Abstract: A method for estimating joint load at a joint of a segment. The method comprises the steps of receiving kinematic data, determining a modified acceleration using at least the kinematic data, estimating a joint load using at least the modified acceleration; and determining simulated kinematic data for the segment using at least the joint load. The method addresses the problems with conventional inverse dynamics analysis by providing a forward dynamics solution for estimation of joint loads that is stable, guaranteed to converge, computationally efficient, and does not require acceleration computations. According to one embodiment, a joint load is estimated recursively.

Abstract: A lifting device equipped with an RFID scanning system having an article receiving area configured for receipt of a stack of articles having RFID tags associated therewith. A first scanning antenna is provided at a first height relative to the article receiving area, and a second scanning antenna is provided at a second height relative to the article receiving area that is above the first height. A computer control system is in communication with the first and second scanning antennas and applies a verification parameter to RFID signals received by the second scanning antenna to determine whether RFID tagged articles detected by the second scanning antenna are within the stack of articles carried by the lifting device.

Abstract: A targeted product distribution system is described herein with respect to an exemplary management of product flow through a distribution center. Specifically, the system and method described herein is directed to the management and display of direct and easily-understood instructions, such that average individuals, as well as those with mental disabilities, will be able to contribute equally to the overall process.

Abstract: A targeted product distribution system is described herein with respect to an exemplary management of product flow through a distribution center. Specifically, the system and method described herein is directed to the management and display of direct and easily-understood instructions, such that average individuals, as well as those with mental disabilities, will be able to contribute equally to the overall process.

Abstract: A band to band transfer module according to the present invention may be used with a substrate carrier transport system, or other systems, to transfer substrate carriers (e.g., small lot substrate carriers) from one conveyor to another conveyor or between two points on the same conveyor. The transfers (e.g., pick and place) of the substrate carriers may be made between conveyors traveling at different speeds. Numerous other aspects and features are disclosed.

Abstract: The present invention has a communication connection means (21) which mutually connects communicatably control units (Ca, Cb) for individually controlling operations of robots (Ra, Rb) to constitute a network, input means (37a, 37b) which are respectively installed in the control units and input operation instructions of the robots, and timing signal generation means (69a, 69b). The control units are selectively set to any one of an independent function execution mode, a master function execution mode, and a slave function execution mode, and among the control units, the control unit (Ca) to perform a master operation is set to the master function execution mode, and the residual control unit (Cb) is set to the slave function execution mode, and by correcting a minimum interruption period (Ts(b)) of the slave side control unit (Cb), a control time (ta11, ta12, ta13) to the master robot (Ra) of the master side control unit (Ca) is delayed by a predetermined time (T) to perform the cooperative operation.

Abstract: A stowage data preparation device is provided which can reduce transportation costs by improving the goods per shipping receptacle loading efficiency regardless of worker proficiency, and which permits transportation costs and schedules to be determined accurately at an early stage, and enables systematically planned transportation of shipping receptacles (especially containers of various kinds). A stowage data preparation device 1 includes: a pallet determination unit 2a determining a pallet P to be used per shipping receptacle, based on goods W to be stowed; a goods-stowed pallet display unit 2b displaying a goods-stowed pallet PW per shipping receptacle, by performing simulation of stowing goods onto a pallet determined by the pallet determination unit on a screen of a display device 3; and a stowage instruction data preparation unit 2c preparing stowage instruction data related to the goods-stowed pallet per shipping receptacle displayed by the goods-stowed pallet display unit.

Abstract: The invention relates to a device and a method for controlling the loading and/or unloading process of an aeroplane. According to the invention, a parcel introduced into the aeroplane is identified, a weight is associated with the parcel, the position of the parcel inside the aeroplane is monitored, and the total weight and/or centre of gravity of the aeroplane is calculated from the aeroplane information provided and the weights and positions of the parcels.

Abstract: The invention relates to a method for automatically order-picking or consolidating articles of a wide variety of different formats and varieties, using the following steps: separating the stored articles, storing the articles in a rack bay, retrieving the articles and palletising them. The method is predominantly characterized in that the articles which are to be order-picked for an order are put together in a rack bay already in the sequence which is necessary for palletising. The invention also relates to an installation for implementing the method.

