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fixed_orka.owl
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<?xml version='1.0' encoding='utf-8'?>
<rdf:RDF xmlns:ns1="http://www.w3.org/2002/07/owl#" xmlns:ns2="http://purl.org/dc/terms/" xmlns:ns3="http://www.w3.org/2000/01/rdf-schema#" xmlns:ns4="https://w3id.org/def/orka#" xmlns:ns5="http://www.w3.org/2004/02/skos/core#" xmlns:ns6="http://swrl.stanford.edu/ontologies/3.3/swrla.owl#" xmlns:ns7="http://www.w3.org/2003/11/swrl#" xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#" xml:base="https://w3id.org/def/orka">
<ns1:Ontology rdf:about="https://w3id.org/def/orka">
<ns1:imports rdf:resource="file:///home/user/pel_ws/src/orvis/orka/owl/sosa-fixed.owl" />
<ns1:imports rdf:resource="file:///home/user/pel_ws/src/orvis/orka/owl/ssn-fixed.owl" />
<ns1:imports rdf:resource="file:///home/user/pel_ws/src/orvis/orka/owl/ssn-systems-fixed.owl" />
<ns1:imports rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-characteristics.owl" />
<ns1:imports rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-standards.owl" />
<ns1:imports rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe.owl" />
<ns2:description>The Ontology for Robotic Knowledge Acqusition aims at providing a shared understanding and vocabulary for describing robotic perception pipelines including sensors, algorithms and the characteristics of the environment and the objects contained within. The ontology also concerns external sources of knowledge, such as knowledge repositories and The Semantic Web.</ns2:description>
<ns2:license>https://creativecommons.org/publicdomain/zero/1.0/</ns2:license>
<ns2:title>Ontology for Robotic Knowledge Acqusition</ns2:title>
<ns1:versionInfo rdf:datatype="http://www.w3.org/2001/XMLSchema#decimal">1.0</ns1:versionInfo>
</ns1:Ontology>
<ns1:AnnotationProperty rdf:about="http://purl.org/dc/terms/description" />
<ns1:AnnotationProperty rdf:about="http://purl.org/dc/terms/license" />
<ns1:AnnotationProperty rdf:about="http://purl.org/dc/terms/title" />
<ns1:AnnotationProperty rdf:about="http://swrl.stanford.edu/ontologies/3.3/swrla.owl#isRuleEnabled" />
<ns1:AnnotationProperty rdf:about="http://www.w3.org/2004/02/skos/core#altLabel" />
<ns1:AnnotationProperty rdf:about="https://w3id.org/def/orka#hasWeBotsName">
<ns3:comment>Representing the sensors available in the WeBots simulation environment, in a non-case-sensitve manner.</ns3:comment>
</ns1:AnnotationProperty>
<ns1:ObjectProperty rdf:about="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#characteristicFor" />
<ns1:ObjectProperty rdf:about="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#hasMeasurement" />
<ns1:ObjectProperty rdf:about="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#hasValue">
<ns1:equivalentProperty rdf:resource="http://www.w3.org/ns/sosa/hasResult" />
</ns1:ObjectProperty>
<ns1:ObjectProperty rdf:about="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#ofCharacteristic">
<ns1:equivalentProperty rdf:resource="http://www.w3.org/ns/sosa/observedProperty" />
</ns1:ObjectProperty>
<ns1:ObjectProperty rdf:about="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#ofEntity">
<ns1:inverseOf rdf:resource="https://w3id.org/def/orka#observedIn" />
</ns1:ObjectProperty>
<ns1:ObjectProperty rdf:about="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#usesProtocol">
<ns1:equivalentProperty rdf:resource="http://www.w3.org/ns/sosa/usedProcedure" />
