Nanopublication

ID

https://w3id.org/np/RAch-JAdPK_nP6-7fo91pmObJYhYeflKq9wdH4oWKVGjk
Formats

Content

@prefix dcterms: <http://purl.org/dc/terms/> .
@prefix ero-alias: <http://w3id.org/ExperimentalResearchOntology/alias#> .
@prefix ero-core: <http://w3id.org/ExperimentalResearchOntology/core#> .
@prefix ero-util: <http://w3id.org/ExperimentalResearchOntology/util#> .
@prefix fdof: <https://w3id.org/fdof/ontology#> .
@prefix np: <http://www.nanopub.org/nschema#> .
@prefix npx: <http://purl.org/nanopub/x/> .
@prefix orcid: <https://orcid.org/> .
@prefix prov: <http://www.w3.org/ns/prov#> .
@prefix rdfs: <http://www.w3.org/2000/01/rdf-schema#> .
@prefix rfp: <http://w3id.org/RoBivaL/FDOProfile/> .
@prefix rfr-sep: <http://w3id.org/RoBivaL/FDORecord/Specification/ExperimentParameter/> .
@prefix rfr-set: <http://w3id.org/RoBivaL/FDORecord/Specification/ExperimentType/> .
@prefix sub: <https://w3id.org/np/RAch-JAdPK_nP6-7fo91pmObJYhYeflKq9wdH4oWKVGjk/> .
@prefix this: <https://w3id.org/np/RAch-JAdPK_nP6-7fo91pmObJYhYeflKq9wdH4oWKVGjk> .
@prefix xsd: <http://www.w3.org/2001/XMLSchema#> .

sub:Head {
  this: a np:Nanopublication;
    np:hasAssertion sub:assertion;
    np:hasProvenance sub:provenance;
    np:hasPublicationInfo sub:pubinfo .
}

sub:assertion {
  rfr-set:ObstacleAvoidanceDemo a ero-core:ExperimentType;
    dcterms:conformsTo rfp:TrivialProfile;
    ero-core:hasMethodologySpec sub:_nddf36d89e1644bcba1d95cc008a06847b3;
    ero-core:hasParameterUsage sub:_nddf36d89e1644bcba1d95cc008a06847b1, sub:_nddf36d89e1644bcba1d95cc008a06847b2;
    rdfs:comment "An experiment type focused on testing robot navigation around obstacles.";
    rdfs:label "Obstacle Avoidance Experiment";
    fdof:isMaterializedBy rfr-set:ObstacleAvoidanceDemo.ttl .
  
  sub:_nddf36d89e1644bcba1d95cc008a06847b1 a ero-core:ParameterUsage;
    ero-core:usesParameter rfr-sep:observedRobot;
    ero-util:hasVariableRole ero-util:IndependentVariable;
    ero-util:isRequired "true"^^xsd:boolean;
    rdfs:label "Observed Robot Usage for Obstacle Avoidance" .
  
  sub:_nddf36d89e1644bcba1d95cc008a06847b2 a ero-core:ParameterUsage;
    ero-core:usesParameter rfr-sep:travelTime;
    ero-util:hasVariableRole ero-util:DependentVariable;
    ero-util:isRequired "true"^^xsd:boolean;
    rdfs:label "Travel Time Usage for Obstacle Avoidance" .
  
  sub:_nddf36d89e1644bcba1d95cc008a06847b3 a ero-core:MethodologySpec;
    ero-alias:BFO_hasPart sub:_nddf36d89e1644bcba1d95cc008a06847b4, sub:_nddf36d89e1644bcba1d95cc008a06847b5,
      sub:_nddf36d89e1644bcba1d95cc008a06847b6, sub:_nddf36d89e1644bcba1d95cc008a06847b7 .
  
  sub:_nddf36d89e1644bcba1d95cc008a06847b4 a ero-util:ResearchObjectiveSpec;
    dcterms:description "The objective of the obstacle avoidance experiment is to demonstrate SherpaTT's ability to step over an obstacle without contact, thanks to its actively controlled suspension. For constrast, a variation of the experiment is conducted where the robot drives around the obstacle. This variation is also performed by ARTEMIS, which, due to its passive suspension, cannot step over the obstacle. Both variants are conducted only on moist and compacted soil." .
  
  sub:_nddf36d89e1644bcba1d95cc008a06847b5 a ero-util:ExperimentSetupSpec;
    dcterms:description "The obstacle is a cuboid with variable dimensions (height, width, depth). It is placed half way between the start and finish line of the track, which has a total length of 5m. The sides of the cuboid are parallel to the ground, the start line, and the direction of the track." .
  
  sub:_nddf36d89e1644bcba1d95cc008a06847b6 a ero-util:ProcedureSpec;
    dcterms:description "In an experiment run, the robot first drives at a constant commanded speed straight up to the obstacle. The operator then issues any commands necessary to either step over or drive around the obstacle, depending on the experiment variant. After a successful avoidance maneuver, the robot continues in a straight line towards the finish, at the intially commanded speed." .
  
  sub:_nddf36d89e1644bcba1d95cc008a06847b7 a ero-util:SuccessCriteriaSpec;
    dcterms:description "The obstacle must be surpassed without making contact." .
}

sub:provenance {
  sub:assertion prov:generatedAtTime "2025-09-02T12:24:52.162111"^^xsd:dateTime;
    prov:wasAttributedTo orcid:0009-0002-7114-0687 .
}

sub:pubinfo {
  this: prov:generatedAtTime "2025-09-02T12:24:52.162111"^^xsd:dateTime;
    prov:wasAttributedTo orcid:0009-0002-7114-0687 .
  
  sub:sig npx:hasAlgorithm "RSA";
    npx:hasPublicKey "MIIBIjANBgkqhkiG9w0BAQEFAAOCAQ8AMIIBCgKCAQEArZ9Y//+C7th8DsJGdCn1YkpsuuS9ktEB1AnDb17d9nnxcmAGZSj5ibp10AO6gAwO5O0/qArZyYE5AeBRqXwFYhlbj9AfBqroAyNEqImL6uhk8MM3JVCzUbG1c7ulyqE7ZLQ02NHOeKGebLKG15DRAwlBeePet3j51BEt1l+KN3ZDsdWcJ1IdiXzddlBq0EL92/uREE9/9hXgi3DUZi9ZtGCU+lvYBeyMm1I6t9ajAa+9Ouwj6U8igLAvEPT81tO8Wa8tZUxWqezgLBzXk0jUxyibtIRRywGSPlzrVy69suoAEEGWaFkGLKa833/qCDLWN1lJwLq5MXbFpahjJum3xQIDAQAB";
    npx:hasSignature "iJH0iwNYvDFMQs00OBGYyXnFFbCWrveOzXIbPGt5Y8uLeqLum1oB7CI0Cr06Dx3T22jNYN/w/eImfHe3q1OD/aNooFhaKT4TNgfKkLLA7VkCN004028/wmgaozIVMM/k4NHU6FYV7t4sksk4/DROoNqrVEvFyvdaIpwH+Hq7rkG1ZrSIMCZdy69Oi+N58ufmnIn+UXgp35p3v80ab6mS/N5lam2rS7+lNVqxmTks5a6eU9Ab6JgGgesjEw8ovSFGWZCoZSLWFb5LzVQlr69xAQbkYTwFYULhw/u+6LZhBFqdyKn+4RfEu+atANN4tUp2eyZ17KJSYJLL5ADkDWIN6g==";
    npx:hasSignatureTarget this:;
    npx:signedBy orcid:0009-0002-7114-0687 .
}