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orka_orvis.owl
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<?xml version="1.0"?>
<rdf:RDF xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
xmlns:xsd="http://www.w3.org/2001/XMLSchema#"
xmlns:rdfs="http://www.w3.org/2000/01/rdf-schema#"
xmlns:owl="http://www.w3.org/2002/07/owl#"
xml:base="https://w3id.org/def/orka"
xmlns="https://w3id.org/def/orka#"
xmlns:swrl="http://www.w3.org/2003/11/swrl#"
xmlns:swrl2="http://swrl.stanford.edu/ontologies/3.3/swrla.owl#"
xmlns:term="http://purl.org/dc/terms/"
xmlns:core="http://www.w3.org/2004/02/skos/core#">
<owl:Ontology rdf:about="https://w3id.org/def/orka">
<owl:imports rdf:resource="file:///home/user/pel_ws/src/orvis/orka/owl/sosa-fixed.owl"/>
<owl:imports rdf:resource="file:///home/user/pel_ws/src/orvis/orka/owl/ssn-fixed.owl"/>
<owl:imports rdf:resource="file:///home/user/pel_ws/src/orvis/orka/owl/ssn-systems-fixed.owl"/>
<owl:imports rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-characteristics.owl"/>
<owl:imports rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-standards.owl"/>
<owl:imports rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe.owl"/>
<term:description rdf:datatype="http://www.w3.org/2001/XMLSchema#string">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.</term:description>
<term:license rdf:datatype="http://www.w3.org/2001/XMLSchema#string">https://creativecommons.org/publicdomain/zero/1.0/</term:license>
<term:title rdf:datatype="http://www.w3.org/2001/XMLSchema#string">Ontology for Robotic Knowledge Acqusition</term:title>
<owl:versionInfo rdf:datatype="http://www.w3.org/2001/XMLSchema#decimal">1.0</owl:versionInfo>
</owl:Ontology>
<owl:ObjectProperty rdf:about="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#characteristicFor"/>
<owl:ObjectProperty rdf:about="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#hasMeasurement"/>
<owl:ObjectProperty rdf:about="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#hasValue">
<owl:equivalentProperty rdf:resource="http://www.w3.org/ns/sosa/hasResult"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="http://www.w3.org/ns/sosa/hasResult"/>
<owl:ObjectProperty rdf:about="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#ofCharacteristic">
<owl:equivalentProperty rdf:resource="http://www.w3.org/ns/sosa/observedProperty"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="http://www.w3.org/ns/sosa/observedProperty"/>
<owl:ObjectProperty rdf:about="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#ofEntity">
<owl:inverseOf rdf:resource="#observedIn"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#observedIn">
<rdfs:subPropertyOf rdf:resource="http://www.w3.org/2002/07/owl#topObjectProperty"/>
<rdfs:domain rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Entity"/>
<rdfs:range rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Observation"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">Relates an entity to an observation</rdfs:comment>
<rdfs:label rdf:datatype="http://www.w3.org/2001/XMLSchema#string">observed in</rdfs:label>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#usesProtocol">
<owl:equivalentProperty rdf:resource="http://www.w3.org/ns/sosa/usedProcedure"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="http://www.w3.org/ns/sosa/usedProcedure"/>
<owl:ObjectProperty rdf:about="http://www.w3.org/ns/sosa/hasFeatureOfInterest">
<rdfs:subPropertyOf rdf:resource="http://www.w3.org/2002/07/owl#topObjectProperty"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="http://www.w3.org/ns/sosa/hosts"/>
<owl:ObjectProperty rdf:about="http://www.w3.org/ns/sosa/madeBySensor"/>
<owl:ObjectProperty rdf:about="http://www.w3.org/ns/sosa/madeObservation"/>
<owl:ObjectProperty rdf:about="http://www.w3.org/ns/sosa/observes">
<owl:equivalentProperty rdf:resource="#observesCharacteristic"/>
<owl:propertyChainAxiom>
<rdf:Description>
<rdf:first rdf:resource="http://www.w3.org/ns/sosa/madeObservation"/>
<rdf:rest>
<rdf:Description>
<rdf:first rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#ofCharacteristic"/>
<rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
</rdf:Description>
</rdf:rest>
</rdf:Description>
</owl:propertyChainAxiom>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#observesCharacteristic"/>
<owl:ObjectProperty rdf:about="http://www.w3.org/ns/ssn/hasInputType">
<rdfs:subPropertyOf rdf:resource="http://www.w3.org/2002/07/owl#topObjectProperty"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">Describes the input types of e.g. algorithms.</rdfs:comment>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="http://www.w3.org/ns/ssn/hasOutputType">
<rdfs:subPropertyOf rdf:resource="http://www.w3.org/2002/07/owl#topObjectProperty"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">Describes the output types of e.g. algorithms.</rdfs:comment>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="http://www.w3.org/ns/ssn/implementedBy">
<owl:equivalentProperty rdf:resource="#implementedOn"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#implementedOn">
<rdfs:subPropertyOf rdf:resource="http://www.w3.org/2002/07/owl#topObjectProperty"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#calculatesCharacteristic">