</ns1:ObjectProperty>
<ns1:ObjectProperty rdf:about="http://www.w3.org/ns/sosa/hasFeatureOfInterest">
<ns3:subPropertyOf rdf:resource="http://www.w3.org/2002/07/owl#topObjectProperty" />
</ns1:ObjectProperty>
<ns1:ObjectProperty rdf:about="http://www.w3.org/ns/sosa/hasResult" />
<ns1:ObjectProperty rdf:about="http://www.w3.org/ns/sosa/hosts" />
<ns1:ObjectProperty rdf:about="http://www.w3.org/ns/sosa/madeBySensor" />
<ns1:ObjectProperty rdf:about="http://www.w3.org/ns/sosa/madeObservation" />
<ns1:ObjectProperty rdf:about="http://www.w3.org/ns/sosa/observedProperty" />
<ns1:ObjectProperty rdf:about="http://www.w3.org/ns/sosa/observes">
<ns1:equivalentProperty rdf:resource="https://w3id.org/def/orka#observesCharacteristic" />
<ns1:propertyChainAxiom rdf:parseType="Collection">
<rdf:Description rdf:about="http://www.w3.org/ns/sosa/madeObservation" />
<rdf:Description rdf:about="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#ofCharacteristic" />
</ns1:propertyChainAxiom>
</ns1:ObjectProperty>
<ns1:ObjectProperty rdf:about="http://www.w3.org/ns/sosa/usedProcedure" />
<ns1:ObjectProperty rdf:about="http://www.w3.org/ns/ssn/hasInputType">
<ns3:subPropertyOf rdf:resource="http://www.w3.org/2002/07/owl#topObjectProperty" />
<ns3:comment>Describes the input types of e.g. algorithms.</ns3:comment>
</ns1:ObjectProperty>
<ns1:ObjectProperty rdf:about="http://www.w3.org/ns/ssn/hasOutputType">
<ns3:subPropertyOf rdf:resource="http://www.w3.org/2002/07/owl#topObjectProperty" />
<ns3:comment>Describes the output types of e.g. algorithms.</ns3:comment>
</ns1:ObjectProperty>
<ns1:ObjectProperty rdf:about="http://www.w3.org/ns/ssn/implementedBy">
<ns1:equivalentProperty rdf:resource="https://w3id.org/def/orka#implementedOn" />
</ns1:ObjectProperty>
<ns1:ObjectProperty rdf:about="https://w3id.org/def/orka#calculatesCharacteristic">
<ns3:domain rdf:resource="http://www.w3.org/ns/sosa/Procedure" />
<ns3:range rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Characteristic" />
<ns3:comment>a relationship between a procedure/protocol and a characteristic</ns3:comment>
<ns3:label>calculates characteristic</ns3:label>
</ns1:ObjectProperty>
<ns1:ObjectProperty rdf:about="https://w3id.org/def/orka#canBeDetectedBy">
<ns1:inverseOf rdf:resource="https://w3id.org/def/orka#canDetect" />
<ns3:comment>A relationship between an entity and an algorithm</ns3:comment>
<ns3:label>can be detected by</ns3:label>
</ns1:ObjectProperty>
<ns1:ObjectProperty rdf:about="https://w3id.org/def/orka#canDetect">
<ns3:domain rdf:resource="http://www.w3.org/ns/sosa/Procedure" />
<ns3:range rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Entity" />
<ns3:comment>Defines the relationship between an obejct detection algorithm and entities</ns3:comment>
<ns3:label>can detect</ns3:label>
</ns1:ObjectProperty>
<ns1:ObjectProperty rdf:about="https://w3id.org/def/orka#describedBy">
<ns3:domain rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Entity" />
<ns3:range rdf:resource="https://w3id.org/def/orka#Knowledge_Repository" />
<ns3:comment>Connects the entities to some external Knowledge Repository that describes the given entity.</ns3:comment>
<ns3:label>described by</ns3:label>
</ns1:ObjectProperty>
<ns1:ObjectProperty rdf:about="https://w3id.org/def/orka#hasCharacteristic">
<ns3:subPropertyOf rdf:resource="http://www.w3.org/2002/07/owl#topObjectProperty" />
<ns3:domain rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Entity" />
