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<?xml version="1.0"?>
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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">
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>Very precise kinematic, but small working area. This is used for special applications.</rdfs:comment>
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>SIARAS (FP6-017146)
Task and Skills of Optical Sensors v1.1
part:7</rdfs:comment>
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<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Task and Skills of Optical Sensors v1.1
part:7</rdfs:comment>
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<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>SIARAS (FP6-017146)
Tasks and Skills of Ocptical Sensor 1.1
Cap: 2</rdfs:comment>
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<owl:Class rdf: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>
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</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"/>
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<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"/>
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<owl:disjointWith>
<owl:Class rdf:about="#MaxAmbientTemperature"/>
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<owl:disjointWith>
<owl:Class rdf:about="#CoordinateReferenceSystem"/>
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<owl:disjointWith>
<owl:Class rdf:about="#MinAmbientTemperature"/>
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<owl:disjointWith>
<owl:Class rdf:about="#PowerConsumption"/> </owl:disjointWith>
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<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith>
<owl:Class rdf:about="#DegreesOfFreedom"/>
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<owl:disjointWith>
<owl:Class rdf:about="#NumberOfJoints"/>
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<owl:disjointWith>
<owl:Class rdf:about="#MaximumVacuum"/>
</owl:disjointWith>
<owl:disjointWith rdf:resource="#LightType"/>
<owl:disjointWith rdf:resource="#MinMeasurementRange"/>
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<owl:Class rdf:about="#ToolInterface"/>
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<owl:disjointWith>
<owl:Class rdf:about="#DiameterOfGripper"/>
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<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>
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<owl:Class rdf:about="#ElectricallySupported"/>
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<owl:disjointWith>
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</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"/>
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<owl:disjointWith>
<owl:Class rdf:about="#SizeOfGripper"/>
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<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>
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<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>
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</owl:disjointWith>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
>Introdution to Robotics
(Analysis, System, Applications)
Saeed B. Niku</rdfs:comment>
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<owl:Class rdf:about="#Robot"/>
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<owl:disjointWith>
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<owl:disjointWith rdf:resource="#LightType"/> <owl:disjointWith>
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<owl:disjointWith>
<owl:Class rdf:about="#DiameterOfGripper"/>
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<owl:disjointWith>
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<owl:disjointWith>
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<owl:disjointWith>
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<owl:disjointWith>
<owl:Class rdf:about="#TypeOfMagnet"/>
</owl:disjointWith>
<owl:disjointWith>
<owl:Class rdf:about="#WorkCoordinates"/>
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<owl:disjointWith>
<owl:Class rdf:about="#ResponseTime"/>
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<owl:disjointWith>
<owl:Class rdf:about="#TypeOfFingers"/>
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<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"/>
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<owl:disjointWith>
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</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>
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<owl:Class rdf:about="#PathVelocityFluctuation"/>
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<owl:disjointWith rdf:resource="#Arrangement"/>
<owl:disjointWith rdf:resource="#MaxMeasurementRange"/>
<owl:disjointWith>
<owl:Class rdf:about="#TypeOfMagnet"/>
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<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"/>
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<owl:disjointWith>
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<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>
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</owl:disjointWith>
<owl:disjointWith>
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</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>
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<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">
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<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>
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</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 1.0pag: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">
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<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">
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<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>
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<owl:Class rdf:about="#Skill"/>
<owl:Class rdf:about="#Device"/>
</owl:unionOf>
</owl:Class>
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<owl:ObjectProperty rdf:ID="isPropertyOf"/>
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<owl:ObjectProperty rdf:about="#isSkillOf">
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<rdfs:range rdf:resource="#Device"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:ID="hasAdditionalSkill">
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<rdfs:domain rdf:resource="#Device"/>
</owl:ObjectProperty>
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<owl:Class>
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<owl:Class rdf:about="#Skill"/>
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<owl:DatatypeProperty rdf:ID="value">
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<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
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<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">
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</OpenFingers>
</hasSkill>
<hasSkill rdf:resource="#AdjustVacuumToGrip_1"/>
</Gripper>
</isSkillOf>
<isSkillOf rdf:resource="#VacuumGripper_1"/>
</AdjustVacuumToGrip>
</hasSkill>
<hasSkill rdf:resource="#AdjustVacuumToRelease_1"/>
</VacuumGripper>
</isSkillOf>
</AdjustVacuumToRelease>
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<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"
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</owl:oneOf>
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<Gripper rdf:ID="Gripper_4"/>
<owl:DataRange>
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<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
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<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
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</rdf:rest>
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<owl:DataRange>
<owl:oneOf rdf:parseType="Resource">
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
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<rdf:rest rdf:parseType="Resource">
<rdf:rest rdf:parseType="Resource">
<rdf:rest rdf:parseType="Resource">
<rdf:rest rdf:parseType="Resource">
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<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>
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<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"
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</rdf:rest>
</rdf:rest>
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#int"
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<CloseFingers rdf:ID="CloseFingers_2"/>
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<rdf:rest rdf:parseType="Resource">
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
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<rdf:rest rdf:parseType="Resource">
<rdf:rest rdf:parseType="Resource">
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
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<rdf:rest rdf:parseType="Resource">
<rdf:rest rdf:parseType="Resource">
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
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<rdf:rest rdf:parseType="Resource">
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<rdf:rest rdf:parseType="Resource">
<rdf:rest rdf:parseType="Resource">
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
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</rdf:rest>
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#float"
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</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>
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</rdf:rest>
</rdf:rest>
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<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
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<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string"
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<!-- Created with Protege (with OWL Plugin 2.2, Build 307) http://protege.stanford.edu -->