SpecialKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfMovableClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LightSpotSize"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Precision"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#DetectColor">
+ <owl:disjointWith rdf:resource="#DetectContrast"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DetectObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DetectLuminescence"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Detect"/>
+ </rdfs:subClassOf>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Tasks and Skills of Ocptical Sensor 1.1
+Cap: 4</rdfs:comment>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:ID="ColorSensor"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Resolution">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SpecialKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Reach"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Property"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CycleTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWeight"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DriveSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LightSpotSize"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ToolInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Repeatibility"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LaserClass"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Precision"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Accuracy"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ResponseTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DiameterOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumForce"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinMeasurementRange"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfMovableClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#AdjustCurrentToRelease">
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:allValuesFrom rdf:resource="#MagnetGripper"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#AdjustVacuumToRelease"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpenFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#OpenClaws"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Release"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="CheckSurfaceForIrregularities">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Task and Skills of Optical Sensors v1.1
+part:7</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CheckPosition"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="Check"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#LightSpotSize">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Precision"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Property"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DriveSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ResponseTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DiameterOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Accuracy"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CycleTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinMeasurementRange"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWeight"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfMovableClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SpecialKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumForce"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ToolInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LaserClass"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Reach"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Repeatibility"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Reach">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinMeasurementRange"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Property"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CycleTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ResponseTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Precision"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Repeatibility"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Accuracy"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SpecialKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxLiftWeight"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfMovableClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DriveSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ToolInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LaserClass"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumForce"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DiameterOfGripper"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#MaxLiftWeight">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Accuracy"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DiameterOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ToolInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfMovableClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SpecialKinematicRobot"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Property"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LaserClass"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ResponseTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumForce"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinMeasurementRange"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Repeatibility"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Precision"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CycleTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DriveSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="GeneralParallelGripper">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="LineParallelGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CircularParallelGripper"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="ParallelGripper"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Property">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Device"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Task"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Skill"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#MinMeasurementRange">
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Repeatibility"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumForce"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Precision"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LaserClass"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Accuracy"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SpecialKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DriveSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DiameterOfGripper"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CycleTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ToolInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfMovableClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ResponseTime"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="TrasformImage">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="FilterImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CompressDecompressImageData"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CalibrateImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="SegmentImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ExtractEdges"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="BlobAnalysis"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:ID="ImageAnalysis"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#DetectLuminescence">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DetectObject"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Tasks and Skills of Ocptical Sensor 1.1
+Cap: 5</rdfs:comment>
+ <owl:disjointWith rdf:resource="#DetectContrast"/>
+ <owl:disjointWith rdf:resource="#DetectColor"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom>
+ <owl:Class rdf:ID="LuminescenceScanner"/>
+ </owl:someValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Detect"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#Read">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Check"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ImageAnalysis"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Measure"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Sort"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Determine"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Task and Skills of Optical Sensors v1.1
+part:7</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Classify"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Scan"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#MainSensorFunction"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Detect"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#MountedDevicePosition">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MountedDeviceOrientation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#EnclosureRatingIP"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxAmbientTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CoordinateReferenceSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinAmbientTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PhysicalInterface"/>
+ <rdfs:subClassOf rdf:resource="#Arrangement"/>
+ </owl:Class>
+ <owl:Class rdf:about="#NumberOfMovableClaws">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ToolInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DiameterOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SpecialKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CycleTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LaserClass"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Repeatibility"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DriveSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumForce"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Accuracy"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ResponseTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Precision"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Sort">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ImageAnalysis"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Scan"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Detect"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Read"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Measure"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Structured Description of Skills and Device 1.0
+pag:5</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Determine"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Classify"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Check"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#MainSensorFunction"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ToolInterface">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DriveSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Precision"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Repeatibility"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumForce"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >How to connect a tool to a robot.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ResponseTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SpecialKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CycleTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Accuracy"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LaserClass"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DiameterOfGripper"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#PhotoeletricSwitch">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Sensor"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SmartCamera"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Tasks and Skills of Ocptical Sensor 1.1
+Cap: 2</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DetectionSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DistanceSensor"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#VacuumGripper">
+ <owl:disjointWith rdf:resource="#MagnetGripper"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:allValuesFrom>
+ <owl:Class>
+ <owl:unionOf rdf:parseType="Collection">
+ <owl:Class rdf:about="#AdjustVacuumToRelease"/>
+ <owl:Class rdf:ID="AdjustVacuumToGrip"/>
+ </owl:unionOf>
+ </owl:Class>
+ </owl:allValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PincerGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#FingerGripper"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Gripper"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom>
+ <owl:Class>
+ <owl:unionOf rdf:parseType="Collection">
+ <owl:Class rdf:about="#MaximumVacuum"/>
+ <owl:Class rdf:about="#TypeOfVacuum"/>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:unionOf>
+ </owl:Class>
+ </owl:someValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#LaserClass">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Accuracy"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Precision"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DriveSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SpecialKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CycleTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Repeatibility"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ResponseTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DiameterOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumForce"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="IntelligentRobot">
+ <owl:disjointWith>
+ <owl:DeprecatedClass rdf:ID="VariableSequenceRobot">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Introdution to Robotics
+(Analysis, System, Applications)
+Saeed B. Niku</rdfs:comment>
+ <owl:disjointWith>
+ <owl:DeprecatedClass rdf:ID="PlaybackRobot">
+ <owl:disjointWith rdf:resource="#VariableSequenceRobot"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Introdution to Robotics
+(Analysis, System, Applications)
+Saeed B. Niku</rdfs:comment>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Robot"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="NumericalControl"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#IntelligentRobot"/>
+ <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#Class"/>
+ </owl:DeprecatedClass>
+ </owl:disjointWith>
+ <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#Class"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Robot"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#IntelligentRobot"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumericalControl"/>
+ </owl:disjointWith>
+ </owl:DeprecatedClass>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumericalControl"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Introdution to Robotics
+(Analysis, System, Applications)
+Saeed B. Niku</rdfs:comment>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Robot"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#PlaybackRobot"/>
+ <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#DeprecatedClass"/>
+ </owl:Class>
+ <owl:Class rdf:about="#MaximumForce">
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SpecialKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DriveSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Accuracy"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DiameterOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith rdf:resource="#LaserClass"/>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ResponseTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CycleTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Repeatibility"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Precision"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumVacuum"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#ReadBarCode">
+ <owl:disjointWith rdf:resource="#Read2DMatrixCode"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Task and Skills of Optical Sensors v1.1
+part:7</rdfs:comment>
+ <owl:disjointWith rdf:resource="#ReadOpticalCharacters"/>
