Authors of RoSta ontology: Anders Nilsson <andersn@cs.lth.se> Riccardo Muradore <riccardo.muradore@univr.it>
Created by Jacek Malec <Jacek.Malec@cs.lth.se> for rosetta by merging RoSta and SIARAS ontologies, and further extending the result.
Department of Computer Science, Lund University, S-22100 Lund, Sweden, http://cs.lth.se
Re: quantities and units: Added qudt/unit ontology from NASA. Sorting out legacy units. JM 19 Jan 2011 Importing a modified version of QUDT 1.1 due to inconsistencies related to unique/not unique values. JM 8 Feb 2013 Removing import of QUDT 1.1 due to its inconsistencies deemed hard to resolve. Instead, using OM-ontology from http://www.wurvoc.org/vocabularies/om-1.8/. JM 10 Oct 2013
TODOs: 1. Parameter and Property classes MUST be cleaned up! 2. Superficial individuals from task description tests should be removed. 3. Quantities should be properly linked to some unit vocabulary (may be OM or QUDT or something else). So far there are some units local in this ontology (Meter, Newton, etc.) that should be sorted out in production version.
The ROSETTA ontology of industrial robotics devices and robotic skills.
The origins of this ontology are described in two papers: [1] Mathias Haage, Jacek Malec, Anders Nilsson, Klas Nilsson and Slawomir Nowaczyk. Declarative-knowledge-based reconfiguration of automation systems using a blackboard architecture, Proc. 11th Scandinavian Conference on Artificial Intelligence, Eds: Anders Kofod-Petersen, Fredrik Heintz and Helge Langseth, IOS Press, pp. 163--172, doi: 10.3233/978-1-60750-754-3-163, 2011. [2] Maj Stenmark and Jacek Malec. Knowledge-Based Industrial Robotics, Proc. 12th Scandinavian Conference on Artificial Intelligence, IOS Press, 2013. For more details please contact Jacek Malec, jacek.malec@cs.lth.se, http://cs.lth.se/english/contact/malec-jacek/robotics-ontologies/
This ontology has been developped as a tool used in a series of subsequent european projects: SIARAS (cordis.europa.eu/search/index.cfm? fuseaction=result.document&RS RCN=12197834A), RoSta (www.robot-standards.eu), ROSETTA (www.fp7rosetta.org) and PRACE (prace-fp7.eu)
This will be used for referencing devices in the later implementation, e.g. as a URI.
SIARAS (FP6-017146) Structured Description of Skills and Device 1.0 pag:5 (Breakdown of Skills)
Used to model compound devices. The main device (such as a robot) may be attached to a tool (such as a gripper).
To use an ordered list, according to the FAQ, rdf:List has to be added in Range (cf. http://protege.stanford.edu/doc/owl-faq.html#ordered). But it does not work so far.
Improve the mechanical resistivity by modifying the crystal structure. This is done by heating and fast cooling down.
Set specific material properties by heating, holding the heat for a specific time and cooling down.
Move a part from an undefined to a well-defined orientation and position.
This is the standard industrial robot-type with usually 5 to 7 joints.
Create subsets of defined size or amount and move these subsets to a defined location.
SIARAS: Attaching an end effector to a robot (opposite to Detach)
Should probably be used for snap-fit as well
Create channel-shaped deepenings which are meant to increase the stiffness.
Put a bending moment to the material which causes a malleable, i.e. permanent deformation.
Bolts are removable elements to create a connection between two or more workpieces.
The workpiece is given the tool's contour. This is used where contours are necessary which cannot be created by milling or lathing.
These machines move along the cartesian axes, i.e. they don't have revolute joints. Sometimes, there is a kind of portal where they move in. They are usually used for packing, palletizing and so on where they move heavy loads.
From fluid metallic material a solid workpiece is created.
SIARAS (FP6-017146) Structured Description of Skills and Device 1.0 pag:5 Check if a part fulfils given conditions.
SIARAS (FP6-017146) Task and Skills of Optical Sensors v1.1 part:7
SIARAS (FP6-017146) Structured Description of Skills and Device 1.0 pag:5
This is a connection of metal sheets without any additional material. The workpieces are deformed between a stamp and a template to generate a pushbutton-like shape.
Put a permanent layer of formless material onto the workpiece.