<rdfs:domain rdf:resource="http://www.w3.org/ns/sosa/Procedure"/>
<rdfs:range rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Characteristic"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">a relationship between a procedure/protocol and a characteristic</rdfs:comment>
<rdfs:label rdf:datatype="http://www.w3.org/2001/XMLSchema#string">calculates characteristic</rdfs:label>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#canBeDetectedBy">
<owl:inverseOf rdf:resource="#canDetect"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">A relationship between an entity and an algorithm</rdfs:comment>
<rdfs:label rdf:datatype="http://www.w3.org/2001/XMLSchema#string">can be detected by</rdfs:label>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#canDetect">
<rdfs:domain rdf:resource="http://www.w3.org/ns/sosa/Procedure"/>
<rdfs:range rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Entity"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">Defines the relationship between an obejct detection algorithm and entities</rdfs:comment>
<rdfs:label rdf:datatype="http://www.w3.org/2001/XMLSchema#string">can detect</rdfs:label>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#describedBy">
<rdfs:domain rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Entity"/>
<rdfs:range rdf:resource="#Knowledge_Repository"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">Connects the entities to some external Knowledge Repository that describes the given entity.</rdfs:comment>
<rdfs:label rdf:datatype="http://www.w3.org/2001/XMLSchema#string">described by</rdfs:label>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#hasCharacteristic">
<rdfs:subPropertyOf rdf:resource="http://www.w3.org/2002/07/owl#topObjectProperty"/>
<rdfs:domain rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Entity"/>
<rdfs:range rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Characteristic"/>
<owl:propertyChainAxiom>
<rdf:Description>
<rdf:first rdf:resource="#observedIn"/>
<rdf:rest>
<rdf:Description>
<rdf:first rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#hasMeasurement"/>
<rdf:rest>
<rdf:Description>
<rdf:first rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#ofCharacteristic"/>
<rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
</rdf:Description>
</rdf:rest>
</rdf:Description>
</rdf:rest>
</rdf:Description>
</owl:propertyChainAxiom>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">Links entities to the characteristics possessed by the entity</rdfs:comment>
<rdfs:label rdf:datatype="http://www.w3.org/2001/XMLSchema#string">has characteristic</rdfs:label>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#hasColor">
<rdfs:subPropertyOf rdf:resource="#hasObservableCharacteristic"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#hasObservableCharacteristic">
<rdfs:subPropertyOf rdf:resource="#hasCharacteristic"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#hasDensity">
<rdfs:subPropertyOf rdf:resource="#hasObservableCharacteristic"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#hasLocation">
<rdfs:subPropertyOf rdf:resource="#hasObservableCharacteristic"/>
<rdfs:domain rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Entity"/>
<rdfs:range rdf:resource="#Location"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#hasOrientation">
<rdfs:subPropertyOf rdf:resource="#hasObservableCharacteristic"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#hasRequiredEntity">
<rdfs:domain rdf:resource="#Context"/>
<rdfs:range rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Entity"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">This property connects the context to the entities required by the context</rdfs:comment>
<rdfs:label rdf:datatype="http://www.w3.org/2001/XMLSchema#string">has required entity</rdfs:label>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#hasSize">
<rdfs:subPropertyOf rdf:resource="#hasObservableCharacteristic"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#hasWeight">
<rdfs:subPropertyOf rdf:resource="#hasObservableCharacteristic"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#inferrableProperty">
<rdfs:domain rdf:resource="http://www.w3.org/ns/sosa/Sensor"/>
<rdfs:range rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Characteristic"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">A property between a Characteristic and a Sensor, which is not the directly observed characteristic of the device.</rdfs:comment>
<rdfs:label rdf:datatype="http://www.w3.org/2001/XMLSchema#string">inferrable property</rdfs:label>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#measuresUsingStandard">
<rdfs:subPropertyOf rdf:resource="http://www.w3.org/2002/07/owl#topObjectProperty"/>
<rdfs:domain rdf:resource="http://www.w3.org/ns/sosa/Sensor"/>
<rdfs:range rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Standard"/>
<owl:propertyChainAxiom>
<rdf:Description>
<rdf:first rdf:resource="http://www.w3.org/ns/sosa/madeObservation"/>
<rdf:rest>
<rdf:Description>
<rdf:first rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#usesStandard"/>
<rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
</rdf:Description>
</rdf:rest>
</rdf:Description>
</owl:propertyChainAxiom>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">A relationship between a sensor and a measurement standard</rdfs:comment>
<rdfs:label rdf:datatype="http://www.w3.org/2001/XMLSchema#string">measures using standard</rdfs:label>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#observesOther">
<rdfs:subPropertyOf rdf:resource="http://www.w3.org/ns/sosa/observes"/>
<owl:propertyDisjointWith rdf:resource="#observesSelf"/>
</owl:ObjectProperty>
<owl:ObjectProperty rdf:about="#observesSelf">
<rdfs:subPropertyOf rdf:resource="http://www.w3.org/ns/sosa/observes"/>
</owl:ObjectProperty>
<owl:DatatypeProperty rdf:about="#hasSensorCharacteristic"/>
<owl:DatatypeProperty rdf:about="#hasAccuracy">
<rdfs:subPropertyOf rdf:resource="#hasSensorCharacteristic"/>
</owl:DatatypeProperty>
<owl:DatatypeProperty rdf:about="#hasAlgorithmCharacteristic"/>
<owl:DatatypeProperty rdf:about="#hasAngularResolution">
<rdfs:subPropertyOf rdf:resource="#hasSensorCharacteristic"/>
</owl:DatatypeProperty>
<owl:DatatypeProperty rdf:about="#hasDBpediaURI">
<rdfs:subPropertyOf rdf:resource="#hasExternalDescription"/>
<rdfs:label rdf:datatype="http://www.w3.org/2001/XMLSchema#string">has DBpedia URI</rdfs:label>
</owl:DatatypeProperty>
<owl:DatatypeProperty rdf:about="#hasExternalDescription">
<rdfs:label rdf:datatype="http://www.w3.org/2001/XMLSchema#string">has external description</rdfs:label>
</owl:DatatypeProperty>
<owl:DatatypeProperty rdf:about="#hasDeepLearningModelCharacteristic">
<rdfs:subPropertyOf rdf:resource="#hasAlgorithmCharacteristic"/>
<rdfs:domain rdf:resource="#DeepLearningModel"/>
</owl:DatatypeProperty>
<owl:DatatypeProperty rdf:about="#hasDetectionRange">
<rdfs:subPropertyOf rdf:resource="#hasSensorCharacteristic"/>
</owl:DatatypeProperty>
<owl:DatatypeProperty rdf:about="#hasDetectionThreshold">
<rdfs:subPropertyOf rdf:resource="#hasDeepLearningModelCharacteristic"/>
</owl:DatatypeProperty>
<owl:DatatypeProperty rdf:about="#hasEnergyConsumption">
<rdfs:subPropertyOf rdf:resource="#hasSensorCharacteristic"/>
</owl:DatatypeProperty>
<owl:DatatypeProperty rdf:about="#hasFLOPsat640">
<rdfs:subPropertyOf rdf:resource="#hasDeepLearningModelCharacteristic"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">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.</rdfs:comment>
<rdfs:label rdf:datatype="http://www.w3.org/2001/XMLSchema#string">Floating Point Operations per Second at a model input size of 640 pixels</rdfs:label>
</owl:DatatypeProperty>
<owl:DatatypeProperty rdf:about="#hasInferenceSpeed">
<rdfs:subPropertyOf rdf:resource="#hasDeepLearningModelCharacteristic"/>
</owl:DatatypeProperty>
<owl:DatatypeProperty rdf:about="#hasInferenceSpeedCPUb1">
<rdfs:subPropertyOf rdf:resource="#hasInferenceSpeed"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">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</rdfs:comment>
</owl:DatatypeProperty>
<owl:DatatypeProperty rdf:about="#hasInferenceSpeedV100b1">
<rdfs:subPropertyOf rdf:resource="#hasInferenceSpeed"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">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.</rdfs:comment>
</owl:DatatypeProperty>
<owl:DatatypeProperty rdf:about="#hasInferenceSpeedV100b32">
<rdfs:subPropertyOf rdf:resource="#hasInferenceSpeed"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">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.</rdfs:comment>
</owl:DatatypeProperty>
<owl:DatatypeProperty rdf:about="#hasInputSize">
<rdfs:subPropertyOf rdf:resource="#hasDeepLearningModelCharacteristic"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">Refers to the size of the image (in pixels) that is used as an input</rdfs:comment>
<rdfs:label rdf:datatype="http://www.w3.org/2001/XMLSchema#string">has input size</rdfs:label>
</owl:DatatypeProperty>
<owl:DatatypeProperty rdf:about="#hasMaxRange">
<rdfs:subPropertyOf rdf:resource="#hasSensorCharacteristic"/>
</owl:DatatypeProperty>
<owl:DatatypeProperty rdf:about="#hasMeasurementRange">
<rdfs:domain rdf:resource="http://www.w3.org/ns/sosa/Sensor"/>
<rdfs:range rdf:resource="http://www.w3.org/2001/XMLSchema#float"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">The measurement range of the sensor device</rdfs:comment>
<rdfs:label rdf:datatype="http://www.w3.org/2001/XMLSchema#string">has measurement range</rdfs:label>
</owl:DatatypeProperty>
<owl:DatatypeProperty rdf:about="#hasMinRange">
<rdfs:subPropertyOf rdf:resource="#hasSensorCharacteristic"/>
</owl:DatatypeProperty>
<owl:DatatypeProperty rdf:about="#hasNumberOfParameters">
<rdfs:subPropertyOf rdf:resource="#hasDeepLearningModelCharacteristic"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">Indicates the number of trainable parameters of the mode, measured in millions. Gives an idea of the model's complexity and size.</rdfs:comment>
<rdfs:label rdf:datatype="http://www.w3.org/2001/XMLSchema#string">number of parameters</rdfs:label>
</owl:DatatypeProperty>
<owl:DatatypeProperty rdf:about="#hasPowerRequirement">
<rdfs:subPropertyOf rdf:resource="http://www.w3.org/2002/07/owl#topDataProperty"/>