<ns3:range rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Characteristic" />
<ns1:propertyChainAxiom rdf:parseType="Collection">
<rdf:Description rdf:about="https://w3id.org/def/orka#observedIn" />
<rdf:Description rdf:about="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#hasMeasurement" />
<rdf:Description rdf:about="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#ofCharacteristic" />
</ns1:propertyChainAxiom>
<ns3:comment>Links entities to the characteristics possessed by the entity</ns3:comment>
<ns3:label>has characteristic</ns3:label>
</ns1:ObjectProperty>
<ns1:ObjectProperty rdf:about="https://w3id.org/def/orka#hasColor">
<ns3:subPropertyOf rdf:resource="https://w3id.org/def/orka#hasObservableCharacteristic" />
</ns1:ObjectProperty>
<ns1:ObjectProperty rdf:about="https://w3id.org/def/orka#hasDensity">
<ns3:subPropertyOf rdf:resource="https://w3id.org/def/orka#hasObservableCharacteristic" />
</ns1:ObjectProperty>
<ns1:ObjectProperty rdf:about="https://w3id.org/def/orka#hasLocation">
<ns3:subPropertyOf rdf:resource="https://w3id.org/def/orka#hasObservableCharacteristic" />
<ns3:domain rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Entity" />
<ns3:range rdf:resource="https://w3id.org/def/orka#Location" />
</ns1:ObjectProperty>
<ns1:ObjectProperty rdf:about="https://w3id.org/def/orka#hasObservableCharacteristic">
<ns3:subPropertyOf rdf:resource="https://w3id.org/def/orka#hasCharacteristic" />
</ns1:ObjectProperty>
<ns1:ObjectProperty rdf:about="https://w3id.org/def/orka#hasOrientation">
<ns3:subPropertyOf rdf:resource="https://w3id.org/def/orka#hasObservableCharacteristic" />
</ns1:ObjectProperty>
<ns1:ObjectProperty rdf:about="https://w3id.org/def/orka#hasRequiredEntity">
<ns3:domain rdf:resource="https://w3id.org/def/orka#Context" />
<ns3:range rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Entity" />
<ns3:comment>This property connects the context to the entities required by the context</ns3:comment>
<ns3:label>has required entity</ns3:label>
</ns1:ObjectProperty>
<ns1:ObjectProperty rdf:about="https://w3id.org/def/orka#hasSize">
<ns3:subPropertyOf rdf:resource="https://w3id.org/def/orka#hasObservableCharacteristic" />
</ns1:ObjectProperty>
<ns1:ObjectProperty rdf:about="https://w3id.org/def/orka#hasWeight">
<ns3:subPropertyOf rdf:resource="https://w3id.org/def/orka#hasObservableCharacteristic" />
</ns1:ObjectProperty>
<ns1:ObjectProperty rdf:about="https://w3id.org/def/orka#implementedOn">
<ns3:subPropertyOf rdf:resource="http://www.w3.org/2002/07/owl#topObjectProperty" />
</ns1:ObjectProperty>
<ns1:ObjectProperty rdf:about="https://w3id.org/def/orka#inferrableProperty">
<ns3:domain rdf:resource="http://www.w3.org/ns/sosa/Sensor" />
<ns3:range rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Characteristic" />
<ns3:comment>A property between a Characteristic and a Sensor, which is not the directly observed characteristic of the device.</ns3:comment>
<ns3:label>inferrable property</ns3:label>
</ns1:ObjectProperty>
<ns1:ObjectProperty rdf:about="https://w3id.org/def/orka#measuresUsingStandard">
<ns3:subPropertyOf rdf:resource="http://www.w3.org/2002/07/owl#topObjectProperty" />
<ns3:domain rdf:resource="http://www.w3.org/ns/sosa/Sensor" />
<ns3:range rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Standard" />
<ns1:propertyChainAxiom rdf:parseType="Collection">
<rdf:Description rdf:about="http://www.w3.org/ns/sosa/madeObservation" />
