@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#> .

<https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/>
  a owl:Ontology ;
  rdfs:label "Robotic Service Function Ontology" ;
  dc:abstract "The Robotics Service Ontology (RoSO) function ontology extends the main RoSO ontology to define various functions that a robotic service might perform."@en-US ;
  owl:versionIRI <https://www.omg.org/spec/RoSO/20250801/RoboticServiceFunctionOntology/> ;
  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/RoSO/RoboticServiceOntology/>, <https://www.omg.org/spec/RoSO/RoboticServiceInteractionOntology/>;
  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/RoboticServiceFunctionOntology/causes>
  a owl:ObjectProperty ;
  rdfs:label "causes" ;
  rdfs:domain <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/Actuation> ;
  rdfs:range <https://www.omg.org/spec/RoSO/RoboticServiceInteractionOntology/Action> ;
  skos:definition "represents actions that a function can actuate" .

<https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/detects>
  a owl:ObjectProperty ;
  rdfs:label "detects" ;
  rdfs:domain <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/Sensing> ;
  rdfs:range <https://www.omg.org/spec/RoSO/RoboticServiceInteractionOntology/Event> ;
  skos:definition "represents events that a function can sense" .

<https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/executes>
  a owl:ObjectProperty ;
  rdfs:label "executes" ;
  rdfs:domain <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/Component> ;
  rdfs:range <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/CommandExecution> ;
  skos:definition "represents execution of an action commanded to a component" .

<https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/features>
  a owl:ObjectProperty ;
  rdfs:label "features" ;
  rdfs:subPropertyOf <https://www.omg.org/spec/Commons/Classifiers/isClassifiedBy> ;
  rdfs:domain <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/Component> ;
  rdfs:range <https://www.omg.org/spec/RoSO/RoboticServiceOntology/Function> ;
  skos:definition "represents functions that a component can provide" .

<https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/hasParameter>
  a owl:ObjectProperty ;
  rdfs:label "has parameter" ;
  rdfs:domain <https://www.omg.org/spec/RoSO/RoboticServiceOntology/Function> ;
  rdfs:range <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/Parameter> ;
  skos:definition "represents parameters that a function has" .

<https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/notifies>
  a owl:ObjectProperty ;
  rdfs:label "notifies" ;
  rdfs:domain <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/Component> ;
  rdfs:range <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/EventDetection> ;
  skos:definition "represents notification of an event detected by a component" .

<https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/Actuation>
  a owl:Class ;
  rdfs:label "actuation" ;
  rdfs:subClassOf <https://www.omg.org/spec/RoSO/RoboticServiceOntology/Function> ;
  owl:disjointWith <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/Sensing> ;
  skos:definition "a function to actuate something" .

<https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/Component>
  a owl:Class ;
  rdfs:label "component" ;
  rdfs:subClassOf <https://www.omg.org/spec/Commons/Collections/Constituent> ;
  skos:definition "a functional module that provides robotic functions such as actuation or sensing" .

<https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/Parameter>
  a owl:Class ;
  rdfs:label "parameter" ;
  skos:definition "a value that have effects on a behavior of a component's function" .

<https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/Sensing>
  a owl:Class ;
  rdfs:label "sensing" ;
  rdfs:subClassOf <https://www.omg.org/spec/RoSO/RoboticServiceOntology/Function> ;
  owl:disjointWith <https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/Actuation> ;
  skos:definition "a function to sense something" .

<https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/EventDetection>
  a owl:Class ;
  rdfs:label "event detection" ;
  rdfs:subClassOf <https://www.omg.org/spec/RoSO/RoboticServiceInteractionOntology/Event> ;
  skos:definition "represention of an event detection as an event, which is caused by a component to notify a real-world event detected by the component of services that utilize the component" .

<https://www.omg.org/spec/RoSO/RoboticServiceFunctionOntology/CommandExecution>
  a owl:Class ;
  rdfs:label "command execution" ;
  rdfs:subClassOf <https://www.omg.org/spec/RoSO/RoboticServiceInteractionOntology/Action> ;
  skos:definition "representation of a command execution as an action, which is caused by a component as a responce to an execution request from services that utilize the component" .