<rdfs:domain rdf:resource="http://www.w3.org/ns/sosa/Sensor"/>
<rdfs:range>
<rdfs:Datatype>
<owl:oneOf>
<rdf:Description>
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string">high</rdf:first>
<rdf:rest>
<rdf:Description>
<rdf:first rdf:datatype="http://www.w3.org/2001/XMLSchema#string">low</rdf:first>
<rdf:rest rdf:resource="http://www.w3.org/1999/02/22-rdf-syntax-ns#nil"/>
</rdf:Description>
</rdf:rest>
</rdf:Description>
</owl:oneOf>
</rdfs:Datatype>
</rdfs:range>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">Used to indicate the power requirement of the sensor devices</rdfs:comment>
<rdfs:label rdf:datatype="http://www.w3.org/2001/XMLSchema#string">has power requirement</rdfs:label>
</owl:DatatypeProperty>
<owl:DatatypeProperty rdf:about="#hasProbability"/>
<owl:DatatypeProperty rdf:about="#hasScanningFrequency">
<rdfs:subPropertyOf rdf:resource="#hasSensorCharacteristic"/>
</owl:DatatypeProperty>
<owl:DatatypeProperty rdf:about="#hasServiceName">
<rdfs:subPropertyOf rdf:resource="http://www.w3.org/2002/07/owl#topDataProperty"/>
</owl:DatatypeProperty>
<owl:DatatypeProperty rdf:about="#hasValue">
<rdfs:domain rdf:resource="http://www.w3.org/ns/ssn/Property"/>
</owl:DatatypeProperty>
<owl:DatatypeProperty rdf:about="#hasWikiDataURI">
<rdfs:subPropertyOf rdf:resource="#hasExternalDescription"/>
<rdfs:label rdf:datatype="http://www.w3.org/2001/XMLSchema#string">has WikiData URI</rdfs:label>
</owl:DatatypeProperty>
<owl:DatatypeProperty rdf:about="#hasmAPval50-95">
<rdfs:subPropertyOf rdf:resource="#hasDeepLearningModelCharacteristic"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">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.</rdfs:comment>
</owl:DatatypeProperty>
<owl:DatatypeProperty rdf:about="#inDataSet"/>
<owl:DatatypeProperty rdf:about="#sparqlEndpoint">
<rdfs:subPropertyOf rdf:resource="http://www.w3.org/2002/07/owl#topDataProperty"/>
<rdfs:domain rdf:resource="#Knowledge_Repository"/>
<rdfs:range rdf:resource="http://www.w3.org/2001/XMLSchema#string"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">The SPARQL endpoint of a Semantic Web Knowledge Repository</rdfs:comment>
<rdfs:label rdf:datatype="http://www.w3.org/2001/XMLSchema#string">has sparql endpoint</rdfs:label>
</owl:DatatypeProperty>
<owl:DatatypeProperty rdf:about="#trainedOnDataSet"/>
<owl:AnnotationProperty rdf:about="http://purl.org/dc/terms/description"/>
<owl:AnnotationProperty rdf:about="http://purl.org/dc/terms/license"/>
<owl:AnnotationProperty rdf:about="http://purl.org/dc/terms/title"/>
<owl:AnnotationProperty rdf:about="http://swrl.stanford.edu/ontologies/3.3/swrla.owl#isRuleEnabled"/>
<owl:AnnotationProperty rdf:about="http://www.w3.org/2004/02/skos/core#altLabel"/>
<owl:AnnotationProperty rdf:about="#hasWeBotsName">
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">Representing the sensors available in the WeBots simulation environment, in a non-case-sensitve manner.</rdfs:comment>
</owl:AnnotationProperty>
<owl:Class rdf:about="http://www.w3.org/ns/sosa/Procedure">
<owl:equivalentClass rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Protocol"/>
</owl:Class>
<owl:Class rdf:about="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Characteristic">
<owl:equivalentClass rdf:resource="http://www.w3.org/ns/sosa/ObservableProperty"/>
<rdfs:subClassOf rdf:resource="http://www.w3.org/ns/ssn/Property"/>
</owl:Class>
<owl:Class rdf:about="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Entity">
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="#describedBy"/>
<owl:someValuesFrom rdf:resource="#Knowledge_Repository"/>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="#hasCharacteristic"/>
<owl:someValuesFrom rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Characteristic"/>
</owl:Restriction>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="#Knowledge_Repository">
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">This class represents the external sources of knowledge ORKA can utilise such as WikiData and DBpedia.</rdfs:comment>
<rdfs:label rdf:datatype="http://www.w3.org/2001/XMLSchema#string">Knowledge Repository</rdfs:label>
</owl:Class>
<owl:Class rdf:about="#Location">
<rdfs:subClassOf rdf:resource="#SpatialProperty"/>
<owl:disjointWith rdf:resource="#Orientation"/>
</owl:Class>
<owl:Class rdf:about="#Context">
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="#hasRequiredEntity"/>
<owl:someValuesFrom rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Entity"/>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">A placeholder representation for the context the robot is deployed in. It involves the required entity (as a representation of the task).</rdfs:comment>
<rdfs:label rdf:datatype="http://www.w3.org/2001/XMLSchema#string">Context</rdfs:label>
</owl:Class>
<owl:Class rdf:about="http://www.w3.org/ns/sosa/Sensor">
<rdfs:subClassOf rdf:resource="http://www.w3.org/ns/ssn/System"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="http://www.w3.org/ns/sosa/observes"/>
<owl:allValuesFrom rdf:resource="http://www.w3.org/ns/sosa/ObservableProperty"/>
</owl:Restriction>
</rdfs:subClassOf>
</owl:Class>
<owl:Class rdf:about="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Observation"/>