<rdf:Description rdf:about="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#usesStandard" />
</ns1:propertyChainAxiom>
<ns3:comment>A relationship between a sensor and a measurement standard</ns3:comment>
<ns3:label>measures using standard</ns3:label>
</ns1:ObjectProperty>
<ns1:ObjectProperty rdf:about="https://w3id.org/def/orka#observedIn">
<ns3:subPropertyOf rdf:resource="http://www.w3.org/2002/07/owl#topObjectProperty" />
<ns3:domain rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Entity" />
<ns3:range rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Observation" />
<ns3:comment>Relates an entity to an observation</ns3:comment>
<ns3:label>observed in</ns3:label>
</ns1:ObjectProperty>
<ns1:ObjectProperty rdf:about="https://w3id.org/def/orka#observesCharacteristic" />
<ns1:ObjectProperty rdf:about="https://w3id.org/def/orka#observesOther">
<ns3:subPropertyOf rdf:resource="http://www.w3.org/ns/sosa/observes" />
<ns1:propertyDisjointWith rdf:resource="https://w3id.org/def/orka#observesSelf" />
</ns1:ObjectProperty>
<ns1:ObjectProperty rdf:about="https://w3id.org/def/orka#observesSelf">
<ns3:subPropertyOf rdf:resource="http://www.w3.org/ns/sosa/observes" />
</ns1:ObjectProperty>
<rdf:Description rdf:about="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#hasPrecision">
<ns3:subPropertyOf rdf:resource="https://w3id.org/def/orka#hasSensorCharacteristic" />
</rdf:Description>
<ns1:DatatypeProperty rdf:about="https://w3id.org/def/orka#hasAccuracy">
<ns3:subPropertyOf rdf:resource="https://w3id.org/def/orka#hasSensorCharacteristic" />
</ns1:DatatypeProperty>
<ns1:DatatypeProperty rdf:about="https://w3id.org/def/orka#hasAlgorithmCharacteristic" />
<ns1:DatatypeProperty rdf:about="https://w3id.org/def/orka#hasAngularResolution">
<ns3:subPropertyOf rdf:resource="https://w3id.org/def/orka#hasSensorCharacteristic" />
</ns1:DatatypeProperty>
<ns1:DatatypeProperty rdf:about="https://w3id.org/def/orka#hasDBpediaURI">
<ns3:subPropertyOf rdf:resource="https://w3id.org/def/orka#hasExternalDescription" />
<ns3:label>has DBpedia URI</ns3:label>
</ns1:DatatypeProperty>
<ns1:DatatypeProperty rdf:about="https://w3id.org/def/orka#hasDeepLearningModelCharacteristic">
<ns3:subPropertyOf rdf:resource="https://w3id.org/def/orka#hasAlgorithmCharacteristic" />
<ns3:domain rdf:resource="https://w3id.org/def/orka#DeepLearningModel" />
</ns1:DatatypeProperty>
<ns1:DatatypeProperty rdf:about="https://w3id.org/def/orka#hasDetectionRange">
<ns3:subPropertyOf rdf:resource="https://w3id.org/def/orka#hasSensorCharacteristic" />
</ns1:DatatypeProperty>
<ns1:DatatypeProperty rdf:about="https://w3id.org/def/orka#hasDetectionThreshold">
<ns3:subPropertyOf rdf:resource="https://w3id.org/def/orka#hasDeepLearningModelCharacteristic" />
</ns1:DatatypeProperty>
<ns1:DatatypeProperty rdf:about="https://w3id.org/def/orka#hasEnergyConsumption">
<ns3:subPropertyOf rdf:resource="https://w3id.org/def/orka#hasSensorCharacteristic" />
</ns1:DatatypeProperty>
<ns1:DatatypeProperty rdf:about="https://w3id.org/def/orka#hasExternalDescription">
<ns3:label>has external description</ns3:label>
</ns1:DatatypeProperty>
<ns1:DatatypeProperty rdf:about="https://w3id.org/def/orka#hasFLOPsat640">
<ns3:subPropertyOf rdf:resource="https://w3id.org/def/orka#hasDeepLearningModelCharacteristic" />
