transporting

https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting

as defined in Capability Model ontology

version info
0.0.7
imports
title
Capability Model ontology
description
Capability Model (CM) is defining capabilities for production resources. This model will be extended by adding more capabilities and their parameters, i.e. extending the capability catalogue.
comment
Capability Model (CM) is defining capabilities for production resources. This model will be extended by adding more capabilities and their parameters, i.e. extending the capability catalogue.
creator
Eeva Järvenpää
contributor
Eeva Järvenpää
Niko Siltala
Otto Hylli
date
2018-03-18
rights
This work is licensed under the Creative Commons Attribution-ShareAlike 4.0 International License (CC BY-SA 4.0). To view a copy of this license, visit http://creativecommons.org/licenses/by-sa/4.0/
language
en
Other visualisation
WebVOWL Source
Export entity
Turtle RDF/XML JSON-LD N-Triples

transporting
c

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting

comment
Capability to transport items from one place to another. For example robot attached with a gripper, or conveyor alone have this capability.
is disjoint with
blind rivetingc,
bulk box feedingc,
impact rivetingc,
insertingc,
mounting flexible ring externalc,
orbital rivetingc,
placingc,
radial rivetingc,
thread runningc,
transporting collaborativec,
ogiva toolset functionc,
pick and placec,
drillingc,
millingc,
pickingc,
pressingc,
screwingc,
transport feedingc,
tray feedingc,
tube feedingc,
milling tool functionc,
drill bit functionc,
finger functionc,
finger graspingc,
finger gripper functionc,
fixturingc,
force applyingc,
holding by gravityc,
milling cutter functionc,
movingc,
orienting mechanicalc,
part storing in trayc,
part storing in tubec,
positioning mechanicalc,
press tool functionc,
releasingc,
screwing head functionc,
spinning toolc,
tool holdingc,
tray holdingc,
tube feeder base functionc,
vacuum cup functionc,
vacuum graspingc,
vacuum gripper functionc,
moving collaborativec,
moving toolc
is sub class of
acceleration x maxdp
max 1
thingc
acceleration y maxdp
max 1
thingc
dofdp
max 6
thingc
acceleration z maxdp
max 1
thingc
has workspace type and dimensionsop
only
workspacec
payloaddp
exactly 1
thingc
speed x maxdp
max 1
thingc
has input capabilityop
some (
finger graspingc
or
vacuum graspingc
or
holding by gravityc
or
magnetic graspingc
or
expansion graspingc
)
has item size minop
exactly 1
thingc
speed y maxdp
max 1
thingc
has item size maxop
exactly 1
thingc
has allowed item shape and size maxop
min 0
thingc
accuracydp
exactly 1
thingc
has allowed item shape and size minop
min 0
thingc
has workspace type and dimensionsop
exactly 1
thingc
dofdp
min 1
thingc
has input capabilityop
some
movingc
repeatabilitydp
exactly 1
thingc
speed z maxdp
max 1
thingc
combined capabilityc,
transportingc

@prefix : <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#> .
@prefix owl: <http://www.w3.org/2002/07/owl#> .
@prefix pt: <https://resourcedescription.rd.tuni.fi/ontology/processTaxonomyModel#> .
@prefix rdf: <http://www.w3.org/1999/02/22-rdf-syntax-ns#> .
@prefix rdfs: <http://www.w3.org/2000/01/rdf-schema#> .
@prefix xsd: <http://www.w3.org/2001/XMLSchema#> .

