Relate is a type of Interact. Manipulate is a type of Interact. 
May is related to Ask. Ask is related to Acceptance. Acceptance is a synonym of Approval. Permission is a type of Approval. 
Relate --IsA--> Interact <--IsA-- Manipulate 
May <--RelatedTo--> Ask <--RelatedTo--> Acceptance <--Synonym--> Approval <--IsA-- Permission 