@prefix owl: <http://www.w3.org/2002/07/owl#> .
@prefix rdfs: <http://www.w3.org/2000/01/rdf-schema#> .
@prefix dc: <http://purl.org/dc/terms/> .
@prefix ns0: <https://www.omg.org/spec/Commons/AnnotationVocabulary/> .
@prefix skos: <http://www.w3.org/2004/02/skos/core#> .
@prefix xsd: <http://www.w3.org/2001/XMLSchema#> .

<https://www.omg.org/spec/RoSO/Example/RoboticInteractionServiceComponentOntology/>
  a owl:Ontology ;
  rdfs:label "Robotic Interaction Service (RoIS) Component Ontology" ;
  dc:abstract "The Robotic Interaction Service Components Ontology provides vocabularies to describe RoIS basic functional components."@en-US ;
  owl:versionIRI <https://www.omg.org/spec/RoIS/20250801/Ontology/RoboticFunctionalServiceComponentOntology/> ;
  owl:imports <https://www.omg.org/spec/Commons/AnnotationVocabulary/>, <https://www.omg.org/spec/Commons/Classifiers/>, <https://www.omg.org/spec/Commons/Collections/>, <https://www.omg.org/spec/Commons/DatesAndTimes/>, <https://www.omg.org/spec/Commons/PartiesAndSituations/>, <https://www.omg.org/spec/RoSO/RoboticServiceOntology/>, <https://www.omg.org/spec/RoSO/RoboticServiceInteractionOntology/>, <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/> ;
  ns0:copyright "Copyright (c) 2023-2025 Japan Robot Association"@en-US, "Copyright (c) 2023-2025 Korea Association of Robot Industry"@en-US, "Copyright (c) 2023-2025 National Institute of Advanced Industrial Science and Technology, Japan"@en-US, "Copyright (c) 2023-2025 Object Management Group, Inc."@en-US, "Copyright (c) 2023-2025 Shibaura Institute of Technology"@en-US, "Copyright (c) 2023-2024 Université Sorbonne Paris Nord"@fr-FR .

<https://www.omg.org/spec/RoSO/Example/RoboticInteractionServiceComponentOntology/hasDetectionRegion>
  a owl:ObjectProperty ;
  rdfs:subPropertyOf <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/hasParameter> ;
  rdfs:domain <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/Function> ;
  rdfs:range <https://www.omg.org/spec/RoSO/RoboticServiceOntology/Region> ;
  skos:definition "indicates a region in which a component can detect targets" .

<https://www.omg.org/spec/RoSO/Example/RoboticInteractionServiceComponentOntology/hasDetectionThreshold>
  a owl:ObjectProperty ;
  rdfs:subPropertyOf <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/hasParameter> ;
  rdfs:domain <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/Function> ;
  rdfs:range <https://www.omg.org/spec/RoSO/RoboticServiceOntology/SpatialInterval> ;
  skos:definition "indicates a spatial interval with which a component can detect targets' movement in minimum" .

<https://www.omg.org/spec/RoSO/Example/RoboticInteractionServiceComponentOntology/hasDetectionTimelimit>
  a owl:ObjectProperty ;
  rdfs:subPropertyOf <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/hasParameter> ;
  rdfs:domain <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/Function> ;
  rdfs:range <https://www.omg.org/spec/Commons/DatesAndTimes/TimeInterval> ;
  skos:definition "indicates a time limit within which a component is expected to detect the target" .

<https://www.omg.org/spec/RoSO/Example/RoboticInteractionServiceComponentOntology/hasMaximumInterval>
  a owl:ObjectProperty ;
  rdfs:subPropertyOf <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/hasParameter> ;
  rdfs:domain <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/Function> ;
  rdfs:range <https://www.omg.org/spec/Commons/DatesAndTimes/TimeInterval> ;
  skos:definition "indicates a time interval within which a component notifies events in maximum" .

<https://www.omg.org/spec/RoSO/Example/RoboticInteractionServiceComponentOntology/hasMinimumDistance>
  a owl:ObjectProperty ;
  rdfs:subPropertyOf <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/hasParameter> ;
  rdfs:domain <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/Function> ;
  rdfs:range <https://www.omg.org/spec/RoSO/RoboticServiceOntology/SpatialInterval> ;
  skos:definition "indicates a minimum spatial distance that a robot can approach while following the target" .