<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> {
    :Transporting a owl:Class ;
        rdfs:comment """Capability to transport items from one place to another.
For example robot attached with a gripper, or conveyor alone have this capability."""^^xsd:string ;
        rdfs:subClassOf _:n80fe30cb823543c7abddead394362141b718,
            _:n80fe30cb823543c7abddead394362141b719,
            _:n80fe30cb823543c7abddead394362141b720,
            _:n80fe30cb823543c7abddead394362141b721,
            _:n80fe30cb823543c7abddead394362141b722,
            _:n80fe30cb823543c7abddead394362141b723,
            _:n80fe30cb823543c7abddead394362141b724,
            _:n80fe30cb823543c7abddead394362141b725,
            _:n80fe30cb823543c7abddead394362141b732,
            _:n80fe30cb823543c7abddead394362141b733,
            _:n80fe30cb823543c7abddead394362141b734,
            _:n80fe30cb823543c7abddead394362141b735,
            _:n80fe30cb823543c7abddead394362141b736,
            _:n80fe30cb823543c7abddead394362141b737,
            _:n80fe30cb823543c7abddead394362141b738,
            _:n80fe30cb823543c7abddead394362141b739,
            _:n80fe30cb823543c7abddead394362141b740,
            _:n80fe30cb823543c7abddead394362141b741,
            _:n80fe30cb823543c7abddead394362141b742,
            :CombinedCapability,
            pt:Transporting ;
        owl:disjointWith :BlindRiveting,
            :BulkBoxFeeding,
            :DrillBitFunction,
            :Drilling,
            :FingerFunction,
            :FingerGrasping,
            :FingerGripperFunction,
            :Fixturing,
            :ForceApplying,
            :HoldingByGravity,
            :ImpactRiveting,
            :Inserting,
            :Milling,
            :MillingCutterFunction,
            :MillingToolFunction,
            :MountingFlexibleRingExternal,
            :Moving,
            :OgivaToolsetFunction,
            :OrbitalRiveting,
            :OrientingMechanical,
            :PartStoringInTray,
            :PartStoringInTube,
            :PickAndPlace,
            :Picking,
            :Placing,
            :PositioningMechanical,
            :PressToolFunction,
            :Pressing,
            :RadialRiveting,
            :Releasing,
            :Screwing,
            :ScrewingHeadFunction,
            :SpinningTool,
            :ThreadRunning,
            :ToolHolding,
            :TransportFeeding,
            :TransportingCollaborative,
            :TrayFeeding,
            :TrayHolding,
            :TubeFeederBaseFunction,
            :TubeFeeding,
            :VacuumCupFunction,
            :VacuumGrasping,
            :VacuumGripperFunction .

    _:n80fe30cb823543c7abddead394362141b718 a owl:Restriction ;
        owl:maxCardinality "1"^^xsd:int ;
        owl:onProperty :acceleration_x_max .

    _:n80fe30cb823543c7abddead394362141b719 a owl:Restriction ;
        owl:maxCardinality "1"^^xsd:int ;
        owl:onProperty :acceleration_y_max .

    _:n80fe30cb823543c7abddead394362141b720 a owl:Restriction ;
        owl:maxCardinality "6"^^xsd:int ;
        owl:onProperty :dof .

    _:n80fe30cb823543c7abddead394362141b721 a owl:Restriction ;
        owl:maxCardinality "1"^^xsd:int ;
        owl:onProperty :acceleration_z_max .

    _:n80fe30cb823543c7abddead394362141b722 a owl:Restriction ;
        owl:allValuesFrom :Workspace ;
        owl:onProperty :hasWorkspaceTypeAndDimensions .

    _:n80fe30cb823543c7abddead394362141b723 a owl:Restriction ;
        owl:cardinality "1"^^xsd:nonNegativeInteger ;
        owl:onProperty :payload .

    _:n80fe30cb823543c7abddead394362141b724 a owl:Restriction ;
        owl:maxCardinality "1"^^xsd:int ;
        owl:onProperty :speed_x_max .

    _:n80fe30cb823543c7abddead394362141b725 a owl:Restriction ;
        owl:onProperty :hasInputCapability ;
        owl:someValuesFrom _:n80fe30cb823543c7abddead394362141b726 .

    _:n80fe30cb823543c7abddead394362141b726 a owl:Class ;
        owl:unionOf _:n80fe30cb823543c7abddead394362141b727 .

    _:n80fe30cb823543c7abddead394362141b727 rdf:first :FingerGrasping ;
        rdf:rest _:n80fe30cb823543c7abddead394362141b728 .

    _:n80fe30cb823543c7abddead394362141b728 rdf:first :VacuumGrasping ;
        rdf:rest _:n80fe30cb823543c7abddead394362141b729 .

