transporting collaborative

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

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
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transporting collaborative
c

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

comment
Capability to transport items from one place to another by collaborative movement. For example a dual-arm robot attached with two grippers has this capability.
is disjoint with
blind rivetingc,
bulk box feedingc,
impact rivetingc,
insertingc,
mounting flexible ring externalc,
orbital rivetingc,
placingc,
radial rivetingc,
thread runningc,
drillingc,
finger graspingc,
millingc,
milling tool functionc,
ogiva toolset functionc,
pick and placec,
pickingc,
pressingc,
screwingc,
transport feedingc,
transportingc,
tray feedingc,
tube feedingc,
vacuum graspingc
is sub class of
speed x maxdp
max 1
thingc
dofdp
max 6
thingc
has item size maxop
exactly 2
thingc
has item size minop
exactly 2
thingc
acceleration y maxdp
max 1
thingc
has workspace type and dimensionsop
only
workspacec
has specialnput capabilityop
some (
finger graspingc
or
vacuum graspingc
or
magnetic graspingc
)
acceleration z maxdp
max 1
thingc
has input capabilityop
some
moving collaborativec
has specialnput capabilityop
exactly 2
thingc
repeatabilitydp
exactly 1
thingc
has allowed item shape and size minop
only
shape and size definitionc
acceleration x maxdp
max 1
thingc
speed z maxdp
max 1
thingc
speed y maxdp
max 1
thingc
accuracydp
exactly 1
thingc
payloaddp
exactly 1
thingc
has allowed item shape and size maxop
only
shape and size definitionc
combined capabilityc,
transporting collaborativec

@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> {
    :TransportingCollaborative a owl:Class ;
        rdfs:comment """Capability to transport items from one place to another by collaborative movement.
For example a dual-arm robot attached with two grippers has this capability."""^^xsd:string ;
        rdfs:subClassOf _:nf53910a7ee1940309dc1e23350cb9716b440,
            _:nf53910a7ee1940309dc1e23350cb9716b441,
            _:nf53910a7ee1940309dc1e23350cb9716b442,
            _:nf53910a7ee1940309dc1e23350cb9716b443,
            _:nf53910a7ee1940309dc1e23350cb9716b444,
            _:nf53910a7ee1940309dc1e23350cb9716b445,
            _:nf53910a7ee1940309dc1e23350cb9716b446,
            _:nf53910a7ee1940309dc1e23350cb9716b451,
            _:nf53910a7ee1940309dc1e23350cb9716b452,
            _:nf53910a7ee1940309dc1e23350cb9716b453,
            _:nf53910a7ee1940309dc1e23350cb9716b454,
            _:nf53910a7ee1940309dc1e23350cb9716b455,
            _:nf53910a7ee1940309dc1e23350cb9716b456,
            _:nf53910a7ee1940309dc1e23350cb9716b457,
            _:nf53910a7ee1940309dc1e23350cb9716b458,
            _:nf53910a7ee1940309dc1e23350cb9716b459,
            _:nf53910a7ee1940309dc1e23350cb9716b460,
            _:nf53910a7ee1940309dc1e23350cb9716b461,
            :CombinedCapability,
            pt:TransportingCollaborative ;
        owl:disjointWith :BlindRiveting,
            :BulkBoxFeeding,
            :Drilling,
            :FingerGrasping,
            :ImpactRiveting,
            :Inserting,
            :Milling,
            :MillingToolFunction,
            :MountingFlexibleRingExternal,
            :OgivaToolsetFunction,
            :OrbitalRiveting,
            :PickAndPlace,
            :Picking,
            :Placing,
            :Pressing,
            :RadialRiveting,
            :Screwing,
            :ThreadRunning,
            :TransportFeeding,
            :Transporting,
            :TrayFeeding,
            :TubeFeeding,
            :VacuumGrasping .