Abstract: The application relates to a method for tracking product data for a product mass flow in a transport storage section of the tobacco-processing industry having the steps: production of product data sets which each correspond to approximately equal portions of the product mass flow entering the transport storage section, writing the product data sets into corresponding memory units of a data memory and reading the product data sets corresponding to the product mass flow emerging from the transport storage section from the data memory. The application further relates to a corresponding product dating tracking system.

Abstract: The present invention concerns a loading pallet that demonstrates first bars (2) and second bars (3) arranged essentially parallel with each other, whereby the first bars (2) are arranged essentially in a single plane (8) and the second bars (3) demonstrate upper parts (9) that are arranged essentially in the said plane (8) and downwardly directed parts (10) that are directed downwards relative to the said plane (8). Third bars (4) are arranged transverse relative to the first bars (2) and second bars (3); they lie under the said plane (8), and they are connected to the first bars (2) and to the upper parts (9) of the second bars (3). The loading pallet (1) can be stacked onto a corresponding loading pallet (1), whereby the third bars (4) can make contact with such bars (2) as those included in the said plane (8) from the loading pallet (1) that is located below.

Abstract: A method and an apparatus for transferring a substantially flat and substantially circular objects, such as wafers, from a pick-up position to a delivery position, the apparatus comprising, a manipulator, at least one source for emitting a source signal, at least one sensor for sensing said source signal and for providing a sensor signal, a computing device arranged for processing at least one sensor signal to obtain data on the position of said object, the manipulator being arranged for simultaneously transferring a first and a second object along a path in a substantially parallel orientation, spaced apart from each other, and substantially co-axially whereby the central axis of each object may be displaced radially, a said source and a said sensor are connected by a virtual line, whereby the virtual line includes an angle with the central axes of the first and second objects.

Abstract: A method of predicting kinematic data for a segment. The method comprises the steps of determining a modified acceleration using at least original kinematic data, estimating a joint load for a joint of the segment by using at least the modified acceleration, and predicting kinematic data for the segment based on one or more modified parameters. Therefore, various embodiments advantageously allow for prediction of novel motion.

Abstract: A warehousing system includes a container for storing at least one item, a first electronic (e.g., radio frequency identification (RFID)) module associated with the first container, and a controller which wirelessly communicates with first electronic module, for directing a transfer of said at least one item to and/or from said first container. The inventive system may include, for example, a hybrid retail/warehouse system which includes a facility having a shelving area, and a picking area adjacent to the shelving area, and a layout so as to minimize a picking area and a walking distance between a picking area and a shelving area.

Abstract: A computer-implemented method of controlling picking operations of a number of users in a warehouse, wherein goods are located at source locations, each picking operation comprising: an operation of preparation, wherein, at the source location, the good is introduced in a handling unit, HU, an operation of placing the HU on a picking equipment, the picking equipment being a tool for transferring the HU, an operation of transferring the HU to the destination location, wherein a sequence of picking instructions are presented online individually to the number of users via instruction presenting means which are associated with the respective users, each picking instruction specifying the HU to be transferred, the equipment to be used, and the first and second position, whereby execution of each of the picking operation steps is controlled by online data verification such that a subsequent picking operation instruction may be changed, and presented to the users via the instruction presenting means depending upon r

Abstract: Apparatus and methods are provided for estimating joint forces and moments in human beings. A forward dynamics module determines simulated kinematic data. An error correction controller forces tracking error between the simulated kinematic data and measured (or desired) kinematic data to approach zero. The error correction controller generates a modified acceleration for input into an inverse dynamics module. The estimated joint forces and moments track the measured (or desired) kinematics without the errors associated with computing higher order derivatives of noisy kinematic data.

Abstract: Operation of a supply chain having a number of workstation that process items supported by pallets is managed using a sub-central controller, a number of pallet devices, each associated with a pallet, and one or more workstation devices, each associated with a workstation. A workstation device is operable to communicate with the pallet devices to acquire pallet information and to process the pallet information based upon rules provided by the sub-central controller. The workstation device acts on the processed pallet information to modify the operation of the supply chain. A central controller may be used to coordinate activities of multiple sub-central controllers.