<ns3:comment>Floating Point Operations per Second at a model input size of 640 pixels, measured in billions. This metric estimates the computational complexity of a single forward pass through the model. Higher FLOPs indicate a more computationally intensive model, which can impact inference speed and power consumption.</ns3:comment>
<ns3:label>Floating Point Operations per Second at a model input size of 640 pixels</ns3:label>
</ns1:DatatypeProperty>
<ns1:DatatypeProperty rdf:about="https://w3id.org/def/orka#hasInferenceSpeed">
<ns3:subPropertyOf rdf:resource="https://w3id.org/def/orka#hasDeepLearningModelCharacteristic" />
</ns1:DatatypeProperty>
<ns1:DatatypeProperty rdf:about="https://w3id.org/def/orka#hasInferenceSpeedCPUb1">
<ns3:subPropertyOf rdf:resource="https://w3id.org/def/orka#hasInferenceSpeed" />
<ns3:comment>The inference speed on a CPU (Central Processing Unit) for a single image (batch size = 1), measured in milliseconds. It indicates how fast the model can process images on a standard computer without GPU acceleration</ns3:comment>
</ns1:DatatypeProperty>
<ns1:DatatypeProperty rdf:about="https://w3id.org/def/orka#hasInferenceSpeedV100b1">
<ns3:subPropertyOf rdf:resource="https://w3id.org/def/orka#hasInferenceSpeed" />
<ns3:comment>The inference speed on an NVIDIA V100 GPU (Graphics Processing Unit) for a single image (batch size = 1), measured in milliseconds. This metric shows the model's performance on high-end GPU hardware, relevant for environments where fast processing times are critical.</ns3:comment>
</ns1:DatatypeProperty>
<ns1:DatatypeProperty rdf:about="https://w3id.org/def/orka#hasInferenceSpeedV100b32">
<ns3:subPropertyOf rdf:resource="https://w3id.org/def/orka#hasInferenceSpeed" />
<ns3:comment>The inference speed on an NVIDIA V100 GPU (Graphics Processing Unit) for a single image (batch size = 32), measured in milliseconds. This metric shows the model's performance on high-end GPU hardware, relevant for environments where fast processing times are critical.</ns3:comment>
</ns1:DatatypeProperty>
<ns1:DatatypeProperty rdf:about="https://w3id.org/def/orka#hasInputSize">
<ns3:subPropertyOf rdf:resource="https://w3id.org/def/orka#hasDeepLearningModelCharacteristic" />
<ns3:comment>Refers to the size of the image (in pixels) that is used as an input</ns3:comment>
<ns3:label>has input size</ns3:label>
</ns1:DatatypeProperty>
<ns1:DatatypeProperty rdf:about="https://w3id.org/def/orka#hasMaxRange">
<ns3:subPropertyOf rdf:resource="https://w3id.org/def/orka#hasSensorCharacteristic" />
</ns1:DatatypeProperty>
<ns1:DatatypeProperty rdf:about="https://w3id.org/def/orka#hasMeasurementRange">
<ns3:domain rdf:resource="http://www.w3.org/ns/sosa/Sensor" />
<ns3:range rdf:resource="http://www.w3.org/2001/XMLSchema#float" />
<ns3:comment>The measurement range of the sensor device</ns3:comment>
<ns3:label>has measurement range</ns3:label>
</ns1:DatatypeProperty>
<ns1:DatatypeProperty rdf:about="https://w3id.org/def/orka#hasMinRange">
<ns3:subPropertyOf rdf:resource="https://w3id.org/def/orka#hasSensorCharacteristic" />
</ns1:DatatypeProperty>
<ns1:DatatypeProperty rdf:about="https://w3id.org/def/orka#hasNumberOfParameters">
<ns3:subPropertyOf rdf:resource="https://w3id.org/def/orka#hasDeepLearningModelCharacteristic" />
<ns3:comment>Indicates the number of trainable parameters of the mode, measured in millions. Gives an idea of the model's complexity and size.</ns3:comment>
<ns3:label>number of parameters</ns3:label>
</ns1:DatatypeProperty>