    _:nf53910a7ee1940309dc1e23350cb9716b440 a owl:Restriction ;
        owl:maxCardinality "1"^^xsd:int ;
        owl:onProperty :speed_x_max .

    _:nf53910a7ee1940309dc1e23350cb9716b441 a owl:Restriction ;
        owl:maxCardinality "6"^^xsd:int ;
        owl:onProperty :dof .

    _:nf53910a7ee1940309dc1e23350cb9716b442 a owl:Restriction ;
        owl:cardinality "2"^^xsd:int ;
        owl:onProperty :hasItemSize_max .

    _:nf53910a7ee1940309dc1e23350cb9716b443 a owl:Restriction ;
        owl:cardinality "2"^^xsd:int ;
        owl:onProperty :hasItemSize_min .

    _:nf53910a7ee1940309dc1e23350cb9716b444 a owl:Restriction ;
        owl:maxCardinality "1"^^xsd:int ;
        owl:onProperty :acceleration_y_max .

    _:nf53910a7ee1940309dc1e23350cb9716b445 a owl:Restriction ;
        owl:allValuesFrom :Workspace ;
        owl:onProperty :hasWorkspaceTypeAndDimensions .

    _:nf53910a7ee1940309dc1e23350cb9716b446 a owl:Restriction ;
        owl:onProperty :hasSpecialnputCapability ;
        owl:someValuesFrom _:nf53910a7ee1940309dc1e23350cb9716b447 .

    _:nf53910a7ee1940309dc1e23350cb9716b447 a owl:Class ;
        owl:unionOf _:nf53910a7ee1940309dc1e23350cb9716b448 .

    _:nf53910a7ee1940309dc1e23350cb9716b448 rdf:first :FingerGrasping ;
        rdf:rest _:nf53910a7ee1940309dc1e23350cb9716b449 .

    _:nf53910a7ee1940309dc1e23350cb9716b449 rdf:first :VacuumGrasping ;
        rdf:rest _:nf53910a7ee1940309dc1e23350cb9716b450 .

    _:nf53910a7ee1940309dc1e23350cb9716b450 rdf:first :MagneticGrasping ;
        rdf:rest () .

    _:nf53910a7ee1940309dc1e23350cb9716b451 a owl:Restriction ;
        owl:maxCardinality "1"^^xsd:int ;
        owl:onProperty :acceleration_z_max .

    _:nf53910a7ee1940309dc1e23350cb9716b452 a owl:Restriction ;
        owl:onProperty :hasInputCapability ;
        owl:someValuesFrom :MovingCollaborative .

    _:nf53910a7ee1940309dc1e23350cb9716b453 a owl:Restriction ;
        owl:cardinality "2"^^xsd:int ;
        owl:onProperty :hasSpecialnputCapability .

    _:nf53910a7ee1940309dc1e23350cb9716b454 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :repeatability .

    _:nf53910a7ee1940309dc1e23350cb9716b455 a owl:Restriction ;
        owl:allValuesFrom :ShapeAndSizeDefinition ;
        owl:onProperty :hasAllowedItemShapeAndSize_min .

    _:nf53910a7ee1940309dc1e23350cb9716b456 a owl:Restriction ;
        owl:maxCardinality "1"^^xsd:int ;
        owl:onProperty :acceleration_x_max .

    _:nf53910a7ee1940309dc1e23350cb9716b457 a owl:Restriction ;
        owl:maxCardinality "1"^^xsd:int ;
        owl:onProperty :speed_z_max .

    _:nf53910a7ee1940309dc1e23350cb9716b458 a owl:Restriction ;
        owl:maxCardinality "1"^^xsd:int ;
        owl:onProperty :speed_y_max .

    _:nf53910a7ee1940309dc1e23350cb9716b459 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :accuracy .

    _:nf53910a7ee1940309dc1e23350cb9716b460 a owl:Restriction ;
        owl:cardinality "1"^^xsd:nonNegativeInteger ;
        owl:onProperty :payload .