Abstract: A curtain for a radio frequency identification (RFID) system including a transponder, an antenna, and a reader, the antenna coupled to the reader, the antenna and the reader for transmitting a radio signal to the transponder and for receiving a response radio signal from the transponder, the response radio signal including data from the transponder, the curtain including: a plurality of flexible strips that limit propagation of the radio signal; wherein the strips are transparent to visible light, the long edge of each of the strips is oriented in substantially the vertical direction, more than one strip overlaps a portion of the width of an adjacent strip along the length of the adjacent strip, and the length of each of the strips is substantially greater than the width of each of the strips.

Abstract: A radio frequency identification (RFID) system including a transponder, an antenna, and a reader, the antenna coupled to the reader, the antenna and the reader for transmitting a radio signal to the transponder and for receiving a response radio signal from the transponder, the response radio signal including data from the transponder, the system further including: a curtain that limits propagation of the radio signal; wherein the curtain includes a plurality of flexible strips transparent to visible light, the long edge of each of the strips is oriented in substantially the vertical direction, more than one strip overlaps a portion of the width of an adjacent strip along the length of the adjacent strip, and the length of each of the strips is substantially greater than the width of each of the strips.

Abstract: A method for using a radio frequency identification (RFID) system including a transponder, an antenna, and a reader, the antenna coupled to the reader, the antenna and the reader for transmitting a radio signal to the transponder and for receiving a response radio signal from the transponder, the response radio signal including data from the transponder, the method including: selecting a curtain that limits propagation of the radio signal; and placing the curtain in an area through which the radio signal would otherwise propagate; wherein the curtain includes a plurality of flexible strips transparent to visible light, the long edge of each of the strips is oriented in substantially the vertical direction, more than one strip overlaps a portion of the width of an adjacent strip along the length of the adjacent strip, and the length of each of the strips is substantially greater than the width of each of the strips.

Abstract: A system and process for providing progressively higher quality versions of an audio and/or video program over a client-server based network. In response to a user command to view a particular program, the client requests layered data associated with the program from the server. The client also specifies how many consecutive layers are to be transmitted based on the bandwidth available on the network. The client then receives the data from the server, caches it, renders it as it is received, and presents it to the viewer. Upon a request from the user for a higher quality version of the program, the client requests as many enhancement layers associated with the program as possible given the available bandwidth. The client receives the requested data, combines it with the previously stored lower-level layer data, renders the higher quality version of the program, and presents the new version to the user.

Abstract: The subject invention relates to systems and methods that provide electronic data (e.g., Electronic Product Code (EPC) data) obtained from Radio Frequency Identification (RFID) tags by RFID readers and/or from servers to one or more industrial components (e.g., controllers, programmable logic controllers, modules, etc.). The systems and methods employ component that processes, if desired, and stores received electronic data as records within a table. Processing includes filtering for data of interest and/or formatting the data in a suitable structure. Storage can include delineating related electronic data across rows the table and types of data across columns of a row. Upon receiving a subscription and/or request for electronic data from the one or more industrial components, the data can be retrieved and conveyed to the subscribing and/or requesting components.

Abstract: An automated order mixing system includes a mixing sub-system having a plurality of angled vertically stacked product guides feeding a mixing conveyor whereon a client's order of product cases is processed, the vertical stacking enabling the creation of a number of product feed paths within a relatively small floor space.

Abstract: A method is disclosed for evaluating a parts carrier that is operatively associated with a material handling process. The method includes determining a plurality of parts to be processed, determining one or more types of the plurality of parts to be processed, and determining a quantity of the parts to be processed. The method also includes virtually comparing one or more parts of the plurality of parts with at least one of a length, width, or height of one or more envelopes. The method further includes selecting one of the one or more envelopes as a function of one of the percentage of the types of parts capable of being accommodated with the one or more envelopes or the percentage of the quantity of parts capable of being accommodated within the one or more envelopes.