+ <rdfs:subClassOf rdf:resource="#Read"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Repeatibility">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DiameterOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LaserClass"/>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Accuracy"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CycleTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SpecialKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Precision"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ResponseTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DriveSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#SmartCamera">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Sensor"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DetectionSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DistanceSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PhotoeletricSwitch"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Tasks and Skills of Ocptical Sensor 1.1
+Cap: 7</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#ReflexSwitch">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ThroughBeanSwitches"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#PhotoeletricSwitch"/>
+ <owl:disjointWith rdf:resource="#ProximitySwitch"/>
+ <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="#ImageAnalysis">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Detect"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Sort"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Measure"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Classify"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Scan"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Determine"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Check"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#MainSensorFunction"/>
+ <owl:disjointWith rdf:resource="#Read"/>
+ </owl:Class>
+ <owl:Class rdf:about="#MeasureAngle">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Measure"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#MeasureDistance"/>
+ <owl:disjointWith rdf:resource="#MeasureArea"/>
+ </owl:Class>
+ <owl:Class rdf:about="#DriveSystem">
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CycleTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Accuracy"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Repeatibility"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Precision"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DiameterOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SpecialKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ResponseTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith rdf:resource="#LaserClass"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ </owl:Class>
+ <owl:Class rdf:ID="OpticDistanceSensorScanner">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="EncoderWireDrawDistanceSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="UltrasonicDistanceSensor"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#DistanceSensor"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="EncoderLinearDistanceSensor"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >distanceMeasurements.pdf
+SICK
+pag 4</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="OpticDistanceSensorReflector"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Precision">
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Repeatibility"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ResponseTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CycleTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DriveSystem"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Accuracy"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DiameterOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SpecialKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LaserClass"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Determine">
+ <rdfs:subClassOf rdf:resource="#MainSensorFunction"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Detect"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Read"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Measure"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Check"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Sort"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Scan"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ImageAnalysis"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Classify"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Structured Description of Skills and Device 1.0
+pag:5</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#CoordinateReferenceSystem">
+ <rdfs:subClassOf rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MountedDeviceOrientation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PhysicalInterface"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#EnclosureRatingIP"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinAmbientTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxAmbientTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MountedDevicePosition"/>
+ </owl:Class>
+ <owl:Class rdf:about="#SpecialKinematicRobot">
+ <owl:disjointWith rdf:resource="#HexapodRobot"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Accuracy"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#DriveSystem"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PalletizerRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SimpleKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Repeatibility"/>
+ <owl:disjointWith rdf:resource="#LaserClass"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ArticulatedRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumVacuum"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Everything else which cannot be sorted in one of the other categories.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScaraRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ParallelKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ResponseTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Precision"/>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DiameterOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CycleTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="IntelligentCtrl">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="NumericalCtrl"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="PlaybackCtrl"/>
+ </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>
+ <owl:Class rdf:about="#BlobAnalysis">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CompressDecompressImageData"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SegmentImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CalibrateImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TrasformImage"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ExtractEdges"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#FilterImage"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Grasp">
+ <rdfs:subClassOf rdf:resource="#MainGripperFunction"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Structured Description of Skills and Device 1.0
+pag:5</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Release"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#AdjustVacuumToRelease">
+ <owl:disjointWith rdf:resource="#AdjustCurrentToRelease"/>
+ <owl:disjointWith rdf:resource="#OpenClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpenFingers"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Release"/>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#VacuumGripper"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="ElectricalConnector">
+ <rdfs:subClassOf rdf:resource="#ToolInterface"/>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MechanicalConnector"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >How to connect a tool electrically.</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:ID="ClassifyObject">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Classify"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#CircularParallelGripper">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#LineParallelGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#GeneralParallelGripper"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ParallelGripper"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:ID="Mass">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="MechanicalResistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="ID"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Physical"/>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Width"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Material"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Cost"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Shape"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Height"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="Length"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#FingerGripper">
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class>
+ <owl:unionOf rdf:parseType="Collection">
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:unionOf>
+ </owl:Class>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PincerGripper"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ <owl:allValuesFrom>
+ <owl:Class>
+ <owl:unionOf rdf:parseType="Collection">
+ <owl:Class rdf:about="#OpenFingers"/>
+ <owl:Class rdf:ID="CloseFingers"/>
+ </owl:unionOf>
+ </owl:Class>
+ </owl:allValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf rdf:resource="#Gripper"/>
+ <owl:disjointWith rdf:resource="#MagnetGripper"/>
+ <owl:disjointWith rdf:resource="#VacuumGripper"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ResponseTime">
+ <owl:disjointWith rdf:resource="#DriveSystem"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Accuracy"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Repeatibility"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LaserClass"/>
+ <owl:disjointWith rdf:resource="#Precision"/>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CycleTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DiameterOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#MountedDeviceOrientation">
+ <rdfs:subClassOf rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#EnclosureRatingIP"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PowerConsumption"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinAmbientTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PhysicalInterface"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxAmbientTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
+ <owl:disjointWith rdf:resource="#MountedDevicePosition"/>
+ </owl:Class>
+ <owl:Class rdf:about="#PlaybackCtrl">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumericalCtrl"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Capability of replaying preteached sequences and commands.
+This includes as well very simple controllers like Pick-and-Placers. They are capable of replaying a pick sequence.</rdfs:comment>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#IntelligentCtrl"/>
+ </owl:Class>
+ <owl:Class rdf:about="#DiameterOfGripper">
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith rdf:resource="#Precision"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaximumVacuum"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CycleTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ResponseTime"/>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith rdf:resource="#Repeatibility"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Accuracy"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DriveSystem"/>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LaserClass"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#DetectObject">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Detect"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#DetectLuminescence"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom rdf:resource="#PhotoeletricSwitch"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#DetectContrast"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Tasks and Skills of Ocptical Sensor 1.1
+Cap: 2</rdfs:comment>
+ <owl:disjointWith rdf:resource="#DetectColor"/>
+ </owl:Class>
+ <owl:Class rdf:about="#DistanceSensor">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Tasks and Skills of Ocptical Sensor 1.1
+Cap: 6</rdfs:comment>
+ <owl:disjointWith rdf:resource="#SmartCamera"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DetectionSensor"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Sensor"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#PhotoeletricSwitch"/>
+ </owl:Class>
+ <owl:Class rdf:about="#EncoderWireDrawDistanceSensor">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#EncoderLinearDistanceSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#OpticDistanceSensorScanner"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticDistanceSensorReflector"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >distanceMeasurements.pdf
+SICK
+pag 4</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#UltrasonicDistanceSensor"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#DistanceSensor"/>
+ </owl:Class>
+ <owl:Class rdf:about="#MaximumVacuum">
+ <owl:disjointWith rdf:resource="#LaserClass"/>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith rdf:resource="#ResponseTime"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CycleTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Accuracy"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#Repeatibility"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith rdf:resource="#DriveSystem"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Precision"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Pick">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#FollowTrajectory"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#MainRobotFunction"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Place"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Picking is a sequence of moving somewhere, activating a gripper and moving back again.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MoveFromTo"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Skill">
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ <owl:allValuesFrom>
+ <owl:Class rdf:about="#Device"/>
+ </owl:allValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Device"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="http://www.w3.org/2002/07/owl#Thing"/>
+ <owl:disjointWith rdf:resource="#Property"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Task"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Structured Description of Skills and Device 1.0
+pag:5
+(Breakdown of Skills)</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#ArticulatedRobot">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Robot"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SimpleKinematicRobot"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >This is the standard industrial robot-type with usually 5 to 7 joints.</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PalletizerRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScaraRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ParallelKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#HexapodRobot"/>
+ </owl:Class>
+ <owl:Class rdf:about="#NumberOfFingers">
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DriveSystem"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Accuracy"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Payload"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith rdf:resource="#ResponseTime"/>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#Precision"/>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CycleTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Repeatibility"/>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LaserClass"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Check">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Scan"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Structured Description of Skills and Device 1.0
+pag:5</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Read"/>
+ <owl:disjointWith rdf:resource="#Determine"/>
+ <owl:disjointWith rdf:resource="#ImageAnalysis"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Classify"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Sort"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Detect"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#MainSensorFunction"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Measure"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#MoveFromTo">
+ <owl:disjointWith rdf:resource="#Place"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#MainRobotFunction"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Pick"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >How a robot moves from A to B.