<owl:Class rdf:about="#DeepLearningModel">
<rdfs:subClassOf rdf:resource="#ComputerVisionAlgorithm"/>
</owl:Class>
<owl:Class rdf:about="http://www.w3.org/ns/ssn/Property"/>
<owl:Class rdf:about="http://ecoinformatics.org/oboe/oboe.1.2/oboe-characteristics.owl#Speed"/>
<owl:Class rdf:about="http://www.w3.org/ns/sosa/ObservableProperty">
<owl:equivalentClass rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Characteristic"/>
</owl:Class>
<owl:Class rdf:about="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#IdentifyingCharacteristic">
<rdfs:subClassOf rdf:resource="http://www.w3.org/ns/sosa/ObservableProperty"/>
</owl:Class>
<owl:Class rdf:about="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Measurement">
<owl:equivalentClass rdf:resource="http://www.w3.org/ns/sosa/Observation"/>
</owl:Class>
<owl:Class rdf:about="http://www.w3.org/ns/sosa/Observation">
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="http://www.w3.org/ns/sosa/observes"/>
<owl:allValuesFrom rdf:resource="http://www.w3.org/ns/sosa/ObservableProperty"/>
</owl:Restriction>
</rdfs:subClassOf>
<owl:equivalentClass rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Measurement"/>
</owl:Class>
<owl:Class rdf:about="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Protocol">
<owl:equivalentClass rdf:resource="http://www.w3.org/ns/sosa/Procedure"/>
</owl:Class>
<owl:Class rdf:about="http://www.w3.org/ns/sosa/FeatureOfInterest">
<rdfs:subClassOf rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Entity"/>
</owl:Class>
<owl:Class rdf:about="http://www.w3.org/ns/sosa/Platform">
<rdfs:subClassOf rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Entity"/>
</owl:Class>
<owl:Class rdf:about="http://www.w3.org/ns/sosa/Result">
<rdfs:subClassOf rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Entity"/>
<rdfs:subClassOf rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#MeasuredValue"/>
</owl:Class>
<owl:Class rdf:about="http://www.w3.org/ns/ssn/System">
<rdfs:subClassOf rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Entity"/>
</owl:Class>
<owl:Class rdf:about="http://www.w3.org/ns/ssn/systems/Condition"/>
<owl:Class rdf:about="http://www.w3.org/ns/ssn/systems/OperatingProperty"/>
<owl:Class rdf:about="http://www.w3.org/ns/ssn/systems/OperatingRange"/>
<owl:Class rdf:about="http://www.w3.org/ns/ssn/systems/SurvivalProperty"/>
<owl:Class rdf:about="http://www.w3.org/ns/ssn/systems/SurvivalRange"/>
<owl:Class rdf:about="http://www.w3.org/ns/ssn/systems/SystemCapability"/>
<owl:Class rdf:about="http://www.w3.org/ns/ssn/systems/SystemProperty"/>
<owl:Class rdf:about="#Accelerometer">
<rdfs:subClassOf rdf:resource="#Exteroceptor_Sensor"/>
<rdfs:subClassOf rdf:resource="#Passive_Sensor"/>
<rdfs:subClassOf rdf:resource="#Speed_Sensor"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="http://www.w3.org/ns/sosa/observes"/>
<owl:someValuesFrom rdf:resource="#Orientation"/>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">A sensor that measures acceleration forces. Accelerometers used in smartphones and fitness trackers to detect movement and orientation.</rdfs:comment>
<rdfs:label rdf:datatype="http://www.w3.org/2001/XMLSchema#string">Accelerometer</rdfs:label>
<hasWeBotsName rdf:datatype="http://www.w3.org/2001/XMLSchema#string">accelerometer</hasWeBotsName>
</owl:Class>
<owl:Class rdf:about="#Exteroceptor_Sensor">
<rdfs:subClassOf rdf:resource="http://www.w3.org/ns/sosa/Sensor"/>
<rdfs:comment xml:lang="en">A sensor that provides information about the external environment surrounding the device.</rdfs:comment>
<rdfs:label xml:lang="en">Exteroceptor Sensor</rdfs:label>
</owl:Class>
<owl:Class rdf:about="#Passive_Sensor">
<rdfs:subClassOf rdf:resource="http://www.w3.org/ns/sosa/Sensor"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="#hasPowerRequirement"/>
<owl:hasValue rdf:datatype="http://www.w3.org/2001/XMLSchema#string">low</owl:hasValue>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:comment xml:lang="en">A sensor that does not require an external power source and relies on detecting energy emitted or reflected by objects.</rdfs:comment>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">TODO: Power requirement needs to be further defined</rdfs:comment>
<rdfs:label xml:lang="en">Passive Sensor</rdfs:label>
</owl:Class>
<owl:Class rdf:about="#Speed_Sensor">
<rdfs:subClassOf rdf:resource="http://www.w3.org/ns/sosa/Sensor"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="http://www.w3.org/ns/sosa/observes"/>
<owl:someValuesFrom rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-characteristics.owl#Speed"/>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">Sensors that measures the speed of an object, such as speedometers and tachometers used in vehicles and machinery.</rdfs:comment>
<rdfs:label rdf:datatype="http://www.w3.org/2001/XMLSchema#string">Speed Sensor</rdfs:label>
</owl:Class>
<owl:Class rdf:about="#Orientation">
<rdfs:subClassOf rdf:resource="#SpatialProperty"/>
</owl:Class>
<owl:Class rdf:about="#Active_Optical">
<rdfs:subClassOf rdf:resource="#Active_Sensor"/>
<rdfs:subClassOf rdf:resource="#Exteroceptor_Sensor"/>
