Based on the definition taken from Foundations of Semantic Web Technologies by Hitzler et al, a role hierarchy is called regular if there exists a strict partial order ≺ on R, such that the following hold:
a) ○ S ≺ R if and only if S− ≺ R
b) ○ every role inclusion axiom is of one of the forms:
■ R ◦ R ⊑ R, R− ⊑ R, S1 ◦ · · · ◦ Sn ⊑ R, R ◦ S1 ◦ · · · ◦ Sn ⊑ R, S1 ◦ · · · ◦ Sn ◦ R ⊑ R
such that R is a non-inverse role name, and Si ≺ R for i = 1, . . . , n.
I do not understand what strict partial order on roles exactly means and how I should interpret the notation "≺" representing it. How should I read "S ≺ R"? I'd appreciate any sort of explanation/example.
Thanks in advance!