The section title for 7.3 should be "Robotic Service Function Ontology."

section title for 7.3 is to be fixed

The section title for 7.3 should be "Robotic Service Function Ontology."

There is a lack of definitions of vocabularies to define parameters of RoIS component functions and it causes insufficience in some of the use cases.
More vocabularies should be defined.

Terms for component parameter added and demonstrated in Annex A

There is a lack of definitions of vocabularies to define parameters of RoIS component functions and it causes insufficience in some of the use cases.

In RoSO 1.0, Annex A is described with an example of Person Detection component in RoIS. To demonstrate with components with different message types, two examples for Person Localization and Follow are added.
As a result, Annex A is reorganized into five subsections, A.1 for RoIS Functional Component Ontology with modified Table A.1 and A.2; following three subsections for demonstrating RoIS Components with A.2 Person Detection, A.3 Person Localization and A.4 Follow; then demonstration for representing requirements in addition to RoIS parameters is described in A.5 Extension to RoIS Requirements.

To describe them, a new primitive class 'PhysicalThing' is added to Figure 3, and Table 7.2 in section 7.1.

Relationships between function/component and event/action are not described.
To describe them, vocabularies such as 'detects' and 'causes' have to be defined.

Repationships between function/component and event/action to be merged to ROIS11-2

This issue is to be merged with ROSO11-2.
The terms 'detects' and 'causes' have already been adopted in the RoSO 1.0 FTF.
This issue should address 'notifies' and 'executes' instead; however, the proposals for them can be merged with ROSO11-2.

The current document already defines the events detected from environments by functional components and the actions caused in the environments by functional components.
However, there is a lack of definitions of vocabulary to describe the events notified to services and the actions requested from services.
Therefore, it is currently impossible to describe relationships between the environment, components, and services.

'CommandExecution' and 'EventDetection' added as components' activity and 'notifies' and 'executes' to describe those instances.

Two component behaviors 'EventDetection' and 'CommandExecution' are defined as subclasses of 'Event' and 'Action.'
For describing relationship between Component and them, 'notifies' and 'executes' are defined as follows:

• Component notifies EventDetection (to services).
• Component executes CommandExecution (requested by service).

Figure 7 is revised to describe changes among those classes.
Figure 8 is revised to describe properties notifies and executes.
Definitions in Table 7.6 also include those entities.