<rdfs:subClassOf rdf:resource="#Position_Sensor"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">A sensor that uses light to actively measure position or distance.</rdfs:comment>
<rdfs:label rdf:datatype="http://www.w3.org/2001/XMLSchema#string">Active Optical</rdfs:label>
</owl:Class>
<owl:Class rdf:about="#Active_Sensor">
<rdfs:subClassOf rdf:resource="http://www.w3.org/ns/sosa/Sensor"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="#hasPowerRequirement"/>
<owl:hasValue rdf:datatype="http://www.w3.org/2001/XMLSchema#string">high</owl:hasValue>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs: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.</rdfs:comment>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">TODO: Power requirement needs to be further defined</rdfs:comment>
<rdfs:label xml:lang="en">Active Sensor</rdfs:label>
</owl:Class>
<owl:Class rdf:about="#Position_Sensor">
<rdfs:subClassOf rdf:resource="http://www.w3.org/ns/sosa/Sensor"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="http://www.w3.org/ns/sosa/observes"/>
<owl:allValuesFrom rdf:resource="#Location"/>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">A sensor that detects the position of an object.</rdfs:comment>
<rdfs:label rdf:datatype="http://www.w3.org/2001/XMLSchema#string">Position Sensor</rdfs:label>
<hasWeBotsName rdf:datatype="http://www.w3.org/2001/XMLSchema#string">position_sensor</hasWeBotsName>
</owl:Class>
<owl:Class rdf:about="#Activity">
<rdfs:subClassOf rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Entity"/>
</owl:Class>
<owl:Class rdf:about="#ActivityType">
<rdfs:subClassOf rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#IdentifyingCharacteristic"/>
</owl:Class>
<owl:Class rdf:about="#Age">
<rdfs:subClassOf rdf:resource="#TemporalProperty"/>
</owl:Class>
<owl:Class rdf:about="#TemporalProperty">
<rdfs:subClassOf rdf:resource="#ObjectProperty"/>
</owl:Class>
<owl:Class rdf:about="#Airplane">
<rdfs:subClassOf rdf:resource="#PhysicalEntity"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="#inDataSet"/>
<owl:hasValue rdf:datatype="http://www.w3.org/2001/XMLSchema#string">MSCOCO</owl:hasValue>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR_Panoptic"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByYOLO"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableBySegformer"/>
</owl:Class>
<owl:Class rdf:about="#PhysicalEntity">
<rdfs:subClassOf rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Entity"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="#hasCharacteristic"/>
<owl:someValuesFrom rdf:resource="#Location"/>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">Entities that have some form of physical existence. Used to denote entities that possess some characteristics that everyday objects possess (e.g. weight, color, size, etc.).
Despite the name, these entities can be virtual.</rdfs:comment>
<rdfs:label rdf:datatype="http://www.w3.org/2001/XMLSchema#string">Physical Entity</rdfs:label>
</owl:Class>
<owl:Class rdf:about="#Altitude">
<rdfs:subClassOf rdf:resource="#Position"/>
</owl:Class>
<owl:Class rdf:about="#Position">
<rdfs:subClassOf rdf:resource="#Location"/>
</owl:Class>
<owl:Class rdf:about="#Altitude_Sensor">
<rdfs:subClassOf rdf:resource="http://www.w3.org/ns/sosa/Sensor"/>
<rdfs:subClassOf rdf:resource="#ProprioceptorSensor"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="http://www.w3.org/ns/sosa/observes"/>
<owl:someValuesFrom rdf:resource="#Altitude"/>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">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)</rdfs:comment>
<rdfs:label rdf:datatype="http://www.w3.org/2001/XMLSchema#string">Altitude Sensor</rdfs:label>
<hasWeBotsName rdf:datatype="http://www.w3.org/2001/XMLSchema#string">altimeter</hasWeBotsName>
</owl:Class>
<owl:Class rdf:about="#ProprioceptorSensor">
<rdfs:subClassOf rdf:resource="http://www.w3.org/ns/sosa/Sensor"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="http://www.w3.org/ns/sosa/observes"/>
<owl:allValuesFrom>
<owl:Restriction>
<owl:onProperty rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#characteristicFor"/>
<owl:allValuesFrom>
<owl:Class>
<owl:intersectionOf rdf:parseType="Collection">
<rdf:Description rdf:about="#Robot"/>
<owl:Restriction>
<owl:onProperty rdf:resource="http://www.w3.org/ns/sosa/hosts"/>
<owl:someValuesFrom rdf:resource="#ProprioceptorSensor"/>
</owl:Restriction>
</owl:intersectionOf>
</owl:Class>
</owl:allValuesFrom>
</owl:Restriction>
</owl:allValuesFrom>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">A class of sensors that measure the internal state of the robot, or parts of the robot</rdfs:comment>
<rdfs:label rdf:datatype="http://www.w3.org/2001/XMLSchema#string">Proprioceptor Sensor</rdfs:label>
</owl:Class>
<owl:Class rdf:about="#Angle">
<rdfs:subClassOf rdf:resource="#Orientation"/>
</owl:Class>
<owl:Class rdf:about="#AngularForce">
<rdfs:subClassOf rdf:resource="#ObjectProperty"/>
</owl:Class>
<owl:Class rdf:about="#ObjectProperty">
<rdfs:subClassOf rdf:resource="http://www.w3.org/ns/sosa/ObservableProperty"/>
<rdfs:subClassOf rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Characteristic"/>
</owl:Class>
<owl:Class rdf:about="#Angular_position">
