@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/RAIjgGnV4j-ygz7tpTlxTjY6MZ2-Nc5v7PC1SFsZYIO_0/> .
@prefix this: <https://w3id.org/np/RAIjgGnV4j-ygz7tpTlxTjY6MZ2-Nc5v7PC1SFsZYIO_0> .
@prefix xsd: <http://www.w3.org/2001/XMLSchema#> .

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

sub:assertion {
  rfr-set:ObstacleAvoidanceDemo dcterms:conformsTo rfp:TrivialProfile;
    ero-core:hasMethodologySpec sub:_nfb0cb98fe727408485f9fe844e9dd39bb3;
    ero-core:hasParameterUsage sub:_nfb0cb98fe727408485f9fe844e9dd39bb1, sub:_nfb0cb98fe727408485f9fe844e9dd39bb2;
    a ero-core:ExperimentType;
    rdfs:comment "An experiment type focused on testing robot navigation around obstacles.";
    rdfs:label "Obstacle Avoidance Experiment";
    fdof:isMaterializedBy rfr-set:ObstacleAvoidanceDemo.ttl .
  
  sub:_nfb0cb98fe727408485f9fe844e9dd39bb1 ero-core:usesParameter rfr-sep:observedRobot;
    ero-util:hasVariableRole ero-util:IndependentVariable;
    ero-util:isRequired "true"^^xsd:boolean;
    a ero-core:ParameterUsage;
    rdfs:label "Observed Robot Usage for Obstacle Avoidance" .
  
  sub:_nfb0cb98fe727408485f9fe844e9dd39bb2 ero-core:usesParameter rfr-sep:travelTime;
    ero-util:hasVariableRole ero-util:DependentVariable;
    ero-util:isRequired "true"^^xsd:boolean;
    a ero-core:ParameterUsage;
    rdfs:label "Travel Time Usage for Obstacle Avoidance" .
  
  sub:_nfb0cb98fe727408485f9fe844e9dd39bb3 ero-alias:BFO_hasPart sub:_nfb0cb98fe727408485f9fe844e9dd39bb4,
      sub:_nfb0cb98fe727408485f9fe844e9dd39bb5, sub:_nfb0cb98fe727408485f9fe844e9dd39bb6,
      sub:_nfb0cb98fe727408485f9fe844e9dd39bb7;
    a ero-core:MethodologySpec .
  
  sub:_nfb0cb98fe727408485f9fe844e9dd39bb4 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.";
    a ero-util:ResearchObjectiveSpec .
  
  sub:_nfb0cb98fe727408485f9fe844e9dd39bb5 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.";
    a ero-util:ExperimentSetupSpec .
  
  sub:_nfb0cb98fe727408485f9fe844e9dd39bb6 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.";
    a ero-util:ProcedureSpec .
  
  sub:_nfb0cb98fe727408485f9fe844e9dd39bb7 dcterms:description "The obstacle must be surpassed without making contact.";
    a ero-util:SuccessCriteriaSpec .
}

sub:provenance {
  sub:assertion prov:generatedAtTime "2025-09-02T12:25:11.453560"^^xsd:dateTime;
    prov:wasAttributedTo orcid:0009-0002-7114-0687 .
}

sub:pubinfo {
  this: prov:generatedAtTime "2025-09-02T12:25:11.453560"^^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 "S+5MQnDhOU6tpqVY53O2x7yjx1Vh7Q+yUuaY4fBVdJQAwbYSf8T5RvAK73uEOrzBsG0a0NrM3cZkDkJ7xAxHDSaBw+tXW3eSsmSEgJpBLoSSKnKKbjfBOs7nA1cwcu3onQVMITAVkjfs5T3DtJpzDpty1+N3oMTlbxT2iXaqKVmRrCBlQU7IAyrUX/dPNVBF8nVyc5ADbY5ty5FSlHM5paVm9rC46p3c4rU+VC5PFvBZozC9yRoE/xib9RxFet8Hd2KCHx/4noJlvjBYhdaTxd64/f/7cPgioStxk62kaz0rUpecz9DWy74ewXKMMxlBtj9d/FV7fvXmGPyzGLozUw==";
    npx:hasSignatureTarget this:;
    npx:signedBy orcid:0009-0002-7114-0687 .
}