    _:n80fe30cb823543c7abddead394362141b729 rdf:first :HoldingByGravity ;
        rdf:rest _:n80fe30cb823543c7abddead394362141b730 .

    _:n80fe30cb823543c7abddead394362141b730 rdf:first :MagneticGrasping ;
        rdf:rest _:n80fe30cb823543c7abddead394362141b731 .

    _:n80fe30cb823543c7abddead394362141b731 rdf:first :ExpansionGrasping ;
        rdf:rest () .

    _:n80fe30cb823543c7abddead394362141b732 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :hasItemSize_min .

    _:n80fe30cb823543c7abddead394362141b733 a owl:Restriction ;
        owl:maxCardinality "1"^^xsd:int ;
        owl:onProperty :speed_y_max .

    _:n80fe30cb823543c7abddead394362141b734 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :hasItemSize_max .

    _:n80fe30cb823543c7abddead394362141b735 a owl:Restriction ;
        owl:minCardinality "0"^^xsd:int ;
        owl:onProperty :hasAllowedItemShapeAndSize_max .

    _:n80fe30cb823543c7abddead394362141b736 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :accuracy .

    _:n80fe30cb823543c7abddead394362141b737 a owl:Restriction ;
        owl:minCardinality "0"^^xsd:int ;
        owl:onProperty :hasAllowedItemShapeAndSize_min .

    _:n80fe30cb823543c7abddead394362141b738 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :hasWorkspaceTypeAndDimensions .

    _:n80fe30cb823543c7abddead394362141b739 a owl:Restriction ;
        owl:minCardinality "1"^^xsd:int ;
        owl:onProperty :dof .

    _:n80fe30cb823543c7abddead394362141b740 a owl:Restriction ;
        owl:onProperty :hasInputCapability ;
        owl:someValuesFrom :Moving .

    _:n80fe30cb823543c7abddead394362141b741 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :repeatability .

    _:n80fe30cb823543c7abddead394362141b742 a owl:Restriction ;
        owl:maxCardinality "1"^^xsd:int ;
        owl:onProperty :speed_z_max .
}