<https://www.omg.org/spec/RoSO/Example/RoboticInteractionServiceComponentOntology/hasMinimumInterval>
  a owl:ObjectProperty ;
  rdfs:subPropertyOf <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/hasParameter> ;
  rdfs:domain <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/Function> ;
  rdfs:range <https://www.omg.org/spec/Commons/DatesAndTimes/TimeInterval> ;
  skos:definition "indicates a time interval within which a component cannot notify events in minimum" .

<https://www.omg.org/spec/RoSO/Example/RoboticInteractionServiceComponentOntology/hasTarget>
  a owl:ObjectProperty ;
  rdfs:subPropertyOf <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/hasParameter> ;
  rdfs:label "has target" ;
  rdfs:domain <https://www.omg.org/spec/RoSO/RoboticServiceOntology/Function> ;
  rdfs:range [
    a owl:Class ;
    owl:unionOf (
     <https://www.omg.org/spec/Commons/PartiesAndSituations/Agent>
     <https://www.omg.org/spec/RoSO/RoboticServiceOntology/PhysicalThing>
   )
  ] .

<https://www.omg.org/spec/RoSO/Example/RoboticInteractionServiceComponentOntology/hasTimeLimit>
  a owl:ObjectProperty ;
  rdfs:subPropertyOf <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/hasParameter> ;
  rdfs:domain <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/Function> ;
  rdfs:range <https://www.omg.org/spec/Commons/DatesAndTimes/TimeInstant> ;
  skos:definition "indicates a time instant until which a component is ordered to finish command execution" .

<https://www.omg.org/spec/RoSO/Example/RoboticInteractionServiceComponentOntology/AudioStreaming>
  a owl:Class ;
  rdfs:label "audio streaming" ;
  rdfs:subClassOf <https://www.omg.org/spec/RoSO/RoboticServiceOntology/Function> ;
  skos:definition "component function to transmit audio streaming" .

<https://www.omg.org/spec/RoSO/Example/RoboticInteractionServiceComponentOntology/FaceDetection>
  a owl:Class ;
  rdfs:label "face detection" ;
  rdfs:subClassOf <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/Sensing> ;
  skos:definition "component function to count the number of faces detected in the detection region" .

<https://www.omg.org/spec/RoSO/Example/RoboticInteractionServiceComponentOntology/FaceLocalization>
  a owl:Class ;
  rdfs:label "face localization" ;
  rdfs:subClassOf <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/Sensing> ;
  skos:definition "component function to localize positions of faces detected in the detection region" .

<https://www.omg.org/spec/RoSO/Example/RoboticInteractionServiceComponentOntology/Follow>
  a owl:Class ;
  rdfs:label "follow" ;
  rdfs:subClassOf <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/Actuation> ;
  skos:definition "component function to move following a target agent" .

<https://www.omg.org/spec/RoSO/Example/RoboticInteractionServiceComponentOntology/GestureRecognition>
  a owl:Class ;
  rdfs:label "gesture recognition" ;
  rdfs:subClassOf <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/Sensing> ;
  skos:definition "component function to recognize gestures represented by other agents" .

<https://www.omg.org/spec/RoSO/Example/RoboticInteractionServiceComponentOntology/Move>
  a owl:Class ;
  rdfs:label "move" ;
  rdfs:subClassOf <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/Actuation> ;
  skos:definition "component function to move along the indicated path" .

<https://www.omg.org/spec/RoSO/Example/RoboticInteractionServiceComponentOntology/Navigation>
  a owl:Class ;
  rdfs:label "navigation" ;
  rdfs:subClassOf <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/Actuation> ;
  skos:definition "component function to navigate another agent to the indicated goal point" .

<https://www.omg.org/spec/RoSO/Example/RoboticInteractionServiceComponentOntology/PersonDetection>
  a owl:Class ;
  rdfs:label "person detection" ;
  rdfs:subClassOf <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/Sensing> ;
  skos:definition "component function to count the number of persons detected in the detection region" .