    _:nf53910a7ee1940309dc1e23350cb9716b461 a owl:Restriction ;
        owl:allValuesFrom :ShapeAndSizeDefinition ;
        owl:onProperty :hasAllowedItemShapeAndSize_max .
}


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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 by collaborative movement.\nFor example a dual-arm robot attached with two grippers has this capability."
          }
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          },
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          {
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        ],
        "http://www.w3.org/2002/07/owl#disjointWith": [
          {
            "@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#OrbitalRiveting"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TubeFeeding"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#OgivaToolsetFunction"
          },
          {
            "@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#Picking"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MountingFlexibleRingExternal"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ThreadRunning"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Milling"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ImpactRiveting"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#BulkBoxFeeding"
          },
          {
            "@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#Drilling"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#BlindRiveting"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Screwing"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Inserting"
          },
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          }
        ],
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          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
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            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasAllowedItemShapeAndSize_max"
          }
        ]
      },
      {
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        "@type": [
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        ],
        "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": "_:nf53910a7ee1940309dc1e23350cb9716b459",
        "@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": "_:nf53910a7ee1940309dc1e23350cb9716b441",
        "@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": "_:nf53910a7ee1940309dc1e23350cb9716b446",
        "@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#hasSpecialnputCapability"
          }
        ],
        "http://www.w3.org/2002/07/owl#someValuesFrom": [
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          }
        ]
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      {
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        "@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#MagneticGrasping"
              }
            ]
          }
        ]
      },
      {
        "@id": "_:nf53910a7ee1940309dc1e23350cb9716b453",
        "@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": "2"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasSpecialnputCapability"
          }
        ]
      },
      {
        "@id": "_:nf53910a7ee1940309dc1e23350cb9716b457",
        "@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_z_max"
          }
        ]
      },
      {
        "@id": "_:nf53910a7ee1940309dc1e23350cb9716b458",
        "@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": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel"
  }
]
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MillingToolFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b442 <http://www.w3.org/2002/07/owl#cardinality> "2"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b454 <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#TransportingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Pressing> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b448 <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> .
_:nf53910a7ee1940309dc1e23350cb9716b443 <http://www.w3.org/2002/07/owl#cardinality> "2"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b457 <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#TransportingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:nf53910a7ee1940309dc1e23350cb9716b445 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b451 <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> .
_:nf53910a7ee1940309dc1e23350cb9716b460 <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#TransportingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#OrbitalRiveting> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TubeFeeding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b446 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasSpecialnputCapability> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportingCollaborative> <http://www.w3.org/2000/01/rdf-schema#comment> "Capability to transport items from one place to another by collaborative movement.\nFor example a dual-arm robot attached with two grippers has this capability."^^<http://www.w3.org/2001/XMLSchema#string> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#CombinedCapability> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#OgivaToolsetFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b452 <http://www.w3.org/2002/07/owl#someValuesFrom> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MovingCollaborative> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b460 <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> .
_:nf53910a7ee1940309dc1e23350cb9716b450 <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> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:nf53910a7ee1940309dc1e23350cb9716b456 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:nf53910a7ee1940309dc1e23350cb9716b442 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b445 <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> .
_:nf53910a7ee1940309dc1e23350cb9716b444 <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> .
_:nf53910a7ee1940309dc1e23350cb9716b459 <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#TransportingCollaborative> <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#TransportingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportFeeding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b442 <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#TransportingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:nf53910a7ee1940309dc1e23350cb9716b455 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b446 <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> .
_:nf53910a7ee1940309dc1e23350cb9716b451 <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> .
_:nf53910a7ee1940309dc1e23350cb9716b443 <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> .
_:nf53910a7ee1940309dc1e23350cb9716b452 <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#TransportingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Picking> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b459 <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> .
_:nf53910a7ee1940309dc1e23350cb9716b447 <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> .
