Abstract: A method and apparatus is reported for detecting inhomogeneities in semi-plastic substances such as toilet bars containing soap. An ultrasound probe is utilized to test the substance at an exit orifice of an extruder. Best results are obtained by utilizing a ceramic ultrasonic probe, rectangular in shape including a transducer having a concave curvature on a lower surface thereof. The probe includes a theromplastic delay material. Ultrasonic waves directed through the probe preferably have a frequency between 1 and 2.25 MHz. Wedging of the extruded substance is also useful to improve contact with the probe as it passes through the extruder exit orifice.

Abstract: A user-friendly video measuring system employing a TV camera having a two-axis array of photosensors, a memory, a monitor, a keyboard and a joystick. The camera takes a first picture, which is stored in memory and displayed on the monitor. In response to a series of menus, an operator uses the joystick to manipulate a cursor on the monitor to locate a series of start search points for the first picture, and to select gradient threshold for one or more features. Both the start search points and gradient thresholds are stored. The operator also selects and stores tolerances for the measurements. A second picture is taken and examined, commencing with the stored start search points, to determine whether the gradients exceed the stored threshold.

Abstract: A robot assembly for acquiring unorientated workpieces from a bin. A sensing system views the bin and collects data. A computer analyzes the data to determine candidate holdsites on the workpiece. The hand of the robot assembly then engages a workpiece at a selected holdsite. The workpiece is moved to a pose where the position and orientation of the workpiece are determined. After this determination, the workpiece may be disengaged, or moved to an intermediate or final goal site.