<ns1:DatatypeProperty rdf:about="https://w3id.org/def/orka#hasPowerRequirement">
<ns3:subPropertyOf rdf:resource="http://www.w3.org/2002/07/owl#topDataProperty" />
<ns3:domain rdf:resource="http://www.w3.org/ns/sosa/Sensor" />
<ns3:range>
<ns3:Datatype>
<ns1:oneOf>
<rdf:Description>
<rdf:type rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#List" />
<rdf:first>high</rdf:first>
<rdf:rest>
<rdf:Description>
<rdf:type rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#List" />
<rdf:first>low</rdf:first>
<rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil" />
</rdf:Description>
</rdf:rest>
</rdf:Description>
</ns1:oneOf>
</ns3:Datatype>
</ns3:range>
<ns3:comment>Used to indicate the power requirement of the sensor devices</ns3:comment>
<ns3:label>has power requirement</ns3:label>
</ns1:DatatypeProperty>
<ns1:DatatypeProperty rdf:about="https://w3id.org/def/orka#hasProbability" />
<ns1:DatatypeProperty rdf:about="https://w3id.org/def/orka#hasScanningFrequency">
<ns3:subPropertyOf rdf:resource="https://w3id.org/def/orka#hasSensorCharacteristic" />
</ns1:DatatypeProperty>
<ns1:DatatypeProperty rdf:about="https://w3id.org/def/orka#hasSensorCharacteristic" />
<ns1:DatatypeProperty rdf:about="https://w3id.org/def/orka#hasServiceName">
<ns3:subPropertyOf rdf:resource="http://www.w3.org/2002/07/owl#topDataProperty" />
</ns1:DatatypeProperty>
<ns1:DatatypeProperty rdf:about="https://w3id.org/def/orka#hasValue">
<ns3:domain rdf:resource="http://www.w3.org/ns/ssn/Property" />
</ns1:DatatypeProperty>
<ns1:DatatypeProperty rdf:about="https://w3id.org/def/orka#hasWikiDataURI">
<ns3:subPropertyOf rdf:resource="https://w3id.org/def/orka#hasExternalDescription" />
<ns3:label>has WikiData URI</ns3:label>
</ns1:DatatypeProperty>
<ns1:DatatypeProperty rdf:about="https://w3id.org/def/orka#hasmAPval50-95">
<ns3:subPropertyOf rdf:resource="https://w3id.org/def/orka#hasDeepLearningModelCharacteristic" />
<ns3:comment>This is a metric that evaluates the accuracy of an object detector algorithm. The value defines the mean Average Percision for detections that have an overlap with the ground truth value (Intersection over Union) of 50% to 95% with 5% increments.</ns3:comment>
</ns1:DatatypeProperty>
<ns1:DatatypeProperty rdf:about="https://w3id.org/def/orka#inDataSet" />
<ns1:DatatypeProperty rdf:about="https://w3id.org/def/orka#sparqlEndpoint">
<ns3:subPropertyOf rdf:resource="http://www.w3.org/2002/07/owl#topDataProperty" />
<ns3:domain rdf:resource="https://w3id.org/def/orka#Knowledge_Repository" />
<ns3:range rdf:resource="http://www.w3.org/2001/XMLSchema#string" />
<ns3:comment>The SPARQL endpoint of a Semantic Web Knowledge Repository</ns3:comment>
<ns3:label>has sparql endpoint</ns3:label>
</ns1:DatatypeProperty>
<ns1:DatatypeProperty rdf:about="https://w3id.org/def/orka#trainedOnDataSet" />
<ns1:Class rdf:about="http://ecoinformatics.org/oboe/oboe.1.2/oboe-characteristics.owl#Speed" />
<ns1:Class rdf:about="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Characteristic">
<ns1:equivalentClass rdf:resource="http://www.w3.org/ns/sosa/ObservableProperty" />
</ns1:Class>
<ns1:Class rdf:about="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Entity">
<ns3:subClassOf>
<ns1:Restriction>
<ns1:onProperty rdf:resource="https://w3id.org/def/orka#describedBy" />
<ns1:someValuesFrom rdf:resource="https://w3id.org/def/orka#Knowledge_Repository" />
</ns1:Restriction>
</ns3:subClassOf>
<ns3:subClassOf>
<ns1:Restriction>