+Also included are movements of simple kinematics like Move Up (for one linear - maybe pneumatic - axis).</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#FollowTrajectory"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Payload">
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#Repeatibility"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Accuracy"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ResponseTime"/>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LaserClass"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfMagnet"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CycleTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Precision"/>
+ <owl:disjointWith rdf:resource="#DriveSystem"/>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ </owl:Class>
+ <owl:Class rdf:ID="CloseClaws">
+ <rdfs:subClassOf rdf:resource="#Grasp"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#AdjustVacuumToGrip"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#AdjustCurrentToGrip"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#PincerGripper"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CloseFingers"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#TypeOfMagnet">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith rdf:resource="#DriveSystem"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Repeatibility"/>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CycleTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ResponseTime"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Precision"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Accuracy"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LaserClass"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ </owl:Class>
+ <owl:Class rdf:about="#LuminescenceScanner">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Tasks and Skills of Ocptical Sensor 1.1
+Cap: 5</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ColorSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ContrastScanner"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#DetectionSensor"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#InsideOrOutsidePicking">
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith rdf:resource="#Precision"/>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith rdf:resource="#Repeatibility"/>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith rdf:resource="#ResponseTime"/>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith rdf:resource="#DriveSystem"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LaserClass"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Accuracy"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CycleTime"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ParallelGripper">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PincerGripper"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="AngleGripper"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#CycleTime">
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Repeatibility"/>
+ <owl:disjointWith rdf:resource="#LaserClass"/>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#Precision"/>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Accuracy"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith rdf:resource="#ResponseTime"/>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DriveSystem"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ControlSystem"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ </owl:Class>
+ <owl:Class rdf:ID="ElectricalInterface">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="CommunicationProtocol"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="BusInterface"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Communicational"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#ControlSystem">
+ <owl:disjointWith rdf:resource="#LaserClass"/>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith rdf:resource="#Precision"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Accuracy"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Repeatibility"/>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#CycleTime"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DriveSystem"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith rdf:resource="#ResponseTime"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Task">
+ <owl:disjointWith rdf:resource="#Property"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Device"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Skill"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Accuracy">
+ <owl:disjointWith rdf:resource="#CycleTime"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith rdf:resource="#ControlSystem"/>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PathVelocityFluctuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith rdf:resource="#ResponseTime"/>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LaserClass"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#Repeatibility"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith rdf:resource="#Precision"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DriveSystem"/>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ </owl:Class>
+ <owl:Class rdf:about="#DetectionSensor">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Tasks and Skills of Ocptical Sensor 1.1</rdfs:comment>
+ <owl:disjointWith rdf:resource="#DistanceSensor"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Sensor"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#SmartCamera"/>
+ <owl:disjointWith rdf:resource="#PhotoeletricSwitch"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Robot">
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom rdf:resource="#Precision"/>
+ <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>
+ <owl:disjointWith rdf:resource="#Gripper"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:someValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#Payload"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ <owl:allValuesFrom>
+ <owl:Class rdf:about="#MainRobotFunction"/>
+ </owl:allValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Device"/>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#ToolInterface"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom rdf:resource="#Accuracy"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#CycleTime"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ <owl:someValuesFrom>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:someValuesFrom>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Sensor"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#MainFunction">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="AdditionalFunction"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Skill"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Structured Description of Skills and Device 1.0
+pag:5
+(Breakdown of Skills)</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:ID="DiagnosticFunction"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#PathVelocityFluctuation">
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith rdf:resource="#ControlSystem"/>
+ <owl:disjointWith rdf:resource="#Precision"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith rdf:resource="#Repeatibility"/>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfFingers"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith rdf:resource="#DriveSystem"/>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ResponseTime"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Accuracy"/>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith rdf:resource="#LaserClass"/>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
+ <owl:disjointWith rdf:resource="#CycleTime"/>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#MainRobotFunction">
+ <rdfs:subClassOf rdf:resource="#MainFunction"/>
+ <owl:disjointWith rdf:resource="#MainGripperFunction"/>
+ <owl:disjointWith rdf:resource="#MainSensorFunction"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:allValuesFrom rdf:resource="#Robot"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#CommunicationProtocol">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Communicational"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#BusInterface"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ElectricalInterface"/>
+ </owl:Class>
+ <owl:Class rdf:about="#LineParallelGripper">
+ <owl:disjointWith rdf:resource="#CircularParallelGripper"/>
+ <owl:disjointWith rdf:resource="#GeneralParallelGripper"/>
+ <rdfs:subClassOf rdf:resource="#ParallelGripper"/>
+ </owl:Class>
+ <owl:Class rdf:about="#AdjustVacuumToGrip">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CloseFingers"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom rdf:resource="#VacuumGripper"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf rdf:resource="#Grasp"/>
+ <owl:disjointWith rdf:resource="#CloseClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#AdjustCurrentToGrip"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#CompressDecompressImageData">
+ <owl:disjointWith rdf:resource="#BlobAnalysis"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ExtractEdges"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SegmentImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TrasformImage"/>
+ <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CalibrateImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#FilterImage"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Width">
+ <owl:disjointWith rdf:resource="#Mass"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MechanicalResistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Length"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cost"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Physical"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ID"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Shape"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Height"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#DetermineMotionOfObject">
+ <rdfs:subClassOf rdf:resource="#Determine"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DeterminePositionOfObject"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DetermineOrientationOfObject"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ContrastScanner">
+ <rdfs:subClassOf rdf:resource="#DetectionSensor"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Tasks and Skills of Ocptical Sensor 1.1
+Cap: 3</rdfs:comment>
+ <owl:disjointWith rdf:resource="#LuminescenceScanner"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ColorSensor"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Sensor">
+ <owl:disjointWith rdf:resource="#Gripper"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom rdf:resource="#MainSensorFunction"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Robot"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Device"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#UltrasonicDistanceSensor">
