AbnormalArea
type: Class
subclass of: Restriction
  on property: isLocatedAtBuildingElement
  some values from: BuildingElement
disjoint with: IndoorSpace
comment: AbnormalArea is an area that has some anomalies compared to other areas of the same building element. This area is caused by the BuildingDefect, and it usually has some variations in the values of some attributes.

AuxiliaryEquipment
type: Class
disjoint with: IndoorSpace
comment: AuxiliaryEquipment includes any equipment, devices, or sensors supporting the robot performing specific inspection tasks.

Building
type: Class
subclass of: Restriction
  on property: hasBuildingExterior
  some values from: BuildingExterior
subclass of: Restriction
  on property: hasBuildingInterior
  some values from: BuildingInterior
subclass of: Restriction
  on property: isLocatedAtSite
  qualified cardinality: 1
  on class: Site
disjoint with: IndoorSpace

BuildingDefect
type: Class
subclass of: Restriction
  on property: causesAbnormalArea
  some values from: AbnormalArea
subclass of: Restriction
  on property: isLocatedAt
  some values from: BuildingElement
disjoint with: IndoorSpace
comment: BuildingDefect is defined as a failing or shortcoming in the function, performance, statutory, or user requirements of a building, and might manifest itself within the BuildingElement of the affected building.

BuildingElement
type: Class
disjoint with: IndoorSpace
comment: BuildingElement is defined as all elements that are primarily part of an existing building. These elements could be from the BuildingInterior or the BuildingExterior.

BuildingExterior
type: Class
subclass of: Restriction
  on property: hasBuildingElement
  some values from: BuildingElement
subclass of: Restriction
  on property: hasSite
  qualified cardinality: 1
  on class: Site
disjoint with: IndoorSpace
comment: BuildingExterior includes all elements exposed to the Site of the building.

BuildingInterior
type: Class
subclass of: Restriction
  on property: hasBuildingElement
  some values from: BuildingElement
subclass of: Restriction
  on property: hasIndoorSpace
  some values from: IndoorSpace
disjoint with: IndoorSpace
comment: BuildingInterior includes all elements exposed to the inside of the building and IndoorSpace bounded by the elements.

Capability
type: Class
disjoint with: IndoorSpace
comment: Capability describes the manifested behavioral features of the robot system.

DetectableAttribute
type: Class
subclass of: Attribute
subclass of: Restriction
  on property: hasUnit
  some values from: string
subclass of: Restriction
  on property: hasValue
  some values from: double
comment: DetectableAttribute refers to attributes whose values would change due to defects.

EnvironmentalCondition
type: Class
disjoint with: IndoorSpace
comment: EnvironmentalCondition describes environmental conditions of the building Site and IndoorSpace, which includes AverageAnnualAirTemperature, AverageAnnualAirHumidity, AirPressure, Visibility, and AverageAnnualWindSpeed, SignalReceptionCondition.

PhysicalConstraintToRobot
type: Class
subclass of: Restriction
  on property: determines
  some values from: SizeRequirement
comment: PhysicalConstraintToRobot means the maximum size of the space or area that the BuildingElement or the IndoorSpace can provide for the robot movement.

Robot
type: Class
subclass of: Restriction
  on property: hasRobotComponent
  some values from: RobotComponent
subclass of: Restriction
  on property: movesAtMovementMedium
  some values from: RobotMovementMedium
subclass of: Restriction
  on property: worksIn
  some values from: WorkEnvironment
comment: Robot refers exclusively to mobile robots in the context of building inspection robots. It is a programmed actuated mechanism able to move around at a RobotMovementMedium of its WorkEnvironment and conduct RobotBehavior with a degree of autonomy.

RobotMovementMedium
type: Class
comment: RobotMovementMedium is what the robot relies on for its movement.

RobotSystem
type: Class
subclass of: Restriction
  on property: hasCapability
  some values from: Capability
comment: RobotSystem is defined as an artificial system formed by robots and AuxiliaryEquipment

StructuralCharacteristic
type: Class
subclass of: Attribute
comment: StructuralCharacteristic refers to generic features necessary to describe the physical and structural aspects of a robot system.

WorkEnvironment
type: Class
subclass of: Restriction
  on property: hasRobotMovementMedium
  some values from: RobotMovementMedium
comment: WorkEnvironment is the environment where the robot is exposed to.