<ns1:onProperty rdf:resource="https://w3id.org/def/orka#hasCharacteristic" />
<ns1:someValuesFrom rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Characteristic" />
</ns1:Restriction>
</ns3:subClassOf>
</ns1:Class>
<ns1:Class rdf:about="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#IdentifyingCharacteristic" />
<ns1:Class rdf:about="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Measurement">
<ns1:equivalentClass rdf:resource="http://www.w3.org/ns/sosa/Observation" />
</ns1:Class>
<ns1:Class rdf:about="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Observation" />
<ns1:Class rdf:about="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Protocol">
<ns1:equivalentClass rdf:resource="http://www.w3.org/ns/sosa/Procedure" />
</ns1:Class>
<ns1:Class rdf:about="http://www.w3.org/ns/sosa/FeatureOfInterest">
<ns3:subClassOf rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Entity" />
</ns1:Class>
<ns1:Class rdf:about="http://www.w3.org/ns/sosa/ObservableProperty" />
<ns1:Class rdf:about="http://www.w3.org/ns/sosa/Observation">
<ns3:subClassOf>
<ns1:Restriction>
<ns1:onProperty rdf:resource="http://www.w3.org/ns/sosa/observes" />
<ns1:allValuesFrom rdf:resource="http://www.w3.org/ns/sosa/ObservableProperty" />
</ns1:Restriction>
</ns3:subClassOf>
</ns1:Class>
<ns1:Class rdf:about="http://www.w3.org/ns/sosa/Platform">
<ns3:subClassOf rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Entity" />
</ns1:Class>
<ns1:Class rdf:about="http://www.w3.org/ns/sosa/Procedure" />
<ns1:Class rdf:about="http://www.w3.org/ns/sosa/Result">
<ns3:subClassOf rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Entity" />
</ns1:Class>
<ns1:Class rdf:about="http://www.w3.org/ns/sosa/Sensor">
<ns3:subClassOf rdf:resource="http://www.w3.org/ns/ssn/System" />
<ns3:subClassOf>
<ns1:Restriction>
<ns1:onProperty rdf:resource="http://www.w3.org/ns/sosa/observes" />
<ns1:allValuesFrom rdf:resource="http://www.w3.org/ns/sosa/ObservableProperty" />
</ns1:Restriction>
</ns3:subClassOf>
</ns1:Class>
<ns1:Class rdf:about="http://www.w3.org/ns/ssn/Property" />
<ns1:Class rdf:about="http://www.w3.org/ns/ssn/System">
<ns3:subClassOf rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Entity" />
</ns1:Class>
<ns1:Class rdf:about="http://www.w3.org/ns/ssn/systems/Condition" />
<ns1:Class rdf:about="http://www.w3.org/ns/ssn/systems/OperatingProperty" />
<ns1:Class rdf:about="http://www.w3.org/ns/ssn/systems/OperatingRange" />
<ns1:Class rdf:about="http://www.w3.org/ns/ssn/systems/SurvivalProperty" />
<ns1:Class rdf:about="http://www.w3.org/ns/ssn/systems/SurvivalRange" />
<ns1:Class rdf:about="http://www.w3.org/ns/ssn/systems/SystemCapability" />
<ns1:Class rdf:about="http://www.w3.org/ns/ssn/systems/SystemProperty" />
<ns1:Class rdf:about="https://w3id.org/def/orka#Accelerometer">
<ns3:subClassOf rdf:resource="https://w3id.org/def/orka#Exteroceptor_Sensor" />
<ns3:subClassOf rdf:resource="https://w3id.org/def/orka#Passive_Sensor" />
<ns3:subClassOf rdf:resource="https://w3id.org/def/orka#Speed_Sensor" />
<ns3:subClassOf>
<ns1:Restriction>
<ns1:onProperty rdf:resource="http://www.w3.org/ns/sosa/observes" />
<ns1:someValuesFrom rdf:resource="https://w3id.org/def/orka#Orientation" />
</ns1:Restriction>
</ns3:subClassOf>
<ns3:comment>A sensor that measures acceleration forces. Accelerometers used in smartphones and fitness trackers to detect movement and orientation.</ns3:comment>
<ns3:label>Accelerometer</ns3:label>