Abstract: The control system is used to control manipulation equipment (41) and carrying equipment (43) confined in a containment (40) inaccessible to operators and to perform maintenance operations related to electronic circuits for onboard equipment enclosed in the containment (40). Control is achieved by “onboard” means in the containment (40) composed mainly of a power supply box (1) and one or several control boxes (20) fixed onto a base (44) placed permanently on the carrying equipment (43) of the manipulation equipment (41). Several power supply circuits and electronic control boards are provided to enable redundant operation. Application to remote manipulation equipment used for dismantling and reprocessing of contaminated equipment.

Abstract: A method for stacking cases on a pallet includes supplying cases to a buffer, determining physical characteristics of buffer cases including dimensions of a case base and case height, and determining available positions on the pallet where a buffer case can be placed. Rules for selecting a case from the buffer for placement on the pallet are applied to at least a portion of the buffer cases to identify a selected buffer case that satisfies at least one of the rules and a corresponding place on the pallet for the selected case. Then the selected case is removed from the buffer and placed on the pallet in the corresponding place by an industrial robot.

Abstract: An internal pressure of a hydropneumatic drive actuator is measured by a pressure measurement device, a displacement amount of a movable mechanism is measured, a desired value and a measurement value of the displacement are inputted so that a position error is compensated by a position error compensation device, a desired value of a pressure difference of the actuator to which antagonistic driving is performed by the desired value is calculated by a desired pressure difference calculation device, outputs from the position error compensation device, the desired pressure difference calculation device, and the pressure measurement device are inputted, and a pressure difference error is compensated by pressure difference error compensation device.

Abstract: A material storage and delivery system includes an individual container storage and delivery system (ICSDS). A palletizer is provided for placing containers from the ICSDS on a pallet. A layer storage and delivery system (LSDS) places full layers of containers on a pallet. A robotic container delivery system (RCDS) places individual containers on a pallet. A conveyor system conveys containers and pallets between at least two of the ICSDS, the palletizer, the LSDS and the RCDS. A method for storing and delivering containers is also disclosed.

Abstract: An internal pressure of a hydropneumatic drive actuator is measured by a pressure measurement device, a displacement amount of a movable mechanism is measured, a desired value and a measurement value of the displacement are inputted so that a position error is compensated by a position error compensation device, a desired value of a pressure difference of the actuator to which antagonistic driving is performed by the desired value is calculated by a desired pressure difference calculation device, outputs from the position error compensation device, the desired pressure difference calculation device, and the pressure measurement device are inputted, and a pressure difference error is compensated by pressure difference error compensation device.

Abstract: A container storage and delivery system includes an individual container storage and delivery system. A palletizer is provided for forming a group of containers from the individual container storage and delivery system into a layer or a partial layer, and placing this layer or partial layer onto a pallet. A high speed pick station provides access for manual retrieval of high throughput case types from each storage location. An individual container placement station is also provided for placing individual containers onto a pallet. A conveyor system conveys containers and pallets from the individual container storage and delivery system, the palletizer, the high speed pick station, and the individual container placement station.

Abstract: An order allocation algorithm maximizes throughput by reducing the number of stops that a container makes in the process of fulfilling a customer order. This is accomplished by first identifying a pod that stocks the largest number of different items in a customer order. Then, a second pod is identified that stocks the largest number of remaining items in the customer order. Ultimately, all items in the customer order are assigned a pod. The collection of pods defines a container path through the distribution center.

Abstract: A system for moving a pallet is provided. The system provides for a pair of pallets each having means for inducing movement in relation to an other pallet. Further, logic is provided for calculating a movement instruction to move the pallets relative to each other. Additionally, the present invention provides for means for communicating the movement instruction to the movement means on the pallets to prompt movement of one of said pair of pallets relative to the other pallet. As no special floor surface or configuration is necessary, the present invention described herein may be readily adaptable for utilization within existing storage and inventory facilities.

