Abstract: An automatic nucleic acid detection system and a method thereof are disclosed. The automatic nucleic acid detection method includes: performing, by an automatic control subsystem, on a nucleic acid extraction machine platform, a nucleic acid extraction on one or more specimens in a sample tray to generate one or more corresponding nucleic acids in the sample tray; distributing, by the automatic control subsystem, on a nucleic acid distribution machine platform, the nucleic acid in each hole of the sample tray and a first reagent into a plurality of holes of a detection tray, wherein the number of holes of the detection tray is greater than that of the sample tray; and performing, by the automatic control subsystem, on a nucleic acid detection machine platform, a nucleic acid detection on the detection tray.

Abstract: An autonomous transport vehicle including a transfer arm including at least one finger and a movable finger support member, at least one sensor configured to detect movement of the at least one finger, the at least one sensor having a registration member and a detection member where one of the registration member and detection member is mounted to each of the at least one finger so as to be movable with a respective one of the at least one finger and the other one of the registration member and detection member is stationary relative to the at least one finger, and a controller in communication with the at least one sensor, the controller being configured to determine a position of the at least one finger along the second direction based on a proximity of the registration member relative to the detection member.

Abstract: Disclosed is a method of controlling a robot system, the method including a first robot receiving user input including a request for delivery of a predetermined article, the first robot transmitting information based on the user input to a server, the server identifying a supporting robot capable of supporting a task corresponding to the delivery request, the server requesting the task from a second robot identified as the supporting robot, the second robot receiving the article, and the second robot moving to a delivery destination included in the delivery request, thereby improving use convenience through cooperation between the robots.

Abstract: An article transport vehicle (3) includes: a travel unit (11) that travels to a set position (P1) that has been set so as to correspond to each of a plurality of storage units (1) configured to store an article (W); a support portion (12) configured to support the article (W); a lighting unit (13) that emits light; and a control unit that controls the travel unit (11) and the lighting unit (13). The control unit executes a travel control that controls the travel unit (11) such that the travel unit (11) travels to the set position (P1) that has been set so as to correspond to a target storage unit (1A), and a lighting control that controls the lighting unit (13) so as to emit light to a lighting position (P2) that corresponds to the target storage unit (1A).

Abstract: An article accommodation facility includes: an article container that contains one or more types of articles; a container accommodation member that has an accommodation compartment capable of accommodating the article container on a plurality of levels in a vertical direction; an accommodation member transport apparatus that transports the container accommodation member between a storage portion and a pick-up position; a container pick-up apparatus that takes out the article container from the container accommodation member at the pick-up position; and a container transport apparatus that transports the article container taken out from the container accommodation member by the container pick-up apparatus to a picking section.

Abstract: An operating method of a numerical-control machine tool characterized in that it comprises the steps of providing the tool-carrying head of the numerical-control machine tool with a detection device adapted to measure the values of the tilting of the detection device relative to a predetermined reference inertial plane; and moving the tool-carrying head in space so as to place said detection device in succession in a multitude of control points distributed on a first detection plane, and create at least a first digital map that contains the tilting values of the detection device relative to the reference inertial plane, in each of said control points.

Abstract: A substrate transfer device includes: a support part configured to support a substrate to be transferred and provided with a plurality of engagement portions which are engaged with an edge of the substrate on a first side of the substrate; a gripping part configured to move toward or away from the plurality of engagement portions and provided with a plurality of contact portions which come into contact with the edge of the substrate on a second side of the substrate when moving toward the plurality of engagement portions; a plurality of detection parts provided in the plurality of contact portions, respectively, and configured to detect distortion amounts of the plurality of contact portions; and a determination part configured to determine a gripping situation of the substrate based on detection results obtained by the plurality of detection parts.

Abstract: A variety of vehicle-based and warehouse-based solutions are provided to increase the adaptability, utility, and efficiency of materials handling vehicles in the warehouse environment, such as a goods storage and retrieval system, comprising a multilevel warehouse racking system, a mobile storage cart, a cart home position, and a materials handling vehicle disposed on a vehicle transit surface and comprising a fork carriage assembly, a navigation subsystem, a cart engagement subsystem, and one or more vehicular controllers to use the navigation subsystem to navigate the materials handling vehicle along the vehicle transit surface to a localized engagement position where the cart home position is within a cart engagement field of view, and use the cart engagement subsystem to engage the mobile storage cart in the cart home position with the fork carriage assembly.

