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All OWL identifiers are global IRIs, e.g. of the form 'http://ias.cs.tum.edu/kb/knowrob.owl#Cup'. You can write them in different ways, e.g. using XML entities (which are defined in the document head and can shorten the identifiers to &knowrob;Cup). You can also use IRIs that are relative to the xmlns defined in the OWL document (i.e. the #Table in your example will be treated as relative IRI and complemented with a namespace like 'http://ias.cs.tum.edu/kb/knowrob.owl').

Apart from that: The predicates on the page you refer to export knowledge that has been added to KnowRob in terms of Prolog assertions into OWL files. You can of course also create OWL files using any other method. If you mean "documentation" with "illustration", that can be found in the ROS wiki (http://ros.org/wiki/knowrob_common, not much) and in the API documentation in the source code).