+ <rdfs:subClassOf rdf:resource="#DistanceSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#EncoderLinearDistanceSensor"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#OpticDistanceSensorScanner"/>
+ <owl:disjointWith rdf:resource="#EncoderWireDrawDistanceSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#OpticDistanceSensorReflector"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >distanceMeasurements.pdf
+SICK
+pag 4</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#MechanicalResistance">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Length"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Width"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Shape"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ID"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Height"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cost"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Mass"/>
+ <rdfs:subClassOf rdf:resource="#Physical"/>
+ </owl:Class>
+ <owl:Class rdf:about="#AdditionalFunction">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Structured Description of Skills and Device 1.0
+pag:5
+(Breakdown of Skills)</rdfs:comment>
+ <owl:disjointWith rdf:resource="#MainFunction"/>
+ <rdfs:subClassOf rdf:resource="#Skill"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DiagnosticFunction"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#ThroughBeanSwitches">
+ <rdfs:subClassOf rdf:resource="#PhotoeletricSwitch"/>
+ <owl:disjointWith rdf:resource="#ProximitySwitch"/>
+ <owl:disjointWith rdf:resource="#ReflexSwitch"/>
+ <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="#TypeOfFingers">
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith rdf:resource="#DriveSystem"/>
+ <owl:disjointWith rdf:resource="#LaserClass"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaterialOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Repeatibility"/>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith rdf:resource="#ControlSystem"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith rdf:resource="#Accuracy"/>
+ <owl:disjointWith rdf:resource="#CycleTime"/>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#Precision"/>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#ResponseTime"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#MaterialOfGripper">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ControlSystem"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith rdf:resource="#TypeOfFingers"/>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DriveSystem"/>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Repeatibility"/>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
+ <owl:disjointWith rdf:resource="#Precision"/>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Accuracy"/>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SizeOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LaserClass"/>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith rdf:resource="#CycleTime"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ResponseTime"/>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Device">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Structured Description of Skills and Device 1.0
+pag:8</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Task"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ <owl:allValuesFrom rdf:resource="#Property"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#MainFunction"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#Property"/>
+ <owl:disjointWith rdf:resource="#Skill"/>
+ <rdfs:subClassOf rdf:resource="http://www.w3.org/2002/07/owl#Thing"/>
+ </owl:Class>
+ <owl:Class rdf:about="#DiagnosticFunction">
+ <owl:disjointWith rdf:resource="#AdditionalFunction"/>
+ <owl:disjointWith rdf:resource="#MainFunction"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Structured Description of Skills and Device 1.0
+pag:5
+(Breakdown of Skills)</rdfs:comment>
+ <rdfs:subClassOf rdf:resource="#Skill"/>
+ </owl:Class>
+ <owl:Class rdf:about="#CloseFingers">
+ <owl:disjointWith rdf:resource="#AdjustVacuumToGrip"/>
+ <rdfs:subClassOf rdf:resource="#Grasp"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#FingerGripper"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#CloseClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#AdjustCurrentToGrip"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#ScaraRobot">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PalletizerRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#HexapodRobot"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SimpleKinematicRobot"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Robot"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ParallelKinematicRobot"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Industrial type, but special kinematic arrangement. Well-known manufacturer: Bosch-Rexrodt.</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#SimpleKinematicRobot">
+ <rdfs:subClassOf rdf:resource="#Robot"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Simple, sometimes small machines with reduced capabilites, e.g. with only 1 DOF. These can be devices which are arranged to more complex machines.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#ScaraRobot"/>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PalletizerRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#HexapodRobot"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ParallelKinematicRobot"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
+ </owl:Class>
+ <owl:Class rdf:about="#AngleGripper">
+ <owl:disjointWith rdf:resource="#ParallelGripper"/>
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#PincerGripper"/>
+ </rdfs:subClassOf>
+ </owl:Class>
+ <owl:Class rdf:about="#ExtractEdges">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CalibrateImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TrasformImage"/>
+ <owl:disjointWith rdf:resource="#CompressDecompressImageData"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SegmentImage"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#FilterImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#BlobAnalysis"/>
+ </owl:Class>
+ <owl:Class rdf:about="#OpenFingers">
+ <rdfs:subClassOf>
+ <owl:Class rdf:about="#Release"/>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#AdjustVacuumToRelease"/>
+ <owl:disjointWith rdf:resource="#OpenClaws"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#FingerGripper"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#AdjustCurrentToRelease"/>
+ </owl:Class>
+ <owl:Class rdf:about="#CheckPosition">
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ <owl:someValuesFrom rdf:resource="#DistanceSensor"/>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf rdf:resource="#Check"/>
+ <owl:disjointWith rdf:resource="#CheckSurfaceForIrregularities"/>
+ </owl:Class>
+ <owl:Class rdf:about="#DeterminePositionOfObject">
+ <owl:disjointWith rdf:resource="#DetermineOrientationOfObject"/>
+ <rdfs:subClassOf rdf:resource="#Determine"/>
+ <owl:disjointWith rdf:resource="#DetermineMotionOfObject"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ColorSensor">
+ <rdfs:subClassOf rdf:resource="#DetectionSensor"/>
+ <owl:disjointWith rdf:resource="#LuminescenceScanner"/>
+ <owl:disjointWith rdf:resource="#ContrastScanner"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Tasks and Skills of Ocptical Sensor 1.1
+Cap: 4</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#ParallelKinematicRobot">
+ <rdfs:subClassOf rdf:resource="#Robot"/>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#ScaraRobot"/>
+ <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
+ <owl:disjointWith rdf:resource="#HexapodRobot"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#PalletizerRobot"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Special kinematic arrangement like the one built in SMErobot.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#SimpleKinematicRobot"/>
+ </owl:Class>
+ <owl:Class rdf:about="#SizeOfGripper">
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith rdf:resource="#Accuracy"/>
+ <owl:disjointWith rdf:resource="#Repeatibility"/>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeOfFingers"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#ControlSystem"/>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#TypeOfActuation"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#CycleTime"/>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith rdf:resource="#ResponseTime"/>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
+ <owl:disjointWith rdf:resource="#Precision"/>
+ <owl:disjointWith rdf:resource="#LaserClass"/>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith rdf:resource="#DriveSystem"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#Measure">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Structured Description of Skills and Device 1.0
+pag:5</rdfs:comment>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Detect"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Check"/>
+ <owl:disjointWith rdf:resource="#Sort"/>
+ <owl:disjointWith rdf:resource="#Determine"/>
+ <owl:disjointWith rdf:resource="#Read"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Classify"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#MainSensorFunction"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Scan"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ImageAnalysis"/>
+ </owl:Class>
+ <owl:Class rdf:about="#FilterImage">
+ <owl:disjointWith rdf:resource="#TrasformImage"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SegmentImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#BlobAnalysis"/>
+ <owl:disjointWith rdf:resource="#ExtractEdges"/>
+ <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
+ <owl:disjointWith rdf:resource="#CompressDecompressImageData"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CalibrateImage"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#SegmentImage">
+ <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
+ <owl:disjointWith rdf:resource="#FilterImage"/>
+ <owl:disjointWith rdf:resource="#TrasformImage"/>
+ <owl:disjointWith rdf:resource="#CompressDecompressImageData"/>
+ <owl:disjointWith rdf:resource="#ExtractEdges"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#CalibrateImage"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#BlobAnalysis"/>
+ </owl:Class>
+ <owl:Class rdf:about="#PowerConsumption">
+ <rdfs:subClassOf rdf:resource="#Arrangement"/>
+ <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
+ <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