Abstract: A logistics robot for transporting a package includes: a robot unit configured to make the logistics robot travel; and a storage unit configured to store the package. The robot unit and the storage unit are separable from each other.

Abstract: The described technology provides implementations of a storage device carrier assembly adapted to removably mate with a chassis. The storage device carrier assembly includes a storage device carrier adapted to be coupled to a storage device and a biased latch attached to the storage device carrier and adapted to transition from an engaged state to a retracted state to remove the storage device carrier from the chassis, wherein the biased latch includes extendable portions adapted to engage the chassis in the engaged state.

Abstract: A system for a semiconductor fabrication facility (FAB) includes an orientation tool and a transporting tool configured to transport at least one customized part. The orientation tool includes a port configured to receive the workpiece, a sensor configured to detect an orientation of the workpiece received in the port and a rotation mechanism configured to turn the workpiece received in the port.

Abstract: A transport vehicle includes a pair of left and right vehicle body frames extending in a front and back direction; driving wheels disposed at a middle portion in the front and back direction of the pair of left and right vehicle body frames; auxiliary wheels disposed at a lower portion of an end portion in the front and back direction of each of the right and left vehicle body frames; lifter mechanisms disposed at an upper portion of an end portion in the front and back direction of each of the right and left vehicle body frames; a connection frame connecting upper portions of the right and left vehicle body frames to each other; and a lower frame disposable between the right and left vehicle body frames, the lower frame being removably fixed at lower portions of the right and left vehicle body frames.

Abstract: Computer program products, methods, systems, apparatus, and computing entities are provided. In one embodiment, computing entities can establish direct communications with one another using a variety of protocols and standards. Such direction communications can be monitored or attempted to be established to determine whether an item is allowed or disallowed for delivery.

Abstract: According to one or more embodiments of the disclosure, a first autonomous mobile robot (AMR) encounters a second AMR, while navigating a location. The first AMR receives, from the second AMR, a task list of the second AMR. The first AMR determines an adjustment to the task list of the second AMR, based in part on a comparison between the task list of the second AMR and a task list maintained by the first AMR. The first AMR sends, to the second AMR, the adjustment to the task list of the second AMR.

Abstract: A workstation is disclosed for transferring objects between containers such as product and order totes in an order fulfillment system. The workstation may include an object pick system, for example including a measuring array or a machine vision system, which directs and monitors the transfer of objects between the containers.

Abstract: A storage system includes a storage grid structure and multiple container handling vehicles. The storage grid structure includes vertical column profiles defining multiple storage columns, in which storage containers can be stored one on top of another in vertical stacks, and at least one transfer column, the column profiles are interconnected at their upper ends by top rails forming a horizontal top rail grid upon which the container handling vehicles may move in two perpendicular directions, the container handling vehicles are able to retrieve storage containers from, and store storage containers in, the storage columns, and transport the storage containers on the storage grid structure. The storage grid structure includes at least one horizontal transfer section. The storage system includes multiple container transfer vehicles and transfer rails forming a transfer rail grid upon which the container transfer vehicles may move in at least one horizontal direction.

Abstract: A method of processing objects using a programmable motion device is disclosed. The method includes the steps of providing an input conveyance system by which input bins of objects may be provided to a processing station that includes the programmable motion device that includes an end effector, perceiving at the processing station identifying indicia representative of an identity of a plurality of objects at an input area of the input conveyance system, grasping the an acquired object using the end effector, moving the acquired object toward an identified processing container using the programmable motion device, the identified processing container being associated with the identifying indicia and said identified processing container being provided as one of a plurality of processing containers at the processing station, and providing an output conveyance system in communication with the processing station, by which processing containers that contain processed objects may be provided.

Abstract: Old address signs are retrofitted, incorporated and integrated with new electronic devices for navigation aid, Internet and IOT (Internet Of Things) related applications. New smart address sign with Internet connections has the capabilities of remote sensing and detecting useful information for residential homes and business offices. Useful information is gathered, stored, processed and relayed for applications of improving home and office efficiency, security and safety related solutions. New hardware and software built into the smart address signs also serve as wireless signal repeating/relaying base stations.