<rdfs:subClassOf rdf:resource="#Location"/>
</owl:Class>
<owl:Class rdf:about="#Apple">
<rdfs:subClassOf rdf:resource="#PhysicalEntity"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="#inDataSet"/>
<owl:hasValue rdf:datatype="http://www.w3.org/2001/XMLSchema#string">MSCOCO</owl:hasValue>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR_Panoptic"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByYOLO"/>
</owl:Class>
<owl:Class rdf:about="#Backpack">
<rdfs:subClassOf rdf:resource="#PhysicalEntity"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="#inDataSet"/>
<owl:hasValue rdf:datatype="http://www.w3.org/2001/XMLSchema#string">MSCOCO</owl:hasValue>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR_Panoptic"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByYOLO"/>
</owl:Class>
<owl:Class rdf:about="#Banana">
<rdfs:subClassOf rdf:resource="#PhysicalEntity"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="#inDataSet"/>
<owl:hasValue rdf:datatype="http://www.w3.org/2001/XMLSchema#string">MSCOCO</owl:hasValue>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR_Panoptic"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByYOLO"/>
</owl:Class>
<owl:Class rdf:about="#Barometric_Altimeter">
<rdfs:subClassOf rdf:resource="#Altitude_Sensor"/>
</owl:Class>
<owl:Class rdf:about="#Baseball_bat">
<rdfs:subClassOf rdf:resource="#PhysicalEntity"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="#inDataSet"/>
<owl:hasValue rdf:datatype="http://www.w3.org/2001/XMLSchema#string">MSCOCO</owl:hasValue>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR_Panoptic"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByYOLO"/>
</owl:Class>
<owl:Class rdf:about="#Baseball_glove">
<rdfs:subClassOf rdf:resource="#PhysicalEntity"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="#inDataSet"/>
<owl:hasValue rdf:datatype="http://www.w3.org/2001/XMLSchema#string">MSCOCO</owl:hasValue>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR_Panoptic"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByYOLO"/>
</owl:Class>
<owl:Class rdf:about="#Bear">
<rdfs:subClassOf rdf:resource="#PhysicalEntity"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="#inDataSet"/>
<owl:hasValue rdf:datatype="http://www.w3.org/2001/XMLSchema#string">MSCOCO</owl:hasValue>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR_Panoptic"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByYOLO"/>
</owl:Class>
<owl:Class rdf:about="#Bed">
<rdfs:subClassOf rdf:resource="#PhysicalEntity"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="#inDataSet"/>
<owl:hasValue rdf:datatype="http://www.w3.org/2001/XMLSchema#string">MSCOCO</owl:hasValue>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR_Panoptic"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByYOLO"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableBySegformer"/>
</owl:Class>
<owl:Class rdf:about="#Bench">
<rdfs:subClassOf rdf:resource="#PhysicalEntity"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="#inDataSet"/>
<owl:hasValue rdf:datatype="http://www.w3.org/2001/XMLSchema#string">MSCOCO</owl:hasValue>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR_Panoptic"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByYOLO"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableBySegformer"/>
</owl:Class>
<owl:Class rdf:about="#Bicycle">
<rdfs:subClassOf rdf:resource="#PhysicalEntity"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="#inDataSet"/>
<owl:hasValue rdf:datatype="http://www.w3.org/2001/XMLSchema#string">MSCOCO</owl:hasValue>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR_Panoptic"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByYOLO"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableBySegformer"/>
</owl:Class>
<owl:Class rdf:about="#Bird">
<rdfs:subClassOf rdf:resource="#PhysicalEntity"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="#inDataSet"/>
<owl:hasValue rdf:datatype="http://www.w3.org/2001/XMLSchema#string">MSCOCO</owl:hasValue>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR_Panoptic"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByYOLO"/>
</owl:Class>
<owl:Class rdf:about="#Boat">
<rdfs:subClassOf rdf:resource="#PhysicalEntity"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="#inDataSet"/>
<owl:hasValue rdf:datatype="http://www.w3.org/2001/XMLSchema#string">MSCOCO</owl:hasValue>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR_Panoptic"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByYOLO"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableBySegformer"/>
</owl:Class>
<owl:Class rdf:about="#Book">
<rdfs:subClassOf rdf:resource="#PhysicalEntity"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="#inDataSet"/>
<owl:hasValue rdf:datatype="http://www.w3.org/2001/XMLSchema#string">MSCOCO</owl:hasValue>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR_Panoptic"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByYOLO"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableBySegformer"/>
</owl:Class>
<owl:Class rdf:about="#Bottle">
<rdfs:subClassOf rdf:resource="#PhysicalEntity"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="#inDataSet"/>