Angle1
type: NamedIndividual
type: Angle
determines: TransitionDexterityRequirement Indoor
has unit: degree
has value: 90.0

Angle2 1
type: NamedIndividual
type: Angle
determines: TransitionDexterityRequirement Indoor
has unit: degree
has value: 60.0

Angle2 2
type: NamedIndividual
type: Angle
has unit: degree
has value: 80.0

Angle3
type: NamedIndividual
type: Angle
determines: TransitionDexterityRequirement Indoor
has unit: degree
has value: 105.0

Angle4
type: NamedIndividual
type: Angle
determines: TransitionDexterityRequirement Indoor
has unit: degree
has value: 120.0

Ceramics2
type: NamedIndividual
type: SurfaceMaterial
determines: AdhesionMechanismRequirement Indoor
is ferromagnetic: false
is smooth: true

Depth2
type: NamedIndividual
type: Depth
has unit: cm
has value: 5.0

Dustiness1
type: NamedIndividual
type: Dustiness
determines: AdhesionMechanismRequirement Indoor
has dustiness level: low

Dustiness2
type: NamedIndividual
type: Dustiness
determines: AdhesionMechanismRequirement Indoor
has dustiness level: medium

Dustiness3
type: NamedIndividual
type: Dustiness
determines: AdhesionMechanismRequirement Indoor
has dustiness level: high

Dustiness4
type: NamedIndividual
type: Dustiness
determines: AdhesionMechanismRequirement Indoor
has dustiness level: low

Glass3
type: NamedIndividual
type: SurfaceMaterial
determines: AdhesionMechanismRequirement Indoor
is ferromagnetic: false
is smooth: true

InclinationAngle1
type: NamedIndividual
type: InclinationAngle
determines: AdhesionMechanismRequirement Indoor
has unit: degree
has value: 180.0

InclinationAngle2
type: NamedIndividual
type: InclinationAngle
determines: AdhesionMechanismRequirement Indoor
has unit: degree
has value: 90.0

InclinationAngle3
type: NamedIndividual
type: InclinationAngle
determines: AdhesionMechanismRequirement Indoor
has unit: degree
has value: 90.0

InclinationAngle4
type: NamedIndividual
type: InclinationAngle
determines: AdhesionMechanismRequirement Indoor
has unit: degree
has value: 80.0

IndoorSpace1
type: NamedIndividual
type: IndoorSpace
has physical constraints to robots: HeightConstraint1
has signal reception condition: good

InspectionSpeed1
type: NamedIndividual
type: Speed
determines: VelocityRequirement Indoor
has unit: m/min
has value: 10.0

ObstacleDepth1
type: NamedIndividual
type: Attribute
type: Depth
determines: ObstacleOvercomingAbilityRequirement Indoor
has unit: mm
has value: 10.0

ObstacleDepth2
type: NamedIndividual
type: Attribute
type: Depth
determines: ObstacleOvercomingAbilityRequirement Indoor
has unit: mm
has value: 15.0

ObstacleDepth3
type: NamedIndividual
type: Attribute
type: Depth
determines: ObstacleOvercomingAbilityRequirement Indoor
has unit: mm
has value: 20.0

ObstacleHeight1
type: NamedIndividual
type: Attribute
type: Height
determines: ObstacleOvercomingAbilityRequirement Indoor
has unit: mm
has value: 30.0

ObstacleHeight2
type: NamedIndividual
type: Attribute
type: Height
determines: ObstacleOvercomingAbilityRequirement Indoor
has unit: mm
has value: 20.0

ObstacleHeight3
type: NamedIndividual
type: Attribute
type: Height
determines: ObstacleOvercomingAbilityRequirement Indoor
has unit: mm
has value: 12.0

ObstacleWidth1
type: NamedIndividual
type: Attribute
type: Width
determines: ObstacleOvercomingAbilityRequirement Indoor
has unit: mm
has value: 15.0

ObstacleWidth2
type: NamedIndividual
type: Width
determines: ObstacleOvercomingAbilityRequirement Indoor
has unit: mm
has value: 20.0

ObstacleWidth3
type: NamedIndividual
type: Width
determines: ObstacleOvercomingAbilityRequirement Indoor
has unit: mm
has value: 40.0

ObstacleWidth4
type: NamedIndividual
type: Width
determines: ObstacleOvercomingAbilityRequirement Indoor
has unit: mm
has value: 10.0

SurfaceOrientation1
type: NamedIndividual
type: SurfaceOrientation
determines: AdhesionMechanismRequirement Indoor
is inverted: true

SurfaceOrientation234
type: NamedIndividual
type: SurfaceOrientation
determines: AdhesionMechanismRequirement Indoor
is inverted: false

Wallpaper1
type: NamedIndividual
type: SurfaceMaterial
determines: AdhesionMechanismRequirement Indoor
is ferromagnetic: false
is smooth: false

Wallpaper4
type: NamedIndividual
type: SurfaceMaterial
determines: AdhesionMechanismRequirement Indoor
is ferromagnetic: false
is smooth: false