+ <owl:disjointWith rdf:resource="#PhysicalInterface"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MinAmbientTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#EnclosureRatingIP"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MountedDevicePosition"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxAmbientTemperature"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="ElasticFingerGripper">
+ <owl:disjointWith>
+ <owl:Class rdf:ID="JointFingerGripper"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#FingerGripper"/>
+ </owl:Class>
+ <owl:Class rdf:about="#TypeOfActuation">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith rdf:resource="#LaserClass"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith rdf:resource="#TypeOfFingers"/>
+ <owl:disjointWith rdf:resource="#SizeOfGripper"/>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith rdf:resource="#DriveSystem"/>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#NumberOfJoints"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
+ <owl:disjointWith rdf:resource="#CycleTime"/>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
+ <owl:disjointWith rdf:resource="#ResponseTime"/>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#Accuracy"/>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith rdf:resource="#Precision"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#Repeatibility"/>
+ <owl:disjointWith rdf:resource="#ControlSystem"/>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ </owl:Class>
+ <owl:Class rdf:about="#NumberOfJoints">
+ <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
+ <owl:disjointWith rdf:resource="#LaserClass"/>
+ <owl:disjointWith rdf:resource="#TypeOfFingers"/>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith rdf:resource="#TypeOfActuation"/>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#CycleTime"/>
+ <owl:disjointWith rdf:resource="#ControlSystem"/>
+ <owl:disjointWith rdf:resource="#DriveSystem"/>
+ <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Repeatibility"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith rdf:resource="#SizeOfGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#DegreesOfFreedom"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith rdf:resource="#Precision"/>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith rdf:resource="#Accuracy"/>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith rdf:resource="#ResponseTime"/>
+ </owl:Class>
+ <owl:Class rdf:about="#DegreesOfFreedom">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Accuracy"/>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith rdf:resource="#NumberOfJoints"/>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#CycleTime"/>
+ <owl:disjointWith rdf:resource="#TypeOfActuation"/>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
+ <owl:disjointWith rdf:resource="#ControlSystem"/>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <owl:disjointWith rdf:resource="#SizeOfGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith rdf:resource="#LaserClass"/>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith rdf:resource="#TypeOfFingers"/>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DriveSystem"/>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ElectricallySupported"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith rdf:resource="#Precision"/>
+ <owl:disjointWith rdf:resource="#ResponseTime"/>
+ <owl:disjointWith rdf:resource="#Repeatibility"/>
+ <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:about="#MinAmbientTemperature">
+ <owl:disjointWith rdf:resource="#PhysicalInterface"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxAmbientTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#EnclosureRatingIP"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MountedDevicePosition"/>
+ <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
+ <owl:disjointWith rdf:resource="#PowerConsumption"/>
+ <rdfs:subClassOf rdf:resource="#Arrangement"/>
+ <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Length">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Shape"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MechanicalResistance"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ID"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cost"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Physical"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Height"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Mass"/>
+ <owl:disjointWith rdf:resource="#Width"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ElectricallySupported">
+ <owl:disjointWith rdf:resource="#DriveSystem"/>
+ <owl:disjointWith rdf:resource="#TypeOfActuation"/>
+ <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <owl:disjointWith rdf:resource="#Precision"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith rdf:resource="#LaserClass"/>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith rdf:resource="#NumberOfJoints"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkFrame"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#CycleTime"/>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith rdf:resource="#TypeOfFingers"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith rdf:resource="#ControlSystem"/>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith rdf:resource="#Accuracy"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Repeatibility"/>
+ <owl:disjointWith rdf:resource="#SizeOfGripper"/>
+ <owl:disjointWith rdf:resource="#ResponseTime"/>
+ </owl:Class>
+ <owl:Class rdf:about="#WorkFrame">
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
+ <owl:disjointWith rdf:resource="#LaserClass"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith rdf:resource="#DriveSystem"/>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
+ <owl:disjointWith rdf:resource="#Accuracy"/>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#TypeOfActuation"/>
+ <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
+ <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
+ <owl:disjointWith rdf:resource="#Precision"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ScanningDistance"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith rdf:resource="#Repeatibility"/>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#CycleTime"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#SizeOfGripper"/>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith rdf:resource="#NumberOfJoints"/>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith rdf:resource="#ElectricallySupported"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <owl:disjointWith rdf:resource="#ResponseTime"/>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ControlSystem"/>
+ <owl:disjointWith rdf:resource="#TypeOfFingers"/>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Scan">
+ <owl:disjointWith rdf:resource="#Read"/>
+ <owl:disjointWith rdf:resource="#Check"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Detect"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ImageAnalysis"/>
+ <owl:disjointWith rdf:resource="#Sort"/>
+ <owl:disjointWith rdf:resource="#Determine"/>
+ <rdfs:subClassOf rdf:resource="#MainSensorFunction"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Classify"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Structured Description of Skills and Device 1.0
+pag:5</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Measure"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ScanningDistance">
+ <owl:disjointWith rdf:resource="#Accuracy"/>
+ <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith rdf:resource="#TypeOfActuation"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#TypeOfFingers"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#SwitchingFrequency"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#Precision"/>
+ <owl:disjointWith rdf:resource="#CycleTime"/>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith rdf:resource="#LaserClass"/>
+ <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith rdf:resource="#WorkFrame"/>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#ResponseTime"/>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith rdf:resource="#Repeatibility"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith rdf:resource="#ControlSystem"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith rdf:resource="#SizeOfGripper"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DriveSystem"/>
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith rdf:resource="#NumberOfJoints"/>
+ <owl:disjointWith rdf:resource="#ElectricallySupported"/>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ </owl:Class>
+ <owl:Class rdf:about="#SwitchingFrequency">
+ <owl:disjointWith rdf:resource="#SizeOfGripper"/>
+ <owl:disjointWith rdf:resource="#Accuracy"/>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
+ <owl:disjointWith rdf:resource="#TypeOfFingers"/>
+ <owl:disjointWith rdf:resource="#ScanningDistance"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#ElectricallySupported"/>
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith rdf:resource="#CycleTime"/>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith rdf:resource="#WorkFrame"/>
+ <owl:disjointWith rdf:resource="#TypeOfActuation"/>
+ <owl:disjointWith rdf:resource="#Precision"/>
+ <owl:disjointWith rdf:resource="#NumberOfJoints"/>
+ <owl:disjointWith rdf:resource="#Repeatibility"/>
+ <owl:disjointWith rdf:resource="#LaserClass"/>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith rdf:resource="#ControlSystem"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DriveSystem"/>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith rdf:resource="#ResponseTime"/>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Release">
+ <owl:disjointWith rdf:resource="#Grasp"/>
+ <rdfs:subClassOf rdf:resource="#MainGripperFunction"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Structured Description of Skills and Device 1.0
+pag:5</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#PalletizerRobot">
+ <owl:disjointWith rdf:resource="#SimpleKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#ParallelKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <rdfs:subClassOf rdf:resource="#Robot"/>
+ <owl:disjointWith rdf:resource="#ScaraRobot"/>
+ <owl:disjointWith rdf:resource="#ArticulatedRobot"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >These machines contain a kind of portal where they move in. They are usually used for packing, palletizing and so on where they move heavy loads.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#HexapodRobot"/>
+ </owl:Class>
+ <owl:Class rdf:about="#JointFingerGripper">
+ <rdfs:subClassOf rdf:resource="#FingerGripper"/>
+ <owl:disjointWith rdf:resource="#ElasticFingerGripper"/>
+ </owl:Class>
+ <owl:Class rdf:about="#NumericalCtrl">
+ <rdfs:subClassOf rdf:resource="#ControlSystem"/>
+ <owl:disjointWith rdf:resource="#PlaybackCtrl"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Capability of setting up movements via numerical positions instead of functions.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#IntelligentCtrl"/>