Represents any kind of computer-based controller; PC:s, robot controllers, PLC, ... Should it be subclassed?
Move a part (or transported material) from one undefined to another undefined position. The trajectory and the orientation of the parts while moved are not necessarily defined.
Relative change of length by pressure force.
Change the shape of a sheet metal or plate by pressing into a hollow piece. This is one of the most important procedures in mass production and small series production.
SIARAS Detaching an end-effector from a robot (opposite to Attach)
SIARAS (FP6-017146) Structured Description of Skills and Device 1.0 pag:5 Tasks and Skills of Ocptical Sensor 1.1 Cap: 2-5
SIARAS (FP6-017146) Tasks and Skills of Ocptical Sensor 1.1 Cap: 4
SIARAS (FP6-017146) Structured Description of Skills and Device 1.0 pag:11 Tasks and Skills of Ocptical Sensor 1.1 Cap: 3
SIARAS (FP6-017146) Tasks and Skills of Ocptical Sensor 1.1 Cap: 5
SIARAS (FP6-017146) Tasks and Skills of Ocptical Sensor 1.1 Cap: 2
SIARAS (FP6-017146) Structured Description of Skills and Device 1.0 pag:8
These are raw digital ports like used in a PLC.
Move translationally a part along a straight line. The part's orientiation remains unchanged.
This subclass contains devices which are supposed to move a workpiece, but which are not a robot. An example is a conveyor belt.
Create a subset from a superset. The size of source and target sets does not necessarily have to be defined.
Create a circular whole in the workpiece.
A spark removes material from the workpiece.
Put the material to the surface with the help of some electrochemical processes.
This implies that the physical interface is based on ethernet.
This is mainly used to create profiles, tubes and wires.
Move a part from one to another position along a given trajectory. The part's orientation is given at each point of the trajectory.
The workpiece is fixed while a metal plate performs a cutting movement and a feed motion. This is done manually very often.
Orthogonal bending up of the border of metal sheets. This is used for creating pipe connections and is widely used in the manufacturing of air channels.
Buckle, squeeze or crop thin, malleable and/or flexible materials like sheet metals and plates.
The workpiece is heated, the whole profile is plasticised. In doing so the crystal structure of the workpiece changes and the workpiece becomes softer.
Create workpieces from solid raw pieces. The shape is permanently modified. The volumina remains the same.
Connect workpieces with the help of a glue. This is done by physical interaction of the glue at the workpieces' interfaces.
SIARAS (FP6-017146) Structured Description of Skills and Device 1.0 pag:5 Keep a workpiece temporarily in a given position and orientation.
Increase the surface performance, flatten the surface.
Very precise kinematic, but small working area. This is used for special applications.
Smooth finishing of metallic surfaces, mostly wholes to increase size, shape or surface performance.
A metallic layer is put onto the workpieces by putting them into a smelter. This is mainly done to reduce corrosion.
For the identifier there are two applications in the later implementation: 1. Identifier of either a device or a workpiece. 2. Reference to device identifier or a workpiece identifier as a link, e.g. a URI.
This includes calculating up functions for setting positions and trajectories.
This describes the interface how the device is connected to the medium. Examples are serially, via ethernet, fieldbus, wireless, ...
This is the creation of a long-term connection of workpieces with a geometrically defined, fixed shape or with formless-parts.
Flatten surfaces while keeping very low tolerances. Moveable, rolling grains are used between the lapping plate and the workpiece.
The workpiece turns on a lathe. The cutting movement is performed by its turning movement. The tool is fixed and removes chips from the workpiece. Usually only rotation-symmetric workpieces are handled here.
Seems to be coincident with Displace. Possibly will be merged with it in some revision soon.
SIARAS (FP6-017146) Structured Description of Skills and Device 1.0 pag:5 Gather a value as a multiple of a reference value.
How to connect a tool mechanically. This includes the size and is dependent on the Payload.
Description of the mechanical plug to the interface.
Combine subflows of material to a superflow.
The tool moves over the workpiece to remove chipping. The tool is fed in a linear motion over the workpiece while the tool is rotating.
Modify some physical properties of the workpiece.
From a formless material a workpiece is created. The original material can be in either form like gaseous, vaporous, fluid, solid (powderous, grainy), papescent, paste-like, ...