Abstract: A processing system for automating the packaging, packing, unpacking, transfer/short term storage and loading of flats mail into flats sorters for sortation is disclosed. This involves bundling flats mail into bundles or logs and creating pallets for transporting in a standardized manner at mailer facilities such as publishers so that the sort depth and final destination of the bundle contents are preserved and used throughout its journey through postal facilities. Sort depth and destination bar coding is placed on each bundle. An automated method for palletizing involves creating a stack of bundles on a pallet in a predetermined sequence so that sorting processes in the postal facility become more efficient. Once the pallets are received at the postal facilities, the pallets are broken down in a pre-determined sequence in accordance with the sequence of original creation.

Abstract: A material handler that includes a frame, first and second front wheels, first and second rear wheels, and a control system. The front and rear wheels define a generally horizontal plane. The control system determines the center of gravity of the material handler and displays the location of the center of gravity of the material handler within the plane.

Abstract: A computer-implemented method for routing shipments according to criticality includes accessing an initial solution to an optimization problem of routing multiple shipments to multiple locations using multiple vehicles, the initial solution including multiple loads such that each shipment is routed within exactly one load and a global cost across all loads is minimized, the initial solution being generated independent of the criticality of the shipments. Into each of one or more critical loads in a current solution, one or more non-critical shipments are inserted that are within a neighborhood of the critical load, a critical load being a load containing at least one critical shipment.

Abstract: A package delivery notification system reports impending package deliveries and precisely notifies recipients of when to expect the deliveries. The package delivery notification system utilizes memory, a communications device, and a system manager. Package data identifying a package that is to be delivered to a recipient is stored in the memory. The package data indicates that the recipient is to receive the package and indicates the expected time that the package is to be delivered. When the package is assigned to a vehicle that will deliver the package to a premises of the recipient, the system manager transmits, via the communications device, a notification message to the recipient. The notification message preferably indicates the approximate time that the package is expected to arrive.

Abstract: A palletizer system is described for transferring a object that are conveyed along a conveyor to a rack, the object having a surface, the palletizer system comprising a camera, a robot transfer subsystem and a control module. The camera is configured to generate images of the object as it is being conveyed along the conveyor. The robot transfer subsystem comprises a gripper module mounted on a robot, the robot being configured to move the gripper module, and the gripper module being configured to controllably grip the surface.

Abstract: In one embodiment, a wafer-handling robot in a wafer processing system is automatically calibrated by determining an orientation of the robot relative to a chassis of the wafer processing system, determining hand-off coordinates of a load port in the wafer processing system, and determining hand-off coordinates of a load lock in the wafer processing system. Also disclosed is a calibration fixture for automatically calibrating the wafer-handling robot to the load port.

Abstract: A method for the computation of a system processing time in performing an operation in a system which can process a plurality of lots in a continuous or parallel manner, wherein the processing time of an object lot is computed based on the minimum processing time S0 for the object lot, the contents of the operation of a lot which is currently being processed, and the actual processing time of a lot, for which the operation has recently been completed.

Abstract: Method for synchronizing a robot where a target is arranged on the movable part of the robot at the respective robot axles. The movable part rotates back and forth and at the same time a sensor reads at least two distinct detectable changes on the target. The center-point for the target is calculated and introduced into the control system.

Abstract: Track anomalies in an automated storage library are detected by transmitting a track health signal from one portion of the track. The presence of a track anomaly is determined based on any reception of the transmitted signal at another portion of the track.

Abstract: The present invention includes methods of selecting cases in which to pack items in an item order and selecting the sequence and configuration of placement of items into the selected cases. One such method includes examining an order comprising a list of items to be packed, determining the cases available for packing, determining the minimum number of cases required for packing the items in the list of items to be packed, selecting a case to be packed with one or more of the items in the list of items to be packed, wherein said selecting a case comprises determining a desired average volume per case and selecting the smallest of the cases available to be packed that comprises a volume in excess of the average volume per case, and determining the configuration of placement in the case to be packed of items in the list of items to be packed. Such steps may be repeated until all items in the item list are selected and configured for packing.