<ns4:hasWeBotsName>accelerometer</ns4:hasWeBotsName>
</ns1:Class>
<ns1:Class rdf:about="https://w3id.org/def/orka#Active_Optical">
<ns3:subClassOf rdf:resource="https://w3id.org/def/orka#Active_Sensor" />
<ns3:subClassOf rdf:resource="https://w3id.org/def/orka#Exteroceptor_Sensor" />
<ns3:subClassOf rdf:resource="https://w3id.org/def/orka#Position_Sensor" />
<ns3:comment>A sensor that uses light to actively measure position or distance.</ns3:comment>
<ns3:label>Active Optical</ns3:label>
</ns1:Class>
<ns1:Class rdf:about="https://w3id.org/def/orka#Active_Sensor">
<ns3:subClassOf rdf:resource="http://www.w3.org/ns/sosa/Sensor" />
<ns3:subClassOf>
<ns1:Restriction>
<ns1:onProperty rdf:resource="https://w3id.org/def/orka#hasPowerRequirement" />
<ns1:hasValue>high</ns1:hasValue>
</ns1:Restriction>
</ns3:subClassOf>
<ns3:comment xml:lang="en">A sensor that requires an external power source to operate and emits its own signal which interacts with the environment and measures the return signal.</ns3:comment>
<ns3:comment>TODO: Power requirement needs to be further defined</ns3:comment>
<ns3:label xml:lang="en">Active Sensor</ns3:label>
</ns1:Class>
<ns1:Class rdf:about="https://w3id.org/def/orka#Activity">
<ns3:subClassOf rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Entity" />
</ns1:Class>
<ns1:Class rdf:about="https://w3id.org/def/orka#ActivityType">
<ns3:subClassOf rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#IdentifyingCharacteristic" />
</ns1:Class>
<ns1:Class rdf:about="https://w3id.org/def/orka#Age">
<ns3:subClassOf rdf:resource="https://w3id.org/def/orka#TemporalProperty" />
</ns1:Class>
<ns1:Class rdf:about="https://w3id.org/def/orka#Airplane">
<ns3:subClassOf rdf:resource="https://w3id.org/def/orka#PhysicalEntity" />
<ns3:subClassOf>
<ns1:Restriction>
<ns1:onProperty rdf:resource="https://w3id.org/def/orka#inDataSet" />
<ns1:hasValue>MSCOCO</ns1:hasValue>
</ns1:Restriction>
</ns3:subClassOf>
</ns1:Class>
<ns1:Class rdf:about="https://w3id.org/def/orka#Altitude">
<ns3:subClassOf rdf:resource="https://w3id.org/def/orka#Position" />
</ns1:Class>
<ns1:Class rdf:about="https://w3id.org/def/orka#Altitude_Sensor">
<ns3:subClassOf rdf:resource="http://www.w3.org/ns/sosa/Sensor" />
<ns3:subClassOf rdf:resource="https://w3id.org/def/orka#ProprioceptorSensor" />
<ns3:subClassOf>
<ns1:Restriction>
<ns1:onProperty rdf:resource="http://www.w3.org/ns/sosa/observes" />
<ns1:someValuesFrom rdf:resource="https://w3id.org/def/orka#Altitude" />
</ns1:Restriction>
</ns3:subClassOf>
<ns3:comment>A sensory device that returns a measurement corresponding to the altitude the sensor is located at.
TODO: need to add sensors that can measure altitude based on the orientation of the sensor (e.g. distance sensor)</ns3:comment>
<ns3:label>Altitude Sensor</ns3:label>
<ns4:hasWeBotsName>altimeter</ns4:hasWeBotsName>
</ns1:Class>
<ns1:Class rdf:about="https://w3id.org/def/orka#Angle">
<ns3:subClassOf rdf:resource="https://w3id.org/def/orka#Orientation" />
</ns1:Class>
<ns1:Class rdf:about="https://w3id.org/def/orka#AngularForce">
<ns3:subClassOf rdf:resource="https://w3id.org/def/orka#ObjectProperty" />
</ns1:Class>
<ns1:Class rdf:about="https://w3id.org/def/orka#Angular_position">
<ns3:subClassOf rdf:resource="https://w3id.org/def/orka#Location" />
</ns1:Class>
<ns1:Class rdf:about="https://w3id.org/def/orka#Apple">
<ns3:subClassOf rdf:resource="https://w3id.org/def/orka#PhysicalEntity" />