Abstract: A system for controlling access to a secure room containing a plurality of safety deposit boxes, comprises a motion detector, a biometric sensor, and a plurality of contact sensors, wherein each of the safety deposit boxes is associated with at least two contact sensors. The system includes a processor that is configured to unlock the gate when a plurality of access conditions are satisfied, which may include: collecting via the biometric sensor a biometric sensor a biometric credential that matches a reference biometric credential in a user database; and determining the secure room is unoccupied based on at least a predetermined period of no motion detected by the at least one motion sensor. The processor may also be configured to generate a box-accessed event identifying one of the safety deposit boxes when all of the contact sensors associated with that safety deposit box are simultaneously opened.

Abstract: A product order fulfillment system including a multi-level transport system and a lifting transport system. Each level of the multi-level transport system having a corresponding independent asynchronous level transport system separate and distinct from the asynchronous level transport system corresponding to each other level of the multi-level transport system. Each independent lift axis of the lifting transport system being configured to independently hold at least one case and being communicably coupled to each asynchronous level transport system so as to provide for exchange of the at least one case between each asynchronous level transport system and each independent lift axis. Each independent lift axis is communicably coupled to each other independent lift axis of the more than one lift axis and forms a common output of mixed cases so as to create an ordered sequence of mixed cases in accordance to a predetermined case out ordered sequence.

Abstract: A machine or group of machines for monitoring location of at least one of a vehicle or freight carried by the vehicle includes a communications interface configured to communicate electronic signals including a location request signal including data representing a request for information regarding the location of the vehicle or the freight carried by the vehicle, and a correlation logic in the machine or group of machines configured to correlate, by a CPU, the vehicle or the freight carried by the vehicle to a communications device.

Abstract: The present invention discloses a method of robotic transport of goods and relates to the field of storage logistics, including the following steps: providing a transport robot and shelves, the transport robot comprising a drive unit, a cargo box storing unit and a cargo box delivery unit, wherein the drive unit driving the cargo box storing unit and the cargo box delivery unit to move together; the cargo box storing unit and the shelves comprising one or more cargo box storing spaces, respectively; the transport robot autonomously moving to the front of a destination shelf according to a goods fetching instruction, the cargo box delivery unit acquiring one cargo box from one cargo box storing space of the shelf specified according to the goods fetching instruction, and then delivering the cargo box to another cargo box storing space in the cargo box storing unit specified according to the goods fetching instruction; repeating the goods fetching step if the instruction contains the goods fetching instruction

Abstract: A storage device disclosed in the present description includes an acquisition section and a management section. When a case accommodating multiple accommodatable objects is loaded into a storage container, the acquisition section performs wireless communication with both a first wireless tag attached to the case and a second wireless tag attached to each of the multiple accommodatable objects. The acquisition section acquires specific information for specifying the case memorized in the first wireless tag and identification information for identifying each of the multiple accommodatable objects memorized in the second wireless tag. The management section associates the specific information and the identification information acquired by the acquisition section with each other to manage a correspondence relationship between the specific information and the identification information.

Abstract: A robotic singulation system is disclosed. In various embodiments, sensor data including image data associated with a workspace is received. The sensor data is used to generate a three dimensional view of at least a portion of the workspace, the three dimensional view including boundaries of a plurality of items present in the workspace. The three dimensional view as generated at successive points in time is used to model a flow of at least a subset of said plurality of items through at least a portion of the workspace. The model is used to determine and implement a plan to autonomously operate a robotic structure to pick one or more items from the workplace and place each item singly in a corresponding location in a singulation conveyance structure.

Abstract: Cargo receptacle including a mount and a flexible member expandable and collapsible in height, wherein the flexible member in an at least partially expanded state bounds a storage volume for holding the cargo, and wherein the mount is self-supporting and comprises a frame with a rim, the rim being suitable for mounting the cargo receptacle and a system of laterally spaced-apart tracks.

Abstract: A management method applied to the goods-to-person system includes: in response to a task of putting products on shelves, calculating popularity of a product to be put on shelf according to historical sales order data of the product to be put on shelf, and matching the popularity of the product to be put on shelf with popularity of a shelf to determine a shelf area; selecting a goods location with space randomly in the determined shelf area, Wherein the goods location is used for storing the product to be put on shelf; and controlling a mobile robot to transport a shelf where the goods location is located to a work station.