Abstract: A control system (60) controls a material handling system and has a first control module (120), a second control module (140), and a third control module (160). The first module (120) includes a first control cabinet (12) for providing primary control to the first module (120), a first external component (20) for controlling an equipment component of the material handling system, and a modular interconnectivity component (30) for interconnecting the first control cabinet (12) and the first external component (20) for control of the first external component (20). The control system (60) further includes a first internal component (20) for operating the first control cabinet (12) and a modular interconnectivity component (30). The first module (120) has primary control of the second module (140) and the third module (160).

Abstract: A method of locating articles on a carrier plane on the basis of data obtained by a relative movement extending in a transport direction parallel to the carrier plane between a scanning plane and the articles and by repeatedly carrying out a total scan of the position of points on the articles and which include information on the position of the article points detected in the scanning plane, and on the basis of information on the relative position of the scanning plane and the articles in the direction of transport during a total scan. The method repeatedly reads the data on the position of the article points on the articles in the scanning plane and detects information on the relative position of the scanning plane and articles in the transport direction for a current total scan. The positions and extents of flanks of the articles, which substantially form a right angle with the carrier plane, are determined from the data of the current total scan.

Abstract: A storage and retrieval system is provided that automates the process of handling a mixed inventory of palletized and containerized items. The invention is particularly useful in handling cargo and weapons within a ship's hold or magazine. When used on a ship, the invention provides for the stowing and unstowing of loads quickly and efficiently, to automatically secure such payloads for sea and to achieve high stowage density, while retaining the capability to select and retrieve any ordered payload, move it to and load it on elevator trays under computer control.

Abstract: A container storage and delivery system includes an individual container storage and delivery system. A palletizer is provided for forming a group of containers from the individual container storage and delivery system into a layer or a partial layer, and placing this layer or partial layer onto a pallet. A high speed pick station provides access for manual retrieval of high throughput case types from each storage location. An individual container placement station is also provided for placing individual containers onto a pallet. A conveyor system conveys containers and pallets from the individual container storage and delivery system, the palletizer, the high speed pick station, and the individual container placement station.

Abstract: Library system health is monitored and displayed based on the location of equipment within the library relative to track layout. Robotic devices travel on rails within the data storage library accessing data storage devices such as cartridges, cassettes, media packages, media access equipment, identification devices, access ports and the like. The rails are divided into a plurality of rail segments. A database holds information about each rail segment. The database is updated based on use of each rail segment by the robotic devices. Data is generated and displayed to describe the use of each rail segment.

Abstract: In one embodiment a sensor calibration system includes a robotic platform able to navigate to sensors distributed throughout an environment. The sensors may measure, for example, acoustic levels, temperature, luminance, or humidity. The robotic platform is equipped with at least one set of calibrated sensors and is capable of maneuvering around the environment to respective positions adjacent to the sensors to perform on site calibration. Such proximity also permits recharging power supplies of sensors and download/upload of information to and from the sensor.

Abstract: A processing system for automating the packaging, packing, unpacking, transfer/short term storage and loading of flats mail into flats sorters for sortation is disclosed. This involves bundling flats mail into bundles or logs and creating pallets for transporting in a standardized manner at mailer facilities such as publishers so that the sort depth and final destination of the bundle contents are preserved and used throughout its journey through postal facilities. Sort depth and destination bar coding is placed on each bundle. An automated method for palletizing involves creating a stack of bundles on a pallet in a predetermined sequence so that sorting processes in the postal facility become more efficient. Once the pallets are received at the postal facilities, the pallets are broken down in a pre-determined sequence in accordance with the sequence of original creation.

Abstract: A wafer track and lithography cluster tool for performing a series of processes with a scheduler which synchronizes all events in a substrate processing system. Events in the cluster tool are scheduled to occur at regular, periodic intervals, thereby improving throughput and quality. The scheduler also eliminates conflicts for transportation resources between modules in the cluster tool. Wafers are loaded into the cluster tool at a regular interval, referred to as a sending period. All events in the system are synchronized with the sending period, and all event timings are normalized in terms of the sending period. The conflicts are resolved by selectively adding delays in modules which can tolerate them without degrading throughput or performance in the system; modules that cannot tolerate delays are exempted. The periodicity of the scheduled cluster tool enables the identification of wafers in the cluster tool.