<owl:hasValue rdf:datatype="http://www.w3.org/2001/XMLSchema#string">MSCOCO</owl:hasValue>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR_Panoptic"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByYOLO"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableBySegformer"/>
</owl:Class>
<owl:Class rdf:about="#Bowl">
<rdfs:subClassOf rdf:resource="#PhysicalEntity"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="#inDataSet"/>
<owl:hasValue rdf:datatype="http://www.w3.org/2001/XMLSchema#string">MSCOCO</owl:hasValue>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR_Panoptic"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByYOLO"/>
</owl:Class>
<owl:Class rdf:about="#Brightness">
<rdfs:subClassOf rdf:resource="#EnvironmentProperty"/>
</owl:Class>
<owl:Class rdf:about="#EnvironmentProperty">
<rdfs:subClassOf rdf:resource="http://www.w3.org/ns/sosa/ObservableProperty"/>
<rdfs:subClassOf rdf:resource="http://ecoinformatics.org/oboe/oboe.1.2/oboe-core.owl#Characteristic"/>
</owl:Class>
<owl:Class rdf:about="#Broccoli">
<rdfs:subClassOf rdf:resource="#PhysicalEntity"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="#inDataSet"/>
<owl:hasValue rdf:datatype="http://www.w3.org/2001/XMLSchema#string">MSCOCO</owl:hasValue>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR_Panoptic"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByYOLO"/>
</owl:Class>
<owl:Class rdf:about="#Brush_Encoder">
<rdfs:subClassOf rdf:resource="#Motor_Sensor"/>
<rdfs:subClassOf rdf:resource="#Passive_Sensor"/>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">A type of encoder that uses brushes to make contact with a commutator to measure position. Used in older types of motors and machinery to provide position feedback on the motor</rdfs:comment>
<rdfs:label rdf:datatype="http://www.w3.org/2001/XMLSchema#string">Brush Encoder</rdfs:label>
</owl:Class>
<owl:Class rdf:about="#Motor_Sensor">
<rdfs:subClassOf rdf:resource="http://www.w3.org/ns/sosa/Sensor"/>
<rdfs:subClassOf rdf:resource="#ProprioceptorSensor"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="http://www.w3.org/ns/sosa/observes"/>
<owl:allValuesFrom rdf:resource="#Location"/>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:comment rdf:datatype="http://www.w3.org/2001/XMLSchema#string">Sensors that monitor and measure various parameters of a motor's operation. Examples are encoders and tachometers used in industrial machinery to monitor motor speed and position.
TODO: Add motor as observed entity, and as part_of Robot</rdfs:comment>
<rdfs:label rdf:datatype="http://www.w3.org/2001/XMLSchema#string">Motor Sensor</rdfs:label>
</owl:Class>
<owl:Class rdf:about="#Bumper">
<rdfs:subClassOf rdf:resource="#Exteroceptor_Sensor"/>
<rdfs:subClassOf rdf:resource="#Passive_Sensor"/>
<rdfs:subClassOf rdf:resource="#Touch_Sensor"/>
<rdfs:comment xml:lang="en">A type of touch sensor that detects physical collisions or impacts, typically used in robotic applications to detect obstacles. Examples include bump sensors on robotic vacuum cleaners and collision detection bumpers on automated guided vehicles.</rdfs:comment>
<rdfs:label xml:lang="en">Bumper</rdfs:label>
</owl:Class>
<owl:Class rdf:about="#Touch_Sensor">
<rdfs:subClassOf rdf:resource="http://www.w3.org/ns/sosa/Sensor"/>
<rdfs:subClassOf rdf:resource="#Exteroceptor_Sensor"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="http://www.w3.org/ns/sosa/observes"/>
<owl:allValuesFrom rdf:resource="#Location"/>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="#hasMeasurementRange"/>
<owl:hasValue rdf:datatype="http://www.w3.org/2001/XMLSchema#float">0.0</owl:hasValue>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:comment xml:lang="en">A sensor that detects and measures physical contact or touch.
When these sensors activate, the activation implies the location of an entity at the range of the sensor. Examples include capacitive touchscreens, force-sensitive resistors, and tactile sensors used in robotics.</rdfs:comment>
<rdfs:label xml:lang="en">Touch Sensor</rdfs:label>
<hasWeBotsName rdf:datatype="http://www.w3.org/2001/XMLSchema#string">touch_sensor</hasWeBotsName>
</owl:Class>
<owl:Class rdf:about="#Bus">
<rdfs:subClassOf rdf:resource="#PhysicalEntity"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="#inDataSet"/>
<owl:hasValue rdf:datatype="http://www.w3.org/2001/XMLSchema#string">MSCOCO</owl:hasValue>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR_Panoptic"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByYOLO"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableBySegformer"/>
</owl:Class>
<owl:Class rdf:about="#Cake">
<rdfs:subClassOf rdf:resource="#PhysicalEntity"/>
<rdfs:subClassOf>
<owl:Restriction>
<owl:onProperty rdf:resource="#inDataSet"/>
<owl:hasValue rdf:datatype="http://www.w3.org/2001/XMLSchema#string">MSCOCO</owl:hasValue>
</owl:Restriction>
</rdfs:subClassOf>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR_Panoptic"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByDETR"/>
<rdfs:subClassOf rdf:resource="#EntitiesDetectectableByYOLO"/>
</owl:Class>
<owl:Class rdf:about="#Camera">
<rdfs:subClassOf rdf:resource="#Distance_Sensor"/>