Abstract: An article sorting system includes: a sorting container support apparatus including a plurality of sorting container support units; a plurality of sorting containers supported by the sorting container support units; an automatic sorting apparatus that is arranged adjacent to the sorting container support apparatus and configured to automatically sort a plurality of articles into a plurality of articles; a work area that is set up adjacent to the sorting container support apparatus on a side opposite to the automatic sorting apparatus and in which an operator performs a sorting operation to sort articles into the plurality of sorting containers supported by the sorting container support units; and an operation display apparatus. The operation display apparatus displays, toward the work area, operation instruction-related information on each of the plurality of sorting container support units or each of the plurality of sorting containers.

Abstract: An automated storage and retrieval system including at least one autonomous rover for transferring payload within the system and including a communicator, a multilevel storage structure, each level allowing traversal of the at least one autonomous rover, at least one registration station disposed at predetermined locations on each level and being configured to communicate with the communicator to at least receive rover identification information, and a controller in communication with the at least one registration station and configured to receive the at least rover identification information and at least one of register the at least one autonomous rover as being on a level corresponding to a respective one of the at least one registration station or deregister the at least one autonomous rover from the system, where the controller effects induction of the at least one autonomous rover into a predetermined rover space on the level.

Abstract: Aspects described herein include an autonomous surface vehicle (ASV) for operation within an inventory system of an environment. The ASV includes a drive system, a docking system, a plurality of sensors, and a memory storing a map of the environment. The ASV further includes one or more computer processors configured to (i) detect, using a location sensor, a location of the ASV within the environment; (ii) control the drive system to actuate the ASV toward a corridor defined in the map at a first speed setting; and control the drive system to actuate the ASV through the corridor along at least one barrier defined in the map. A second, greater speed setting is applied when (i) the location sensor indicates that the ASV is within the corridor and (ii) one or more fiducials along the at least one barrier are visually detected by one or more proximity sensors.

Abstract: A method of sensing a loaded state of articles in a storage bin and a robot implementing the method are provided. The robot senses a loaded state of articles received in the storage bin in real time or at regular intervals and includes the storage bin and storage bin sensors disposed outside the storage bin. The storage bin sensors are arranged at a non-parallel angle relative to a side surface of the storage bin.

Abstract: An apparatus including at least one emitter configured to emit energy; at least one receiver configured to receive the emitted energy, where the at least one emitter is mounted on at least one of: a robot arm, an end effector of the robot arm, a substrate on the robot arm, or a substrate process module, where the at least one receiver is mounted on at least one of: the robot arm, the end effector of the robot arm, the substrate on the robot arm, or the substrate process module.

Abstract: A sorting system includes a control server, multiple sorting robots, and a sorting region. The sorting region is divided into multiple sub-regions. At least one supply station and multiple delivery openings are deployed in each sub-region. Delivery openings respectively correspond to paths. The control server determines, according to path information of an item to be sorted, a target delivery opening corresponding to a path of the item, determines, from the multiple sub-regions of the sorting region, a target sub-region in which the target delivery opening is located, and allocates a delivery task to a target sorting robot among the multiple sorting robots. In response to the delivery task, the target sorting robot acquires the item from the supply station where the item is located, carries the item to the target delivery opening in the target sub-region, and delivers the same.

Abstract: A pack wall carton selection and replenishment system comprising: a delivery cart with a delivery cart controller configured to receive information representing a replenishment shipping carton to be retrieved from a shipping carton supply area and delivered to a pack wall, provide for retrieving one or more shipping cartons from the shipping carton supply area, actuate a cart indicator assembly to identify a cart partition where to place the retrieved shipping cartons on the delivery cart, actuate a delivery cart indicator assembly to identify the replenishment shipping carton to be placed on the pack wall; and, a pack wall controller in communication with the delivery cart controller configured to receive an order item information, actuate a first pack wall indicator assembly to indicate a desired shipping carton to be used for packing an items represented by the order item information.

Abstract: An automated system comprising a processor and a database are described. The processor executes communication software reading: at least one image corresponding to an identifier of a blood product from a donor; and at least one database storing at least one communication from a receiver of the blood product. The communication software executed by the processor determines an intermediary from the identifier and contacts the intermediary to obtain contact information of the donor.

Abstract: According to the present disclosure, a controlling method of an electronic apparatus for managing carrying-out from a fulfillment center, the controlling method including acquiring carrying-out request information related to items placed in a fulfillment center, generating pieces of carrying-out information according to vendors based on the acquired carrying-out request information, providing at least one of the pieces of generated carrying-out information to a terminal, receiving carrying-out processing response information from the terminal in response to the provided piece of carrying-out information, and generating state information of items corresponding to the carrying-out processing response information is provided.