[
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        "@type": [
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        ],
        "http://www.w3.org/2000/01/rdf-schema#comment": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#string",
            "@value": "Capability to transport items from one place to another.\nFor example robot attached with a gripper, or conveyor alone have this capability."
          }
        ],
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          },
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          {
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          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#SpinningTool"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PartStoringInTube"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ScrewingHeadFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MillingCutterFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#OgivaToolsetFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#BlindRiveting"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PartStoringInTray"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGripperFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Releasing"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TubeFeederBaseFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Picking"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportingCollaborative"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ThreadRunning"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Screwing"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#HoldingByGravity"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Placing"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PressToolFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ToolHolding"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TrayFeeding"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TubeFeeding"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Fixturing"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Inserting"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ImpactRiveting"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MillingToolFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Pressing"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#BulkBoxFeeding"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ForceApplying"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#OrbitalRiveting"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TrayHolding"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#DrillBitFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#RadialRiveting"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportFeeding"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Drilling"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumCupFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Moving"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MountingFlexibleRingExternal"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#OrientingMechanical"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Milling"
          }
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          }
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            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasWorkspaceTypeAndDimensions"
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            "@value": "1"
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        ],
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        ]
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        ],
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            "@value": "1"
          }
        ],
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            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#speed_z_max"
          }
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            "@value": "1"
          }
        ],
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          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#speed_x_max"
          }
        ]
      },
      {
        "@id": "_:n80fe30cb823543c7abddead394362141b739",
        "@type": [
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        ],
        "http://www.w3.org/2002/07/owl#minCardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#dof"
          }
        ]
      },
      {
        "@id": "_:n80fe30cb823543c7abddead394362141b725",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasInputCapability"
          }
        ],
        "http://www.w3.org/2002/07/owl#someValuesFrom": [
          {
            "@id": "_:n80fe30cb823543c7abddead394362141b726"
          }
        ]
      },
      {
        "@id": "_:n80fe30cb823543c7abddead394362141b726",
        "@type": [
          "http://www.w3.org/2002/07/owl#Class"
        ],
        "http://www.w3.org/2002/07/owl#unionOf": [
          {
            "@list": [
              {
                "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping"
              },
              {
                "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping"
              },
              {
                "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#HoldingByGravity"
              },
              {
                "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MagneticGrasping"
              },
              {
                "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ExpansionGrasping"
              }
            ]
          }
        ]
      },
      {
        "@id": "_:n80fe30cb823543c7abddead394362141b718",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#maxCardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#acceleration_x_max"
          }
        ]
      },
      {
        "@id": "_:n80fe30cb823543c7abddead394362141b737",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#minCardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "0"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasAllowedItemShapeAndSize_min"
          }
        ]
      },
      {
        "@id": "_:n80fe30cb823543c7abddead394362141b720",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#maxCardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "6"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#dof"
          }
        ]
      },
      {
        "@id": "_:n80fe30cb823543c7abddead394362141b733",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#maxCardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#speed_y_max"
          }
        ]
      },
      {
        "@id": "_:n80fe30cb823543c7abddead394362141b736",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#accuracy"
          }
        ]
      },
      {
        "@id": "_:n80fe30cb823543c7abddead394362141b719",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#maxCardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#acceleration_y_max"
          }
        ]
      },
      {
        "@id": "_:n80fe30cb823543c7abddead394362141b738",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasWorkspaceTypeAndDimensions"
          }
        ]
      },
      {
        "@id": "_:n80fe30cb823543c7abddead394362141b734",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasItemSize_max"
          }
        ]
      },
      {
        "@id": "_:n80fe30cb823543c7abddead394362141b740",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasInputCapability"
          }
        ],
        "http://www.w3.org/2002/07/owl#someValuesFrom": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Moving"
          }
        ]
      },
      {
        "@id": "_:n80fe30cb823543c7abddead394362141b735",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#minCardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "0"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasAllowedItemShapeAndSize_max"
          }
        ]
      },
      {
        "@id": "_:n80fe30cb823543c7abddead394362141b721",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#maxCardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#acceleration_z_max"
          }
        ]
      },
      {
        "@id": "_:n80fe30cb823543c7abddead394362141b732",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasItemSize_min"
          }
        ]
      },
      {
        "@id": "_:n80fe30cb823543c7abddead394362141b723",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#nonNegativeInteger",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#payload"
          }
        ]
      }
    ],
    "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel"
  }
]
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PositioningMechanical> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b721 <http://www.w3.org/2002/07/owl#maxCardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b728 <http://www.w3.org/1999/02/22-rdf-syntax-ns#rest> _:n80fe30cb823543c7abddead394362141b729 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b742 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b730 <http://www.w3.org/1999/02/22-rdf-syntax-ns#first> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MagneticGrasping> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b742 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#speed_z_max> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#SpinningTool> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n80fe30cb823543c7abddead394362141b722 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PartStoringInTube> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ScrewingHeadFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MillingCutterFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b726 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Class> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b733 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#speed_y_max> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b737 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasAllowedItemShapeAndSize_min> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b725 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b720 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b732 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#OgivaToolsetFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b732 