Capability of setting up movements via numerical positions instead of functions.
rudimentary start for state transition systems
SIARAS (FP6-017146) Tasks and Skills of Ocptical Sensor 1.1 Cap: 3
Move a part from an undefined to a well-defined orientation. The part's position is not important here.
Move a part from one to another orientation and position by rotation around an axis which does not intersect with the part.
Special kinematic arrangement like the one built in SMErobot.
Legacy SIARAS list. Possibly to be distributed and modified.
Conflicts with the parameter classification from DAML/OWL-S
Overlaps to some extent with Property class.
Create a subset of a defined size from a superset. Separating is a special case of parting with size 1.
Move a part from one to another positition along an undefined trajectory. The part's orientation remains unchanged.
This is mainly used for wooden workpieces to remove chipping from the workpiece.
Capability of replaying preteached sequences and commands. This includes as well very simple controllers like Pick-and-Placers. They are capable of replaying a pick sequence.
Move a part from an undefined to a well-defined position. The part's orientation is not important here.
The powder becomes electrostatically charged and sprayed to the workpiece. Then it is burned into the workpiece.
Modify the surface of a solid body with the help of a stamp. The feed rate is very slow, although the pressure is very high.
seems to be a mess, with some properties separated in subclasses, while others are not
SIARAS (FP6-017146) Structured Description of Skills and Device 1.0 pag:5 Invert the grasping.
Connect workpieces with the help of a deformed, cylindrical connection element.
This is a malleable procedure. The material is feed between at least two rotating rolls. There are various types of rollling.
Introduced as a superclass for Pan and Turn, in case when intersection of the rotation axis and the object is not known.
Create wholes and increase the fitting quality.
A steel plate with teeth attached to it removes thin chippings by moving into the material. This is widely used for wood, stone, metal, plastics and other solid materials.
Industrial type, but special kinematic arrangement. Well-known manufacturer: Bosch-Rexrodt.
SIARAS (FP6-017146) Structured Description of Skills and Device 1.0 pag:6-7 (breakdown of properties)
Modify the workpiece by breaking the coherence at some location.
Superclass for the different types of signals
Simple, sometimes small machines with reduced capabilities, e.g. with only 1 DOF. These can be devices which are arranged to more complex machines. Sometimes, the tool is already included in the robot, e.g. a gripper is already connected.
By using powder material, a workpiece is formed. By heating the workpiece is hardened by avoiding a fluid phase.
SIARAS (FP6-017146) Tasks and Skills of Ocptical Sensor 1.1 Cap: 7
This is a thermic procedure to connect workpieces. Then, a fluid phase is created by melting solder (additional material).
Everything else which cannot be sorted in one of the other categories.
Save workpieces which are geometrically defined in a well-defined position and/or orientation.
Save workpieces which are geometrically defined in a well-defined position and/or orientation. This means position and orientation are only defined in some of their degrees of freedom.
Save workpieces which are geometrically defined in an undefined position and orientation.
defined to accomodate the workbench (table) from Rosetta example.
Influence the mechanical stresses of the workpiece. The material is given a regular structure.
Cut a contour with the help of a laser, a plasma cutter or a cutting torch.
The tool performs a cutting movement and a reverse movement.
Move a part from one to another orientation by turning it around an axis which intersects with the part.
Create a superset from subsets. The size of source and target sets does not necessarily have to be defined.
Put colour or any other material onto the surface, either by spraying or painting.
This is a permanent connection of workpieces by using heat and/or pressure. The material keeps its properties when welded.
possibly should encompass RotaryEncoder of RoSta
This attribute indicates whether the property is supposed to be provided each time a skill is invoked or just once.
seems to overlap with IOVariable concept
Pick operation for IPA-2DOF Picker from AMMS. Operation consists of MoveFront, MoveDown, Grasp, MoveUp.
ID of the IPA AMMS simple gripper with 2 DOF, but turnable by 90 degrees.
This is a carrier of IPA's Advanced Modular Microproduction System. It can move around freely in two dimensions.
Device to orient a polarisation filter in the right direction. This device is used in IPA's Advanced Modular Microproduction System.
2DOF-Gripper of the IPA AMMS Demonstrator.
Turn a workpiece by 90 degrees cw. or ccw.