+ </owl:Class>
+ <owl:Class rdf:about="#EnclosureRatingIP">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#MaxAmbientTemperature"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#PhysicalInterface"/>
+ <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
+ <owl:disjointWith rdf:resource="#MountedDevicePosition"/>
+ <owl:disjointWith rdf:resource="#PowerConsumption"/>
+ <rdfs:subClassOf rdf:resource="#Arrangement"/>
+ <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
+ <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
+ </owl:Class>
+ <owl:Class rdf:about="#PincerGripper">
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom>
+ <owl:Class>
+ <owl:unionOf rdf:parseType="Collection">
+ <owl:Class rdf:about="#MaximumForce"/>
+ <owl:Class rdf:about="#NumberOfClaws"/>
+ <owl:Class rdf:about="#NumberOfMovableClaws"/>
+ <owl:Class rdf:about="#InsideOrOutsidePicking"/>
+ <owl:Class rdf:about="#ShapeOfClaws"/>
+ </owl:unionOf>
+ </owl:Class>
+ </owl:someValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <rdfs:subClassOf rdf:resource="#Gripper"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:allValuesFrom>
+ <owl:Class>
+ <owl:unionOf rdf:parseType="Collection">
+ <owl:Class rdf:about="#CloseClaws"/>
+ <owl:Class rdf:about="#OpenClaws"/>
+ </owl:unionOf>
+ </owl:Class>
+ </owl:allValuesFrom>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#FingerGripper"/>
+ <owl:disjointWith rdf:resource="#MagnetGripper"/>
+ <owl:disjointWith rdf:resource="#VacuumGripper"/>
+ </owl:Class>
+ <owl:Class rdf:about="#CalibrateImage">
+ <owl:disjointWith rdf:resource="#TrasformImage"/>
+ <owl:disjointWith rdf:resource="#ExtractEdges"/>
+ <rdfs:subClassOf rdf:resource="#ImageAnalysis"/>
+ <owl:disjointWith rdf:resource="#CompressDecompressImageData"/>
+ <owl:disjointWith rdf:resource="#FilterImage"/>
+ <owl:disjointWith rdf:resource="#SegmentImage"/>
+ <owl:disjointWith rdf:resource="#BlobAnalysis"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ID">
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cost"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#MechanicalResistance"/>
+ <rdfs:subClassOf rdf:resource="#Physical"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Shape"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Height"/>
+ </owl:disjointWith>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Width"/>
+ <owl:disjointWith rdf:resource="#Mass"/>
+ <owl:disjointWith rdf:resource="#Length"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Detect">
+ <owl:disjointWith rdf:resource="#Sort"/>
+ <owl:disjointWith rdf:resource="#Read"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Classify"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Measure"/>
+ <owl:disjointWith rdf:resource="#Scan"/>
+ <owl:disjointWith rdf:resource="#Determine"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Structured Description of Skills and Device 1.0
+pag:5
+Tasks and Skills of Ocptical Sensor 1.1
+Cap: 2-5</rdfs:comment>
+ <owl:disjointWith rdf:resource="#Check"/>
+ <owl:disjointWith rdf:resource="#ImageAnalysis"/>
+ <rdfs:subClassOf rdf:resource="#MainSensorFunction"/>
+ </owl:Class>
+ <owl:Class rdf:about="#NumericalControl">
+ <owl:disjointWith rdf:resource="#VariableSequenceRobot"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Introdution to Robotics
+(Analysis, System, Applications)
+Saeed B. Niku</rdfs:comment>
+ <owl:disjointWith rdf:resource="#IntelligentRobot"/>
+ <rdf:type rdf:resource="http://www.w3.org/2002/07/owl#DeprecatedClass"/>
+ <owl:disjointWith rdf:resource="#PlaybackRobot"/>
+ <rdfs:subClassOf rdf:resource="#Robot"/>
+ </owl:Class>
+ <owl:Class rdf:about="#ShapeOfClaws">
+ <owl:disjointWith rdf:resource="#TypeOfFingers"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Communicational"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#DriveSystem"/>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#WorkFrame"/>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith rdf:resource="#Repeatibility"/>
+ <owl:disjointWith rdf:resource="#Precision"/>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith rdf:resource="#Accuracy"/>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith rdf:resource="#CycleTime"/>
+ <owl:disjointWith rdf:resource="#NumberOfJoints"/>
+ <owl:disjointWith rdf:resource="#SizeOfGripper"/>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#LaserClass"/>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith rdf:resource="#TypeOfActuation"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ResponseTime"/>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith rdf:resource="#ControlSystem"/>
+ <owl:disjointWith rdf:resource="#ElectricallySupported"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ScanningDistance"/>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
+ </owl:Class>
+ <owl:Class rdf:about="#FollowTrajectory">
+ <owl:disjointWith rdf:resource="#Pick"/>
+ <owl:disjointWith rdf:resource="#Place"/>
+ <rdfs:subClassOf rdf:resource="#MainRobotFunction"/>
+ <owl:disjointWith rdf:resource="#MoveFromTo"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >Following a trajectory means moving the TCP (tool center point) along a given path. This path can be given either in carthesian coordinates or in joint coordinates. And the path can be given as a number of points or as a function.</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#MaxAmbientTemperature">
+ <owl:disjointWith rdf:resource="#PhysicalInterface"/>
+ <owl:disjointWith rdf:resource="#CoordinateReferenceSystem"/>
+ <owl:disjointWith rdf:resource="#PowerConsumption"/>
+ <owl:disjointWith rdf:resource="#EnclosureRatingIP"/>
+ <owl:disjointWith rdf:resource="#MountedDeviceOrientation"/>
+ <rdfs:subClassOf rdf:resource="#Arrangement"/>
+ <owl:disjointWith rdf:resource="#MinAmbientTemperature"/>
+ <owl:disjointWith rdf:resource="#MountedDevicePosition"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Shape">
+ <owl:disjointWith rdf:resource="#MechanicalResistance"/>
+ <rdfs:subClassOf rdf:resource="#Physical"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Length"/>
+ <owl:disjointWith rdf:resource="#Width"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Cost"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#ID"/>
+ <owl:disjointWith rdf:resource="#Mass"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Height"/>
+ </owl:disjointWith>
+ </owl:Class>
+ <owl:Class rdf:ID="SortObjects">
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Task and Skills of Optical Sensors v1.1
+part:7</rdfs:comment>
+ <rdfs:subClassOf rdf:resource="#Sort"/>
+ </owl:Class>
+ <owl:Class rdf:about="#OpticDistanceSensorReflector">
+ <rdfs:subClassOf rdf:resource="#DistanceSensor"/>
+ <owl:disjointWith rdf:resource="#UltrasonicDistanceSensor"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#EncoderLinearDistanceSensor"/>
+ </owl:disjointWith>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >distanceMeasurements.pdf
+SICK
+pag 4</rdfs:comment>
+ <owl:disjointWith rdf:resource="#EncoderWireDrawDistanceSensor"/>
+ <owl:disjointWith rdf:resource="#OpticDistanceSensorScanner"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Classify">
+ <owl:disjointWith rdf:resource="#ImageAnalysis"/>
+ <owl:disjointWith rdf:resource="#Detect"/>
+ <owl:disjointWith rdf:resource="#Scan"/>
+ <owl:disjointWith rdf:resource="#Read"/>
+ <rdfs:subClassOf rdf:resource="#MainSensorFunction"/>
+ <owl:disjointWith rdf:resource="#Sort"/>
+ <owl:disjointWith rdf:resource="#Measure"/>
+ <owl:disjointWith rdf:resource="#Determine"/>
+ <owl:disjointWith rdf:resource="#Check"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Structured Description of Skills and Device 1.0
+pag:5</rdfs:comment>
+ </owl:Class>
+ <owl:Class rdf:about="#Communicational">
+ <owl:disjointWith rdf:resource="#TypeOfFingers"/>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith rdf:resource="#ResponseTime"/>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith rdf:resource="#CycleTime"/>
+ <owl:disjointWith rdf:resource="#LaserClass"/>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith rdf:resource="#Repeatibility"/>
+ <owl:disjointWith rdf:resource="#TypeOfActuation"/>
+ <owl:disjointWith rdf:resource="#WorkFrame"/>
+ <owl:disjointWith rdf:resource="#DriveSystem"/>
+ <owl:disjointWith rdf:resource="#Accuracy"/>
+ <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith rdf:resource="#ControlSystem"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#WorkCoordinates"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith rdf:resource="#Precision"/>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#ElectricallySupported"/>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#NumberOfJoints"/>
+ <owl:disjointWith rdf:resource="#SizeOfGripper"/>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
+ <owl:disjointWith rdf:resource="#ScanningDistance"/>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ </owl:Class>
+ <owl:Class rdf:about="#BusInterface">
+ <owl:disjointWith rdf:resource="#CommunicationProtocol"/>
+ <owl:disjointWith rdf:resource="#ElectricalInterface"/>
+ <rdfs:subClassOf rdf:resource="#Communicational"/>
+ </owl:Class>
+ <owl:Class rdf:about="#WorkCoordinates">
+ <owl:disjointWith rdf:resource="#SizeOfGripper"/>
+ <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
+ <owl:disjointWith rdf:resource="#WorkFrame"/>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
+ <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
+ <owl:disjointWith rdf:resource="#Communicational"/>
+ <owl:disjointWith rdf:resource="#CycleTime"/>
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
+ <owl:disjointWith rdf:resource="#LaserClass"/>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith rdf:resource="#ResponseTime"/>
+ <owl:disjointWith rdf:resource="#Accuracy"/>
+ <owl:disjointWith rdf:resource="#ElectricallySupported"/>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#StiffnessOfGripper"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#TypeOfFingers"/>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith rdf:resource="#Repeatibility"/>
+ <owl:disjointWith rdf:resource="#ScanningDistance"/>
+ <owl:disjointWith rdf:resource="#TypeOfActuation"/>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith rdf:resource="#Precision"/>
+ <owl:disjointWith rdf:resource="#DriveSystem"/>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith rdf:resource="#ControlSystem"/>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith rdf:resource="#NumberOfJoints"/>
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ </owl:Class>
+ <owl:Class rdf:about="#MechanicalConnector">
+ <rdfs:subClassOf rdf:resource="#ToolInterface"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >How to connect a tool mechanically.