_:nf53910a7ee1940309dc1e23350cb9716b442 <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#TransportingCollaborative> <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> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:nf53910a7ee1940309dc1e23350cb9716b443 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MountingFlexibleRingExternal> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b456 <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> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ThreadRunning> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:nf53910a7ee1940309dc1e23350cb9716b451 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b458 <http://www.w3.org/2002/07/owl#maxCardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b454 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#repeatability> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b455 <http://www.w3.org/2002/07/owl#allValuesFrom> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ShapeAndSizeDefinition> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Milling> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b444 <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#TransportingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b460 <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#TransportingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ImpactRiveting> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b449 <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#TransportingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b457 <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> .
_:nf53910a7ee1940309dc1e23350cb9716b452 <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#TransportingCollaborative> <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#TransportingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:nf53910a7ee1940309dc1e23350cb9716b454 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportingCollaborative> <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#TransportingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b456 <http://www.w3.org/2002/07/owl#maxCardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b453 <http://www.w3.org/2002/07/owl#cardinality> "2"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:nf53910a7ee1940309dc1e23350cb9716b444 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:nf53910a7ee1940309dc1e23350cb9716b440 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:nf53910a7ee1940309dc1e23350cb9716b452 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b440 <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> .
_:nf53910a7ee1940309dc1e23350cb9716b441 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#dof> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b444 <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> .
_:nf53910a7ee1940309dc1e23350cb9716b445 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasWorkspaceTypeAndDimensions> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b441 <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#TransportingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:nf53910a7ee1940309dc1e23350cb9716b461 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b455 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasAllowedItemShapeAndSize_min> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b453 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasSpecialnputCapability> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TrayFeeding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b458 <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> .
_:nf53910a7ee1940309dc1e23350cb9716b461 <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> .
_:nf53910a7ee1940309dc1e23350cb9716b459 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#accuracy> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:nf53910a7ee1940309dc1e23350cb9716b460 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b457 <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#TransportingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:nf53910a7ee1940309dc1e23350cb9716b459 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b446 <http://www.w3.org/2002/07/owl#someValuesFrom> _:nf53910a7ee1940309dc1e23350cb9716b447 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b455 <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#TransportingCollaborative> <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#TransportingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:nf53910a7ee1940309dc1e23350cb9716b441 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b448 <http://www.w3.org/1999/02/22-rdf-syntax-ns#rest> _:nf53910a7ee1940309dc1e23350cb9716b449 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b461 <http://www.w3.org/2002/07/owl#allValuesFrom> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ShapeAndSizeDefinition> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b453 <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> .
_:nf53910a7ee1940309dc1e23350cb9716b441 <http://www.w3.org/2002/07/owl#maxCardinality> "6"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b440 <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#TransportingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:nf53910a7ee1940309dc1e23350cb9716b446 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b445 <http://www.w3.org/2002/07/owl#allValuesFrom> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Workspace> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b443 <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#TransportingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:nf53910a7ee1940309dc1e23350cb9716b453 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b449 <http://www.w3.org/1999/02/22-rdf-syntax-ns#rest> _:nf53910a7ee1940309dc1e23350cb9716b450 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#BlindRiveting> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b451 <http://www.w3.org/2002/07/owl#maxCardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b461 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasAllowedItemShapeAndSize_max> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> <https://resourcedescription.rd.tuni.fi/ontology/processTaxonomyModel#TransportingCollaborative> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b440 <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#TransportingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Screwing> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Inserting> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b456 <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> .
_:nf53910a7ee1940309dc1e23350cb9716b450 <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> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:nf53910a7ee1940309dc1e23350cb9716b457 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b454 <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#TransportingCollaborative> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Placing> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b458 <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> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportingCollaborative> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:nf53910a7ee1940309dc1e23350cb9716b458 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:nf53910a7ee1940309dc1e23350cb9716b447 <http://www.w3.org/2002/07/owl#unionOf> _:nf53910a7ee1940309dc1e23350cb9716b448 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
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