Abstract: A material handling method, the method includes: acquiring a material identification; where a material identified by the material identification is stored in a material box corresponding to the material identification; when an unprocessed order includes the material identification, then querying whether there is an available temporary storage unit in a temporary storage shelf; and triggering a temporary storage instruction when there is an available temporary storage unit in the temporary storage shelf; where the temporary storage instruction is used to instruct to perform a temporary storage behavior triggered according to the material identification on the temporary storage shelf.

Abstract: Computer-implemented systems and methods for providing instructions to a user are disclosed. The systems and methods may be configured to: receive a first user input of a container identifier, the container identifier corresponding to a physical container comprising one or more items associated with one or more orders; retrieve, from a networked database, one or more item identifiers associated with the container identifier, the item identifiers corresponding to the items; receive a second user input of a first item identifier, the first item identifier corresponding to a first item among the items; assign, among one or more locations, a first location to the first item identifier; and display the instructions to the user for placing the first item at the first location.

Abstract: A method and apparatus for carrying a shelf. One specific implementation of the method comprises: receiving first task information from a task server (104); determining, according to an identifier of a shelf to be transported, the position of a shelf storage space (201) for storing the shelf as a starting point position; determining, according to an identifier of a first picking station, the position of a first buffer storage space in a buffer storage space set corresponding to the first picking station as an ending point position; generating first transporting information according to the determined starting point position and ending point position; and sending the first transporting information to automated guided vehicles (106,107), so that the automated guided vehicles (106,107) transport the shelf.

Abstract: The present invention relates to the technical field of vertical automatic storage cabinets and provides a vertical automatic storage cabinet that comprises: a cabinet body; storage racks; a grasping structure and a conveying structure. In the present vertical automatic storage cabinet, at least two storage racks are provided to be spaced apart in the height direction of the cabinet body, and the grasping structure is located in the area between the two storage racks. When in use, the storage boxes on both the upper and lower sides can be taken off the mounting rack, then can be transferred to the conveying structure, and the storage boxes can be conveyed to the outside of the cabinet body.

Abstract: An inventory, disposition, and order management system and method utilizes multiple data sources to obtain complementary and augmented product data to determine an enhanced set of product data that reflects product inventory and disposition history information in a supply chain. The system and method can utilize the complementary and augmented product data to formulate recommended orders to achieve product dealer sales goals. The system and method compare the product data obtained from the data sources and reconcile any discrepancies. In at least one embodiment, the product data includes product identification data, product inventory data, product configuration data, and product disposition history data. Obtaining data from multiple sources allows the system and method to develop more accurate and complete data through an audit and reconciliation process as opposed to data obtained from a single source.

Abstract: A method operates different transport systems in a logistics area, wherein the logistics area is divided into a plurality of zones. The method receives a first reservation request to reserve one or more zones of the logistics area for a first transport system. The method determines an occupation status of the one or more zones. The method reserves the one or more zones for the first transport system depending on the occupation status of the one or more zones.

Abstract: This disclosure describes systems and methods for a graphical interface including a graphical representation of medical data. The graphical interface platform may receive medical data and provide medical safety reporting capabilities including reporting of history data and real-time visual monitoring data. The graphical interface platform may be configured to identify potential problems and corrections to medical devices in operation while a reporting cycle is underway through visual representation of performance metrics.

Abstract: A method and a system for inspecting an extreme ultra violet mask and a mask pod for such masks is provided. An EUV mask inspection tool inspects a mask retrieved from a mask pod placed on the load port positioned exterior of the mask inspection tool. The inspection process is performed during a selected period of time. After the inspection process is initiated, a robotic handling mechanism such as a robotic arm or an AMHS picks up the mask pod and inspects the mask pod for foreign particles. A mask pod inspection tool determines whether the mask pod needs cleaning or replacing based on a selected swap criteria. The mask pod is retrieved from the mask pod inspection tool and placed on the load port before the selected period of time lapses. This method and system promotes a reduction in the overall time required for inspecting the mask and the mask pod.