<https://www.omg.org/spec/RoSO/Example/RoboticInteractionServiceComponentOntology/PersonIdentification>
  a owl:Class ;
  rdfs:label "person identification" ;
  rdfs:subClassOf <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/Sensing> ;
  skos:definition "component function to identify persons detected in the detection region" .

<https://www.omg.org/spec/RoSO/Example/RoboticInteractionServiceComponentOntology/PersonLocalization>
  a owl:Class ;
  rdfs:label "person localization" ;
  rdfs:subClassOf <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/Sensing> ;
  skos:definition "component function to localize positions of persons detected in the detection region" .

<https://www.omg.org/spec/RoSO/Example/RoboticInteractionServiceComponentOntology/Reaction>
  a owl:Class ;
  rdfs:label "reaction" ;
  rdfs:subClassOf <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/Actuation> ;
  skos:definition "component function to perform motions to interact with other agents" .

<https://www.omg.org/spec/RoSO/Example/RoboticInteractionServiceComponentOntology/SoundDetection>
  a owl:Class ;
  rdfs:label "sound detection" ;
  rdfs:subClassOf <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/Sensing> ;
  skos:definition "component function to count the number of sound sources detected in the detection region" .

<https://www.omg.org/spec/RoSO/Example/RoboticInteractionServiceComponentOntology/SoundLocalization>
  a owl:Class ;
  rdfs:label "sound localization" ;
  rdfs:subClassOf <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/Sensing> ;
  skos:definition "component function to localize positions of sound sources detected in the detection region" .

<https://www.omg.org/spec/RoSO/Example/RoboticInteractionServiceComponentOntology/SpeechRecognition>
  a owl:Class ;
  rdfs:label "speech recognition" ;
  rdfs:subClassOf <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/Sensing> ;
  skos:definition "component function to recognize speech sound to text" .

<https://www.omg.org/spec/RoSO/Example/RoboticInteractionServiceComponentOntology/SpeechSynthesis>
  a owl:Class ;
  rdfs:label "speech synthesis" ;
  rdfs:subClassOf <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/Actuation> ;
  skos:definition "component function to synthesize speech sound from text" .

<https://www.omg.org/spec/RoSO/Example/RoboticInteractionServiceComponentOntology/VideoStreaming>
  a owl:Class ;
  rdfs:label "video streaming" ;
  rdfs:subClassOf <https://www.omg.org/spec/RoSO/RoboticServiceOntology/Function> ;
  skos:definition "component function to transmit video streaming" .

<https://www.omg.org/spec/RoSO/Example/RoboticInteractionServiceComponentOntology/radiusValue>
  a owl:ObjectProperty ;
  rdfs:domain <https://www.omg.org/spec/RoSO/RoboticServiceOntology/Region> ;
  rdfs:range xsd:decimal ;
  skos:definition "indicates a radius of a region as decimal (without unit name)" .

<https://www.omg.org/spec/RoSO/Example/RoboticInteractionServiceComponentOntology/unitName>
  a owl:ObjectProperty ;
  rdfs:domain <https://www.omg.org/spec/RoSO/RoboticServiceOntology/Region> ;
  rdfs:range xsd:string ;
  skos:definition "indicates a unit name for a value used as a component attribute" .

<https://www.omg.org/spec/RoSO/Example/RoboticInteractionServiceComponentOntology/regionLabel>
  a owl:ObjectProperty ;
  rdfs:domain <https://www.omg.org/spec/RoSO/RoboticServiceOntology/Region> ;
  rdfs:range xsd:string ;
  skos:definition "indicates a name of region as a string" .

<https://www.omg.org/spec/RoSO/Example/RoboticInteractionServiceComponentOntology/CircleRegion>
  a owl:Class ;
  rdfs:label "circle region" ;
  rdfs:subClassOf <https://www.omg.org/spec/RoSO/RoboticServiceOntology/Region> ;
  skos:definition "component function to perform motions to interact with other agents" .

<https://www.omg.org/spec/RoSO/Example/RoboticInteractionServiceComponentOntology/RoISIdentifier>
  a owl:Class ;
  rdfs:label "rois identifier" ;
  rdfs:subClassOf <https://www.omg.org/spec/RoSO/RoboticServiceOntology/ConceptualThing> ;
  skos:definition "a general identifier used in RoIS to indicate things in the environment or entities in the dictionaries" .