+This includes the size and is dependent on the Payload.</rdfs:comment>
+ <owl:disjointWith rdf:resource="#ElectricalConnector"/>
+ </owl:Class>
+ <owl:Class rdf:about="#EncoderLinearDistanceSensor">
+ <owl:disjointWith rdf:resource="#OpticDistanceSensorScanner"/>
+ <owl:disjointWith rdf:resource="#EncoderWireDrawDistanceSensor"/>
+ <owl:disjointWith rdf:resource="#OpticDistanceSensorReflector"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >distanceMeasurements.pdf
+SICK
+pag 4</rdfs:comment>
+ <owl:disjointWith rdf:resource="#UltrasonicDistanceSensor"/>
+ <rdfs:subClassOf rdf:resource="#DistanceSensor"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Cost">
+ <owl:disjointWith rdf:resource="#Mass"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Width"/>
+ <owl:disjointWith rdf:resource="#MechanicalResistance"/>
+ <owl:disjointWith rdf:resource="#Length"/>
+ <rdfs:subClassOf rdf:resource="#Physical"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Height"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Shape"/>
+ <owl:disjointWith rdf:resource="#ID"/>
+ </owl:Class>
+ <owl:Class rdf:ID="Workpiece"/>
+ <owl:Class rdf:about="#StiffnessOfGripper">
+ <owl:disjointWith rdf:resource="#NumberOfFingers"/>
+ <owl:disjointWith rdf:resource="#SwitchingFrequency"/>
+ <owl:disjointWith rdf:resource="#DegreesOfFreedom"/>
+ <owl:disjointWith rdf:resource="#MaximumVacuum"/>
+ <owl:disjointWith rdf:resource="#TypeOfActuation"/>
+ <owl:disjointWith rdf:resource="#Precision"/>
+ <owl:disjointWith rdf:resource="#Repeatibility"/>
+ <owl:disjointWith rdf:resource="#ResponseTime"/>
+ <owl:disjointWith rdf:resource="#WorkCoordinates"/>
+ <owl:disjointWith rdf:resource="#Communicational"/>
+ <owl:disjointWith rdf:resource="#MaximumForce"/>
+ <owl:disjointWith rdf:resource="#ElectricallySupported"/>
+ <owl:disjointWith rdf:resource="#LaserClass"/>
+ <owl:disjointWith rdf:resource="#LightType"/>
+ <owl:disjointWith rdf:resource="#CycleTime"/>
+ <owl:disjointWith rdf:resource="#Resolution"/>
+ <owl:disjointWith rdf:resource="#SizeOfGripper"/>
+ <owl:disjointWith rdf:resource="#Accuracy"/>
+ <rdfs:subClassOf rdf:resource="#Property"/>
+ <owl:disjointWith rdf:resource="#SpecialKinematicRobot"/>
+ <owl:disjointWith rdf:resource="#InsideOrOutsidePicking"/>
+ <owl:disjointWith rdf:resource="#Physical"/>
+ <owl:disjointWith rdf:resource="#TypeOfMagnet"/>
+ <owl:disjointWith rdf:resource="#DriveSystem"/>
+ <owl:disjointWith rdf:resource="#MaxLiftWeight"/>
+ <owl:disjointWith rdf:resource="#ScanningDistance"/>
+ <owl:disjointWith rdf:resource="#ToolInterface"/>
+ <owl:disjointWith rdf:resource="#Reach"/>
+ <owl:disjointWith rdf:resource="#NumberOfMovableClaws"/>
+ <owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#Payload"/>
+ <owl:disjointWith rdf:resource="#Arrangement"/>
+ <owl:disjointWith rdf:resource="#ShapeOfClaws"/>
+ <owl:disjointWith rdf:resource="#ControlSystem"/>
+ <owl:disjointWith rdf:resource="#MinMeasurementRange"/>
+ <owl:disjointWith rdf:resource="#LightSpotSize"/>
+ <owl:disjointWith rdf:resource="#NumberOfClaws"/>
+ <owl:disjointWith rdf:resource="#NumberOfJoints"/>
+ <owl:disjointWith rdf:resource="#DiameterOfGripper"/>
+ <owl:disjointWith rdf:resource="#PathVelocityFluctuation"/>
+ <owl:disjointWith rdf:resource="#WorkFrame"/>
+ <owl:disjointWith rdf:resource="#TypeOfVacuum"/>
+ <owl:disjointWith rdf:resource="#MaterialOfGripper"/>
+ <owl:disjointWith rdf:resource="#TypeOfFingers"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Height">
+ <owl:disjointWith rdf:resource="#MechanicalResistance"/>
+ <owl:disjointWith rdf:resource="#Mass"/>
+ <owl:disjointWith rdf:resource="#Length"/>
+ <owl:disjointWith rdf:resource="#ID"/>
+ <rdfs:subClassOf rdf:resource="#Physical"/>
+ <owl:disjointWith rdf:resource="#Width"/>
+ <owl:disjointWith>
+ <owl:Class rdf:about="#Material"/>
+ </owl:disjointWith>
+ <owl:disjointWith rdf:resource="#Shape"/>
+ <owl:disjointWith rdf:resource="#Cost"/>
+ </owl:Class>
+ <owl:Class rdf:about="#Material">
+ <owl:disjointWith rdf:resource="#Mass"/>
+ <rdfs:subClassOf rdf:resource="#Physical"/>
+ <owl:disjointWith rdf:resource="#Shape"/>
+ <owl:disjointWith rdf:resource="#Height"/>
+ <owl:disjointWith rdf:resource="#Cost"/>
+ <owl:disjointWith rdf:resource="#Width"/>
+ <owl:disjointWith rdf:resource="#MechanicalResistance"/>
+ <owl:disjointWith rdf:resource="#Length"/>
+ <owl:disjointWith rdf:resource="#ID"/>
+ </owl:Class>
+ <owl:Class rdf:about="#AdjustCurrentToGrip">
+ <rdfs:subClassOf rdf:resource="#Grasp"/>
+ <owl:disjointWith rdf:resource="#CloseFingers"/>
+ <rdfs:subClassOf>
+ <owl:Restriction>
+ <owl:someValuesFrom rdf:resource="#MagnetGripper"/>
+ <owl:onProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:onProperty>
+ </owl:Restriction>
+ </rdfs:subClassOf>
+ <owl:disjointWith rdf:resource="#AdjustVacuumToGrip"/>
+ <owl:disjointWith rdf:resource="#CloseClaws"/>
+ </owl:Class>
+ <owl:ObjectProperty rdf:ID="hasDiagnosticSkill">
+ <rdfs:domain rdf:resource="#Device"/>
+ <rdfs:range rdf:resource="#DiagnosticFunction"/>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:ID="canBePerformedBy">
+ <rdfs:domain rdf:resource="#Task"/>
+ <rdfs:range rdf:resource="#MainFunction"/>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:about="#hasSkill">
+ <rdfs:range rdf:resource="#MainFunction"/>
+ <rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >SIARAS (FP6-017146)
+Structured Description of Skills and Device 1.0
+pag:5
+(Breakdown of Skills)</rdfs:comment>
+ <rdfs:domain rdf:resource="#Device"/>
+ <owl:inverseOf>
+ <owl:ObjectProperty rdf:about="#isSkillOf"/>
+ </owl:inverseOf>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:about="#hasProperty">
+ <rdfs:domain>
+ <owl:Class>
+ <owl:unionOf rdf:parseType="Collection">
+ <owl:Class rdf:about="#Skill"/>
+ <owl:Class rdf:about="#Device"/>
+ </owl:unionOf>
+ </owl:Class>
+ </rdfs:domain>
+ <rdfs:range rdf:resource="#Property"/>