Abstract: A system for controlling access to a secure room containing a plurality of safety deposit boxes, comprises a motion detector, a biometric sensor, and a plurality of contact sensors, wherein each of the safety deposit boxes is associated with at least two contact sensors. The system includes a processor that is configured to unlock the gate when a plurality of access conditions are satisfied, which may include: collecting via the biometric sensor a biometric sensor a biometric credential that matches a reference biometric credential in a user database; and determining the secure room is unoccupied based on at least a predetermined period of no motion detected by the at least one motion sensor. The processor may also be configured to generate a box-accessed event identifying one of the safety deposit boxes when all of the contact sensors associated with that safety deposit box are simultaneously opened.

Abstract: According to the embodiments illustrated herein, a method is disclosed. The method comprises receiving, by a computing device comprising a processor, an input from an operator device, wherein the input facilitates determining a task to be performed. Further, the method comprises activating, by the computing device, a first light device associated with a first location in a workplace in response to receiving the input, wherein the first location is associated with the task to be performed. Furthermore, the method comprises receiving, by the computing device, a first voice input from the operator device, indicative of an exception encountered during execution of the task. Additionally, the method includes modifying the task, in response to determining that the first voice input is indicative of the exception encountered during execution of the task.

Abstract: A robotic device for distributing designated items to designated persons, includes: a motion unit to autonomously move said robotic device; storage means including multiple compartments; an item dispenser to dispense items from said storage means; a memory module containing optical recognition scans and personal information of persons located within a premises, and substantive information of the designated items; optical recognition scanners; a control module in communication with the motion unit, the optical recognition scanners, the memory and the item dispenser. The control unit directs movement of the robotic device, directs the optical recognition scanners to scan persons, and compares images from the optical recognition scanners to optical recognitions in the memory. Upon identifying a person, the control unit searches personal information of the person and identifies designated items specified for that person, and then directs the item dispenser to dispense the designated item.

Abstract: Provided are systems and methods for maximizing saturation of two different sets of actors performing different sets of dependent operations at different rates over different but overlapping periods of time in a non-conflicting manner. The systems and methods may include transferring a first set of ordered items from item storage to item cache locations at a first rate during a first period of time, and fulfilling orders at a faster second rate over a later second period of time by picking items from a first set of the item cache locations at the second rate, and by replacing items at a non-overlapping second set of the item cache locations at the first rate. The transferring is commenced before the picking to create a buffer that allows a first set of actors, operating at the first rate, to continually provide the dependencies needed for a second set of actors to operate at the faster second rate without conflict and with each set of actors operating at their respective maximum rates.

Abstract: A detection system for estimating a weight of one or more items in a refrigerator is disclosed. The system comprises at least one shelf; at least one transducer configured to transmit a sonic or ultrasonic wave into the at least one shelf and capture the reflected or refracted wave from the shelf; and a processor configured to estimate the weight of the one or more items on the shelf from the sonic or ultrasonic wave received from the at least one transducer. The system further comprises a plurality of cameras configured to capture images of the one or more items on the shelf. The cameras are configured to capture images of the items while on the shelf and off the shelf, which are then used to identify the items and the changes in weight of those items. Items may be automatically reorder based on their weight or change in weight.

Abstract: A device, system, and method that: acquires information that a sterilized endoscope, having reusable and non-reusable parts, is used; outputs an instruction for collecting the used endoscope from a medical institution; acquires information on the number of endoscopes scheduled for inspection, a predetermined number of endoscopes not scheduled for inspection, and the number of endoscopes in an endoscope inventory; outputs an instruction for delivering a non-used replaceable endoscope to the institution in response to the collection instruction; and outputs an instruction for delivering a non-used endoscope to the institution when equation (2) is not satisfied, equation (2) being: endoscope inventory quantity>number of endoscopes scheduled for inspection+predetermined number.

Abstract: A machine vision-based method and system to facilitate the unloading of a pile of cartons within a work cell are provided. The method includes the step of providing at least one 3-D or depth sensor having a field of view at the work cell. Each sensor has a set of radiation sensing elements which detect reflected, projected radiation to obtain 3-D sensor data. The 3-D sensor data including a plurality of pixels. For each possible pixel location and each possible carton orientation, the method includes generating a hypothesis that a carton with a known structure appears at that pixel location with that container orientation to obtain a plurality of hypotheses. The method further includes ranking the plurality of hypotheses. The step of ranking includes calculating a surprisal for each of the hypotheses to obtain a plurality of surprisals. The step of ranking is based on the surprisals of the hypotheses.