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasItemSize_min> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n80fe30cb823543c7abddead394362141b741 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b742 <http://www.w3.org/2002/07/owl#maxCardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n80fe30cb823543c7abddead394362141b742 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b733 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n80fe30cb823543c7abddead394362141b724 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#BlindRiveting> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n80fe30cb823543c7abddead394362141b739 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b718 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PartStoringInTray> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b725 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasInputCapability> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n80fe30cb823543c7abddead394362141b725 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b726 <http://www.w3.org/2002/07/owl#unionOf> _:n80fe30cb823543c7abddead394362141b727 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b732 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b731 <http://www.w3.org/1999/02/22-rdf-syntax-ns#rest> <http://www.w3.org/1999/02/22-rdf-syntax-ns#nil> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b734 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n80fe30cb823543c7abddead394362141b718 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGripperFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b741 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Releasing> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b719 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b736 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#accuracy> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b720 <http://www.w3.org/2002/07/owl#maxCardinality> "6"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b734 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasItemSize_max> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TubeFeederBaseFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Picking> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b735 <http://www.w3.org/2002/07/owl#minCardinality> "0"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportingCollaborative> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n80fe30cb823543c7abddead394362141b737 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2000/01/rdf-schema#comment> "Capability to transport items from one place to another.\nFor example robot attached with a gripper, or conveyor alone have this capability."^^<http://www.w3.org/2001/XMLSchema#string> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ThreadRunning> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b739 <http://www.w3.org/2002/07/owl#minCardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b739 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#dof> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Screwing> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b736 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b722 <http://www.w3.org/2002/07/owl#allValuesFrom> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Workspace> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n80fe30cb823543c7abddead394362141b720 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2000/01/rdf-schema#subClassOf> <https://resourcedescription.rd.tuni.fi/ontology/processTaxonomyModel#Transporting> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b738 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b724 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#speed_x_max> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#HoldingByGravity> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b733 <http://www.w3.org/2002/07/owl#maxCardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n80fe30cb823543c7abddead394362141b733 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Placing> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n80fe30cb823543c7abddead394362141b736 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PressToolFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ToolHolding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b718 <http://www.w3.org/2002/07/owl#maxCardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n80fe30cb823543c7abddead394362141b719 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b723 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#nonNegativeInteger> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n80fe30cb823543c7abddead394362141b738 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b724 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TrayFeeding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TubeFeeding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b720 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#dof> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b722 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasWorkspaceTypeAndDimensions> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b737 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Fixturing> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b735 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b730 <http://www.w3.org/1999/02/22-rdf-syntax-ns#rest> _:n80fe30cb823543c7abddead394362141b731 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b727 <http://www.w3.org/1999/02/22-rdf-syntax-ns#first> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b718 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#acceleration_x_max> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b740 <http://www.w3.org/2002/07/owl#someValuesFrom> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Moving> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b729 <http://www.w3.org/1999/02/22-rdf-syntax-ns#rest> _:n80fe30cb823543c7abddead394362141b730 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b736 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n80fe30cb823543c7abddead394362141b734 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b737 <http://www.w3.org/2002/07/owl#minCardinality> "0"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n80fe30cb823543c7abddead394362141b740 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b738 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasWorkspaceTypeAndDimensions> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Inserting> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Class> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b721 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#acceleration_z_max> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b719 <http://www.w3.org/2002/07/owl#maxCardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b738 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b739 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n80fe30cb823543c7abddead394362141b735 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n80fe30cb823543c7abddead394362141b721 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ImpactRiveting> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b728 <http://www.w3.org/1999/02/22-rdf-syntax-ns#first> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MillingToolFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b741 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#repeatability> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Pressing> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b731 <http://www.w3.org/1999/02/22-rdf-syntax-ns#first> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ExpansionGrasping> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b740 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b719 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#acceleration_y_max> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#BulkBoxFeeding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n80fe30cb823543c7abddead394362141b732 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ForceApplying> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#OrbitalRiveting> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b741 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2000/01/rdf-schema#subClassOf> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#CombinedCapability> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b734 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TrayHolding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#DrillBitFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n80fe30cb823543c7abddead394362141b723 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b721 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#RadialRiveting> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportFeeding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b723 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#payload> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Drilling> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumCupFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Moving> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b722 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b723 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b725 <http://www.w3.org/2002/07/owl#someValuesFrom> _:n80fe30cb823543c7abddead394362141b726 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b724 <http://www.w3.org/2002/07/owl#maxCardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b740 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasInputCapability> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MountingFlexibleRingExternal> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#OrientingMechanical> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b735 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasAllowedItemShapeAndSize_max> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b729 <http://www.w3.org/1999/02/22-rdf-syntax-ns#first> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#HoldingByGravity> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n80fe30cb823543c7abddead394362141b727 <http://www.w3.org/1999/02/22-rdf-syntax-ns#rest> _:n80fe30cb823543c7abddead394362141b728 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Milling> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
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