+ <owl:inverseOf>
+ <owl:ObjectProperty rdf:ID="isPropertyOf"/>
+ </owl:inverseOf>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:about="#isSkillOf">
+ <owl:inverseOf rdf:resource="#hasSkill"/>
+ <rdfs:domain rdf:resource="#MainFunction"/>
+ <rdfs:range rdf:resource="#Device"/>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:ID="hasAdditionalSkill">
+ <rdfs:range rdf:resource="#AdditionalFunction"/>
+ <rdfs:domain rdf:resource="#Device"/>
+ </owl:ObjectProperty>
+ <owl:ObjectProperty rdf:about="#isPropertyOf">
+ <owl:inverseOf rdf:resource="#hasProperty"/>
+ <rdfs:domain rdf:resource="#Property"/>
+ <rdfs:range>
+ <owl:Class>
+ <owl:unionOf rdf:parseType="Collection">
+ <owl:Class rdf:about="#Device"/>
+ <owl:Class rdf:about="#Skill"/>
+ </owl:unionOf>
+ </owl:Class>
+ </rdfs:range>
+ </owl:ObjectProperty>
+ <owl:DatatypeProperty rdf:ID="value">
+ <rdfs:domain rdf:resource="#Property"/>
+ </owl:DatatypeProperty>
+ <owl:DataRange>
+ <owl:oneOf rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >hydraulic</rdf:first>
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >electric</rdf:first>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >pneumatic</rdf:first>
+ </rdf:rest>
+ </owl:oneOf>
+ </owl:DataRange>
+ <AdjustVacuumToRelease rdf:ID="AdjustVacuumToRelease_1">
+ <isSkillOf>
+ <VacuumGripper rdf:ID="VacuumGripper_1">
+ <hasSkill>
+ <AdjustVacuumToGrip rdf:ID="AdjustVacuumToGrip_1">
+ <isSkillOf>
+ <Gripper rdf:ID="Gripper_1">
+ <hasSkill>
+ <OpenFingers rdf:ID="OpenFingers_1">
+ <isSkillOf rdf:resource="#Gripper_1"/>
+ </OpenFingers>
+ </hasSkill>
+ <hasSkill rdf:resource="#AdjustVacuumToGrip_1"/>
+ </Gripper>
+ </isSkillOf>
+ <isSkillOf rdf:resource="#VacuumGripper_1"/>
+ </AdjustVacuumToGrip>
+ </hasSkill>
+ <hasSkill rdf:resource="#AdjustVacuumToRelease_1"/>
+ </VacuumGripper>
+ </isSkillOf>
+ </AdjustVacuumToRelease>
+ <owl:AllDifferent/>
+ <owl:DataRange>
+ <owl:oneOf rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >world</rdf:first>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >tool</rdf:first>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >joint</rdf:first>
+ </owl:oneOf>
+ </owl:DataRange>
+ <Gripper rdf:ID="Gripper_4"/>
+ <owl:DataRange>
+ <owl:oneOf rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >pneumatic</rdf:first>
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >hydraulic</rdf:first>
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >electric</rdf:first>
+ </rdf:rest>
+ </rdf:rest>
+ </owl:oneOf>
+ </owl:DataRange>
+ <owl:DataRange>
+ <owl:oneOf rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >torque</rdf:first>
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >ball-screw</rdf:first>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >harmonic</rdf:first>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >gears</rdf:first>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >chains</rdf:first>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >belts</rdf:first>
+ </rdf:rest>
+ </owl:oneOf>
+ </owl:DataRange>
+ <owl:DataRange>
+ <owl:oneOf rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
+ >3</rdf:first>
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
+ >5</rdf:first>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
+ >4</rdf:first>
+ </rdf:rest>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
+ >2</rdf:first>
+ </owl:oneOf>
+ </owl:DataRange>
+ <CloseFingers rdf:ID="CloseFingers_2"/>
+ <owl:DataRange>
+ <owl:oneOf rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >3.5</rdf:first>
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >4.0</rdf:first>
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >6.0</rdf:first>
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >4.5</rdf:first>
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >5.5</rdf:first>
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >2.0</rdf:first>
+ <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >2.5</rdf:first>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >6.5</rdf:first>
+ </rdf:rest>
+ </rdf:rest>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >7.0</rdf:first>
+ </rdf:rest>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >5.0</rdf:first>
+ </rdf:rest>
+ </rdf:rest>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
+ >3.0</rdf:first>
+ </owl:oneOf>
+ </owl:DataRange>
+ <owl:DataRange>
+ <owl:oneOf rdf:parseType="Resource">
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >multiple joints</rdf:first>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >elastic</rdf:first>
+ </owl:oneOf>
+ </owl:DataRange>
+ <owl:DataRange>
+ <owl:oneOf rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >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:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >spherical</rdf:first>
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >articulated</rdf:first>
+ <rdf:rest rdf:parseType="Resource">
+ <rdf: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:rest>
+ </rdf:rest>
+ </rdf:rest>
+ </owl:oneOf>
+ </owl:DataRange>
+ <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: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: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"
+ >blower</rdf:first>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >vacuum pump</rdf:first>
+ </rdf:rest>
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >venturi nozzle</rdf:first>
+ </owl:oneOf>
+ </owl:DataRange>
+ <owl:DataRange>
+ <owl:oneOf rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >inside</rdf:first>
+ <rdf:rest rdf:parseType="Resource">
+ <rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
+ >outside</rdf:first>
+ <rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
+ </rdf:rest>
+ </owl:oneOf>
+ </owl:DataRange>
+ <owl:AllDifferent/>
+</rdf:RDF>
+
+<!-- Created with Protege (with OWL Plugin 2.2, Build 307) http://protege.stanford.edu -->